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【期刊论文】Optimal Preview Control Theory Based on Extended Kalman Filter
王志胜, WANG Zhi-sheng, ZHEN Zi-yang, WANG Dao-bo
,-0001,():
-1年11月30日
By introducing information fusion techniques into optimal preview control, a new theory of Information Fusion Optimal Preview Control (IFOPC) for nonlinear discrete system is proposed in this paper. All information on control system which includes ideal control strategy, expected objective trajectory and dynamics of system, is regarded as measure information of control system. Therefore, the problem of optimal control can be transferred into the problem of information fusion estimate. It should be pointed out that the IFOPC consists of optimal co-state generator and optimal regulator, in which the optimal co-state generator is just a extended Kalman filter. Firstly, the information fusion estimate theorems are described in brief. Secondly, an algorithm of IFOPC is deduced in detail. Thirdly, some key techniques of IFOPC are discussed, which include the selection of preview step number and the determination of Kalman filter initial values. Finally, the validity of the proposed control strategy is confirmed by the simulation of manipulator shift control. The simulation results show good tracking performance of the IFOPC based nonlinear system.
extended Kalman filtering, preview control, information fusion, nonlinear control, optimal control
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【期刊论文】Primary exploration of nonlinear information fusion control theory
王志胜, WANG ZhiSheng, WANG DaoBo & ZHEN ZiYang
Science in China Series F: Information Science Oct. 2007 Vol. 50 No. 5,-0001,():
-1年11月30日
By introducing information fusion techniques into a control field, a new theory of information fusion control (IFC) is proposed. Based on the theory of information fusion estimation, optimal control of nonlinear discrete control system is investigated. All information on control strategy, including ideal control strategy, expected object trajectory and dynamics of system, are regarded as measuring information of control strategy. Therefore, the problem of optimal control is transferred into the one of information fusion estimation. Firstly, the nonlinear information fusion estimation theorems are described. Secondly, an algorithm of nonlinear IFC theory is detailedly deduced. Finally, the simulation results of manipulator shift control are given, which show the feasibility and effectiveness of the presented algorithm.
nonlinear control, nonlinear estimation, information fusion control (, IFC), , optimal control
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王志胜, 甄子洋
,-0001,():
-1年11月30日
针对复杂大系统的控制问题,提出了一种基于信息融合估计的最优分散控制方法。基于信息融合估计理论,根据控制站对大系统状态的一步预测信息与测量信息,推导出大系统状态的最优融合估计。通过融合大系统协状态信息以及控制能量的软约束信息,获得控制站输出的最优融合估计,从而利用信息融合技术求解最优分散控制问题。
大系统,, 分散控制,, 信息融合,, 最优估计
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王志胜, WANG
2007 IEEE International Conference on Control and Automation Guangzhou, CHINA -May 30 to June 1, 2007,-0001,():
-1年11月30日
Based
time-delayed
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王志胜, 王道波, 蔡宗琰
传感器技术(Journal of Transducer Technology) 2004年第23卷第4期,-0001,():
-1年11月30日
分析了基于卡尔曼滤波器的残差检验法对传感器缓变故障检测的不敏感性原因。针对双余度传感器缓变故障检测,采取了先故障判断后故障定位的故障检测策略,并提出了一种基于移动伪正常状态的残差构造方法。数学仿真验证了改进方法比传统方法更能够及时准确地识别双余度传感器缓变故障。
传感器, 故障检测, 缓变故障, 残差检验, 故障定位
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