离心–气压系统基于SDRE的最优保性能鲁棒控制

In this paper, an optimal guaranteed cost robust control scheme based on the state-dependent Riccati equation (SDRE) is proposed for the centrifugal pneumatic system to achieve the high-precision and high-stability air pressure control. As the centrifugal pneumatic system exists the parameter uncertainties and its parameters are usually unknown and state-dependent, this paper uses the adaptive parameter estimation method to estimate the system unknown parameters with fast convergence of the estimation errors. Based on the parameter estimation results, an optimal robust guaranteed cost controller is designed to deal with the influence of the parameter uncertainties and guarantee the cost function reaching a certain upper bound. Since the new SDRE is state-dependent which does not have an analytic solution, the Taylor series method is used to approximate the optimal solution offline. The proposed controller has the following merits: Strong robustness, fast transient response, no overshoot and simple to implement. Finally, simulation analysis and experimental results also verify that the proposed controller can realize the precise tracking control of air pressure range 1∼100 kPa with following error less than 10 Pa.