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本文研宄非最小相位系统的精确跟踪问题.理想情况下,非最小相位系统针对参考轨迹的精确跟踪可以通过非因果稳定逆方法实现,但控制输入需从负无穷处开始作用.而在实际情况下应用非因果稳定逆算法时,控制输入通过延拓提前作用的时间是有限的,只能得到近似的跟踪效果.本文提出了一种基于最优状态转移的非因果稳定逆算法,能够在实际情况下实现非最小相位系统对参考轨迹的精确跟踪,放松了稳定逆方法对系统的初始状态和延拓时间的限制,而且在相同跟踪效果的条件下,比近似稳定逆方法的延拓时间更短.对比仿真结果验证了所提方法的性能.
In this paper, we study the exact tracking problem of non-minimum phase system.Under ideal conditions, the accurate tracking of non-minimum phase system for reference trajectory can be realized by non-causal stability inverse method, but the control input needs to start from negative infinity.And in the actual situation Under the non-causal stability inversion algorithm, the control input is limited by extending the early action and can only get approximate tracking results.In this paper, we propose a non-causal stability inversion algorithm based on the optimal state transition, The accurate tracking of the reference trajectory by the non-minimum phase system is relaxed and the stability of the inverse method is relaxed to the initial state and the extension time of the system. Moreover, under the same tracking effect, the extension time is more than that of the approximate stable inverse method The simulation results verify the performance of the proposed method.