Switching Control Of Multi-controller To Improve System Performance

This paper mainly studies the switching rules of multi-controller to improve system performance.Relative to a single controller,the switched control of multiple controllers provides the designer with more freedom,which may achieve control performance that is impossible for a single controller.Such as the widely used variable structure control,multi-model adaptive control and so on.All these methods improve the system's anti-perturbation capability and dynamic performance by the switching of multiple controllers.Multi-controller switching makes the entire closed-loop system into a switched system which can be analyzed by the switched system theory.In recent 10 years,the theory of switched system develops rapidly,and has formed a relatively systematic theory system where the Lyapunov-like functions are mainly used in the analysis and design process.A large number of results show that,by the dual design of switching signal and controller,excellent performance that a non-switched system does not have can be achieved.In this paper,multiple controllers and the switching laws are designed for the switched system,the load shifting manipulator,and the non-switched system,the double-tank system,in order to improve their performance.The main contributions are as follows:(1)Switched systems are used to describe the parameter jumping robot manipulator.When the load change is measurable,i.e.,the switching signal is available,a switched sliding mode controller is designed for the switched robot model based on the average dwell time method.(2)When the load change is unmeasurable,i.e.,the switching signal is not available,the sub-controllers and the controller selection mechanism are designed for the switched model of robot manipulators.A supervised variable is designed to construct the switching logic for the candidate controllers.Asymptotic tracking is achieved when the load switches slow enough.(3)A rapid nonovershoot switched controller is designed for the double-tank system based on the viewpoint of matter quantity.First,the equilibrium manifold of the tank is obtained from the equilibrium working points.Then,the design point of the migration controller,the operating point to maintain the controller and the two controller switching law to get the level of the switching controller.