Điều khiển dựa trên mô hình dự báo cho một lớp đối tượng có trễ

Cao Tien Hu^nh vd Dtg Tap chi KHOA HOC & CONG NGHE 128(14): 149-154 DIEU KHIEN DU'A TREN MO HINH DlT BAO CHO MOT L O P D I TU'ONG c TRE Le Thj Huyen Linh'*, Lai Khac Lai^ 'Trudng Dai hpc Ky thugt Cong nghiep - DH Thai Nguyen, 'Dai hoc Th TOMTAT Lop doi tugng phi tuyIn c6 tri thudng gdp phd biln cong nghiep, viec thilt kl dilu khiln cho Idp doi tuong gap nhiSu kho khan Trong [9] cdc tdc gia da dua giai phap su dung mang noTon RBF de nhdn dang va bii thdnh phan phi tuyen Nhd d§ chuyin lap ddi tuong phi tuyen cd tri thdnh lop doi tuong tuyen tinh co tvk vdi ma tran A, B la xac dinh, Nh3m tilp tuc phat trien cdc ket qud da dat dugc [9], bai bao ndy dl xudt gidi phdp xdy dung bo dilu khiln tdi uu dua Uen mo hinh du bdo cho lop ddi tuong phi tuyIn co ul sau da bii thdnh phdn phi luyin Thong qua viec lira chpn phiSm hdm muc tieu phii hpp cho phep ta tim dugc tin hieu dieu khien tdi uu Id mdt ham tudng minh Dong thdi tim chinh xac tdm du bdo va tdm dilu khiln ciia hS thdng Tu' khod: Mo hinh diiu khien dg bdo, co Ire, hdm muc tiiu dieu khien loi uu MO DAU Trong dd: X eD ";U, V eD " ; Cac ddi tugng cd tre thudng gap nhieu ITnh vuc cdng nghiep nhu cdng nghiep hda chat, cdng nghiep Igc dau va hda dau, luyen kim, Ihye pham,,, De dieu khien cac ddi tugng cd Ire, cac phuong phap dieu khien truyen thong td kem hieu qua [I] Mdt sd phuong phap dieu khien dua tren md hinh danh cho cac ddi tugng cd tre da dugc de xuat cac cdng trinh [1,2,3,4], Tuy vay van de dieu khien dua tren md hinh dy bao cho Idp ddi tugng cd tre van chua dugc giai quyet mgt each thda dang, dac biet la ddi vdi cac trudng hgp he thdng chju tac ddng cua cac loai nhieu phu thudc Irang thai Van de nhan dang cac nhieu bat dinh ddi vdi Idp cac ddi tugng cd tre Irong dieu khien da dugc de xual [5,6], Bai bao de cap van de dieu khien tdi uu cac ddi luong cd tre tren co sd md hinh dy bao Ddi vdi cac ddi tugng cd trd chiu lac dpng ciia cac nhieu bat djnh, van de se dugc giai quyet tren co sd ket hgp luat dieu khien tdi uu dya tren md hinh du bao vdi cac thuat toan nhan dang nhieu de xual [5,6* Xet Idp ddi tugng duoc md ta bdi phuong trinh: A eD ""';B GD ™'" ; r - thdi gian tre Van de dat la phai long hgp he thdng dieu khien, dam bao tdi thieu hda phiem ham: y - JHiX,V)dt^ mm (3) Phiefn ham muc tieu (3) cdn dugc ggi la tieu chuan tdi uu Viec lua chpn tieu chuan Idi uu la mdt van de khd khan va phuc tap, bdi mdt he thdng tdi uu theo mgt lieu chuan se chi dam bao chat lupng tdt nhat theo mdt chi tieu tuong irng cd the se la khdng chap nhan dugc theo cac chi lieu khac, Vi du, mdt he thdng tdi uu lac ddng nhanh cd the la khdng chap nhan dugc theo quan diem kinh te (tiet kiem) hoac khdng chap nhan dugc theo cac dac linh ciia qua trinh qua dd Hon the niJa, hang loat trudng hgp, viec Ihuc hien ky thual cac luat dieu khien Idi uu theo lieu chuan tdi uu dugc chgn cd the iam cho he thdng Ird nen phirc lap din muc khdng thd chap nhan dugc Su da dang ciia cac bai loan thyc te ciing vdi cac yeu cau ky thuat khac ddi vdi cac he thdng dieu khien khac khdng cho phep chiing ta xay dyng mdt tieu chuan chat luong nhat - thdng nhat chung, phii hgp vdi lat ca cac trudng hgp Vi vay Irong mdi bai loan X(0 = AX(0 + BV(r) (1) ddi hdi phai xac djnh mdt chi tieu chat lugng V(0 = U ( r - r ) (2) rieng biet, mot tieu chu4n loi uu rieng dam bao chat lugng theo muc tieu dai Cac lieu Tel: 0918 127781 Email lethihuyenlinh@gmail-com 149 Cao Tien HuJ'nh va Dig Tap chi KHOA HQC & CONG NGHE 128(14): 149- 154 chuan tdi uu khac se dan tdi cac h^ thdng dieu khien khac cho ciing mdt ddi tugng, ciing mdt qua trinh, vdi fnuc hieu qua khac Ro rang la viec xay dung cac tieu chuan tdi uu, tiic la cac ham muc tieu cho timg doi tuong dieu khien cu the cd vai ird het sire quan trgng, ddng thdi la bai loan phiic lap ddi hdi phai tim dugc Idi giai thda dang, nhdm lam cho he thdng dieu khien mang lai hieu qua va lgi ich cao nhat Trong phan tilp theo, bai bao dl xuat mdt each tiep can viec xay dung lieu chuan tdi uu giai bai toan dilu khien tdi uu, dac biet la giai bai loan tdng hgp he thdng dieu khien du bao thyc tiln Dd khde phuc dilu ngudi ta dua vao philm ham muc tieu them dang binh phuong ciia vecto dieu khien: XAY DUNG TIEU C H U A N TOI UU CHO BAI TOAN DIEU KHIEN TOI U'U vA DIEU KHIEN DU'BAO De giai bai loan tdi uu hda, Irudc hit phai xac dinh duoc ham muc tieu, bilu dien tieu chuan tdi uu Xuat phat tir cac yeu ciu dat cho qua trinh can dieu khien, chiing ta xac djnh cac muc tieu can dat dugc theo gdc dp ban chat vat ly va xay dung phiem ham myc tieu phan anh cac muc lieu can dat Trong dai da sd cac bai loan dieu khien, ham muc lieu la thudc chat lugng boat ddng ciia he thdng dieu khien, duge chpn d dang binh phuong ciia vecto sai lech giu'a vecto Irang thai mong mudn X' {t) va vecto trang thai thuc X''(/) ciia ddi tugng dieu khien: = X'(f,)SX(f^)+|[x'(OQ(OX(;) + U'{0R(/)U(0> x''(/)-x''(/) = X(0 jx'wOWXCVi' (4) dd Q ( la ma Iran dudng cheo vdi cac phan qAt) thay ddi theo thdi gian va la cac gia tri duong; t^