Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Robust $H^{\infty}$ Performance Controller Design with Parameter Uncertainty and Unmodeled Dynamics

파라미터 불확실성 및 모델 불확실성에 대한 $H^{\infty}$ 견실성능 제어기 설계

  • Lee, Kap-Rai (Dept.of Electronics Electrical Engineering, Kyungpook National University) ;
  • Oh, Do-Chang (Dept.of Electronics Electrical Engineering, Kyungpook National University) ;
  • Park, Hong-Bae (Dept.of Electronics Electrical Engineering, Kyungpook National University)
  • 이갑래 (경북대학교 전자.전기공학부) ;
  • 오도창 (경북대학교 전자.전기공학부) ;
  • 박홍배 (경북대학교 전자.전기공학부)
  • Published : 1997.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

The method of designing robust two degree of freedom(2 DOF) controllers for linear systems with parameter uncertainties and unmodeled dynamics is presented in this paper. Robust performance condition that accounts for robust model matching of closed loop system and disturbance rejection is derived. Using the robust performance condition, the feedback controller is designed to meet robust stability and disturbance rejection specifications, while prefilter is used to improve the robust model matching properties. The $H^{\infty}$ and $\mu$ controller for six degree of freedom vehicle with parameter variations are designed and compared. Simulations for hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.

Keywords

References

  1. IEEE Trans. on automatic Control v.39 no.2 State-space solution to standard H² and $H^{\infty}$ control problems J. C. Doyle;K. Glover;K. Khargonekar;B. A. Francis
  2. System & Control Letters v.11 State-space formulae for stabilizing controllers that satisfy an $H^{\infty}$-norm bound and relations to risk sensitivity K. Glover;J. C. Doyle
  3. IEE Proc. Control Theory Appl. v.141 no.5 Mixed $H^{\infty}$ optimisation with model-matching D. W. C. Ho;J. Lam;T. W. K. Chan
  4. J. of Guidance, control, and Dynamics v.15 no.4 Robust control systems design using $H^{\infty}$ optimization theory X. P. Li;B. C. Chang;S. S. Banda;H. H. Yeh
  5. IEEE Trans. on automatic Control v.37 no.6 A loop shaping design procedure using $H^{\infty}$ synthesis D. C. McFarlane;K. Glover
  6. Automatica v.29 no.1 On the design of robust two degree of freedom controllers D. J. N. Limebeer;E. M. Dasenally;J. D. Perkins
  7. System & Control Letters v.18 An algebraic approach to robust $H^{\infty}$ control via state feedback G. Shi;Y. Zou;C. Yang
  8. IEEE Trans. on automatic Control v.37 no.8 $H^{\infty}$ control and quadratic stabilization of systems with parameter uncertainity via output feedback L. Xie;M. Fu;C. E. de Souza
  9. IEEE Trans. on Automatic Control v.37 no.8 Robust $H^{\infty}$ control for linear systems with norm bounded time-varying uncertainity L. Xie;C. E. de Souza
  10. IEEE Trans. on Automatic Control v.39 no.6 $H^{\infty}$ control of systems under norm bounded uncertainties in all system matrices K. Gu
  11. Proceeding of the 24th IEEE Conference on Decision and Control Structured uncertainity in control system design J. C. Doyle
  12. J. of Guidance, Control, and Dynamics v.18 no.1 High-performance, robust bank-to-turn missile autopilot design C. F. Lin;J. R. Cloutier;J. H. Evers
  13. J. of Guidance, Control, and Dynamics v.13 no.6 Robust control design with real parameter uncertainty and unmodeled dynamics H.-H. Yeh;S. S. Banda;S. A. Heise;A. C. Bartlett
  14. J. Maths. Phys. v.39 On a certain linear fractional transformation R. M. Redheffer
  15. Matlab User Guide μ-analysis and synthesis toolbox G. J. balas;J. C. Doyle;K. Glover;A. Packard;R. smith
  16. Dynamic of Marine Vehicle Bhattachayya