DOI QR코드

DOI QR Code

A Design on Model-Following $H_{\infty}$ Control System Having Robust Performance

강인한 성능을 가지는 모델추종형 $H_{\infty}$ 제어 시스템의 설계


Abstract

This paper suggests a deign method of the model-following $H{\infty}$ control system having robust performance. This $H{\infty}$ control system is designed by applying genetic algorithm(GA) with reference model to the optimal determination of weighting functions and design parameter ${\gamma}$ that are given by $H{\infty}$ control theory. These weighting functions and design parameter ${\gamma}$ are optimized simultaneously in the search domain guaranteeing the robust performance of closed-loop system. The effectiveness of this $H_{\infty}$ control system is verified by computer simulation.

본 연구에서는 강인한 성능을 가지는 해집단내에서 기준모델의 출력을 최적으로 추종하도록 유전 알고리즘을 사용하여 가중치 함수와 설계 파라메타 ${\gamma}$를 동시에 최적화함으로써, 강인한 성능에 관한 필요충분조건식을 만족함은 물론 설계사양에 따른 만족스러운 응답특성을 보이는 강인한 성능을 가지는 모델추종형 $H_{\infty}$ 제어기의 설계법을 제시하고 시뮬레이션을 통하여 그 유용성을 확인한다.

Keywords

References

  1. G. Zames, 'Feedback and Optimal Sensitivity: Model Reference Transformations, Multiplicative Seminorms, and Approximate Inverses', Automatic Control, IEEE Transactions on, Vol. 26, No. 2, pp. 301-320, 1981 https://doi.org/10.1109/TAC.1981.1102603
  2. J. C. Doyle, B. A. Francis, A. R. Tannenbaum, 'Feedback Control Theory', Dover, 2009
  3. D. W. Gu, P. H. Petkov, M. M. Konstantinov, 'Robust Control Design with Matlab', Springer, 2005
  4. Y. Suozhong, Y. Yidong, 'Design of Automatic Carrier Landing System using H Control', Intelligent Control and Automation Conference, Proceedings on, Vol. 5, No. 28, pp. 3449-3451, 2000
  5. R. Fales, A. Kelkar, 'Robust Control Design for a Wheel Loader using Mixed Sensitivity H-infinity and Feedback inearization Based Methods', American Control Conference, Proceedings on, Vol. 6, pp. 4381-4386, 2005
  6. M. F. Khelfi, A. Abdessameud, 'Robust Hinfinity Trajectory Tracking Controller for a 6D.O.F PUMA 560 Robot Manipulator', Electric Machines & Drives Conference, Proceedings on, Vol. 1, pp. 88-94, 2007
  7. J. M. Maciejowski, 'Multivariable Feedback Design', Addison-Wesley, 1989
  8. S. N. Sivanandam, 'Introduction to Genetic Algorithms', Springer, 2007
  9. M. Wang, X. Gao, 'The Optimization of Genetic Algorithm Control Parameters', Intelligent Control and Automation Conference, Proceedings on, Vol. 3, No. 3, p. 2504-2507, 2002
  10. I. Kitsios, T. Pimenides, 'Structured Specified Robust Multivariable Controller Design for Practical Applications using Genetic Algorithms', Control Theory and Applications Conference, Proceedings on, Vol. 150, No. 3, pp. 317-323, 2003 https://doi.org/10.1049/ip-cta:20030310
  11. S. C. Duong, H. Kinjo, E. Uezato, T. Yamamoto, 'A Switch Controller Design for the Acrobot using Neural Network and Genetic Algorithm', Control, Automation, Robotics and Vision Conference, Proceedings on, pp. 1540-1544, 2008
  12. W. Hansheng, 'Adaptive Control Tracking and Model Following of Uncertain Dynamical Systems with Multiple Time Delays', Automatic Control, IEEE Transactions on, Vol. 49, No. 4, pp. 611-616, 2004 https://doi.org/10.1109/TAC.2004.825634