• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.257-266
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• 1999

The aim of this paper is to suggest a design method of the optimal multivariable $H_{\infty}$ control system using genetic algorithm (GA). This $H_{\infty}$ control system is designed by applying GA to the optimal determination of weighting functions and design parameter $\gamma$ that are given by Glover-Doyle algorithm which can design $H_{\infty}$ controller in the state space. The first method to do this is that the gains of weighting functions and $\gamma$ are optimized simultaneously by GA with tournament method. And the second method is that not only the gains and $\gamma$ but also the dynamics of weighting functions are optimized at the same time by eA with roulette-wheel method. The effectiveness of this $H_{\infty}$ control system is verified by computer simulation.

• Transactions on Control, Automation and Systems Engineering
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• 제1권2호
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• pp.106-112
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• 1999

This paper presents an H$\infty$ controller design method for linear systems with time-varying delayed states, inputs, and measurement outputs. Using a Lyapounov unctional , the stability for delay systems is discussed independently of time delays . And a sufficient condition for the existence of H$\infty$ controllers of n-th order is given in terms of three matrix inequalities. Based on the positive-definite solutions of their matrix inequalities, we briefly explain how to construct H$\infty$ construct H$\infty$ controller, which stabilizes time-delay systems independently of delays and guarantees an H$\infty$ norm bound.

• 한국군사과학기술학회지
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• 제3권1호
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• pp.38-46
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• 2000

In this paper, robust depth and course controllers of AUV(autonomous underwater vehicles) using LMI-based H$_{\infty}$ servo control are proposed. The $H_{\infty}$ servo problem is modified to an $H_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The robust depth and course controllers are designed to be satisfied the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under sea wave and tide disturbances. The performances of the designed controllers are evaluated by computer simulations, and these simulation results show the applicability of the proposed robust depth and course controller.

• 한국정보통신학회논문지
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• 제12권2호
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• pp.276-281
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• 2008

본 논문에서는 SVM(Support Vector Machine)을 이용하여 공칭 시스템의 동특성을 갖는 슬라이딩 평면 설계기법을 제안한다. 전형적인 슬라이딩 모드에서 슬라이딩 평면의 차수는 시스템의 차수보다 낮은 차수를 갖기 때문에 슬라이딩 평면은 $H_{\infty}$ 제어기의 동특성을 가질 수 없다. 그러므로 이 문제를 해결하기 위해서는 추가적인 상태들이 정의되어야 한다. 본 논문에서는 추가적인 상태를 정의하지 않고 SVM을 이용하여 공칭 시스템의 동특성을 가질 수 있는 슬라이딩 평면의 설계기법을 제안한다. 이 설계기법은 먼저 $H_{\infty}$ 제어기에 의해서 제어되는 공칭시스템의 상태들 간에 SVM을 이용하여 그 관계를 정립하며. 이를 바탕으로 새로운 슬라이딩 평면을 설계하며 이 평면은 $H_{\infty}$ 제어 시스템 특성을 가진다. 그 결과 파라미터 불확실성이 존재하더라도 제안된 제어기는 $H_{\infty}$ 제어기에 의해서 제어되는 공칭 시스템의 동특성을 가질 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.535-535
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• 2000

This paper presents an adaptive receding horizon H$_{\infty}$ controller for the linear parameter varying systems in the deterministic environment, which combines a parameter range estimator and a robust receding horizon H$_{\infty}$ controller using the parameter bounds. Using parameter set inclusion and terminal inequality condition, the closed-loop system stability is guaranteed. It is shown that the stabilizing adaptive receding horizon H$_{\infty}$ controller guarantees the H$_{\infty}$ norm bound.

• 한국소음진동공학회논문집
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• 제13권3호
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• pp.172-179
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• 2003

Linear matrix Inequality based $H_\infty$ robust controller is designed to control the motion of a 4-axis unbalanced rigid asymmetric rotor supported and controlled by two active magnetic bearings in this paper. To this end, the equations of motion of the system are derived via Hamilton's variational principle and transformed to a state-space form for the standard $H_\infty$ control problem. LMI-based controller, which does not require additional assumptions beyond the usual stabilizability and detectability assumptions, is designed based upon the pole place weighting function and loopshaping technique. The obtained results are compared with those reported in the available literature and the efficiency of the proposed LMI-based $H_\infty$ control is revealed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.23-23
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• 2000

In this paper, we proposed the problems of robust stability and 개bust H$_{\infty}$ control of discrete time-delay linear st.stems with Frobenius norm-bounded uncertainties. The existence condition and the design method of robust H$_{\infty}$ state feedback control]or are given. Through some changes of variables and Schur complement, the obtained sufficient condition can be rewritten as an LMI(linear matrix inequality) form in terms of all variables.

• 한국정밀공학회지
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• 제14권2호
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• pp.160-168
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• 1997

A $H_{\infty}$self-tuning control scheme for the tip position of a flexible link robot handling unknown loads is presented here. The scheme essentially comprises a recursive least-squares identification algorithm and $H_{\infty}$self-tunning controller. The $H_{\infty}$control low is designed to be robust to uncertain parameters and the self-tunning action provides adaption to unknown parameters. Through numerical study, the performance comparison of the $H_{\infty}$self-tuning controller with a constant gain $H_{\infty}$controller as well as a LQG self-tuning controller clearly shows its superior ability in handling load changes in quiescent states.nt states.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.888-891
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• 1996

The objective of a mixed H$_{2}$/H$_{\infty}$ controller of active suspension system is to achieve not only the general performance improvement(H$_{2}$) but also the worst case disturbance rejection(H$_{\infty}$). In this paper, a mixed H$_{2}$/H$_{\infty}$ controller for an active suspension system, comparing the performance with that of an H$_{2}$ controller and of an H$_{\infty}$ controller.ler.EX> controller.

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.501-507
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• 2007

This paper presents a new algorithm for the closed-loop $H_{\infty}$ control of a class of singularly perturbed nonlinear systems with an exogenous disturbance, using the successive Galerkin approximation (SGA). The singularly perturbed nonlinear system is decomposed into two subsystems of a slow-time scale and a fast-time scale in the spirit of the general theory of singular perturbation. Two $H_{\infty}$ control laws are obtained to each subsystem by using the SGA method. The composite control law that consists of two $H_{\infty}$ control laws of each subsystem is designed. One of the purposes of this paper is to design the closed-loop $H_{\infty}$ composite control law for the singularly perturbed nonlinear systems via the SGA method. The other is to reduce the computational complexity when the SGA method is applied to the high order systems.