摘要:

AbstractIn this paper we consider the finite horizonH∞performance robustness problem with parameter variations. Assuming a nominal model, an iterative procedure is given to synthesize a suboptimalH∞controller, which yields the required performance even under parameter variations. As a byproduct, an expression for the variation of performance due to parameter variations is given for this specific controller. An example which illustrates the methodology is worked out under parameter uncertaint

ISSN:1049-8923    

DOI:10.1002/rnc.4590040502

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

摘要:

AbstractThis paper examines the ability of theH∞design methodology to provide a solution to a gas‐ or oil‐fired boiler control problem, and addresses the nontrivial application issues of theH∞design. TheH∞methodology is applied to an experimentally verified heating‐cogeneration boiler model which exhibits nonlinearities, instability, time delays, non‐minimum phase behaviour, and coloured noise disturbances with sensor noise in the frequency range of the significant plant dynamics. The design shows that, to satisfy performance criteria, a high order controller is needed. The paper also demonstrates a trade‐off between the reduction of controller order and the loss of control

ISSN:1049-8923    

DOI:10.1002/rnc.4590040503

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

摘要:

AbstractThis paper is concerned with the control problem of a multi‐robot system handling a common payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed to cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first is to detect the roots that need help and the second to arrange for help. It is shown that the overall system is robust to uncertain payload parameters, and satisfies the force constraint

ISSN:1049-8923    

DOI:10.1002/rnc.4590040504

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

摘要:

AbstractThe problem ofoutput regulationwith a guaranteedH∞performance, besides robust stability, for a class of feedback linearizable nonlinear systems via self‐tuning controllers is investigated. TheH∞performance consists of the desired disturbance attenuation and internal finiteL2‐gain stability. We show that, under the perturbations of matched parametric uncertainties, thesufficient conditionfor the existence of a self‐tuning controller reduces to the solvability of asingleHamilton‐Jacobi‐Isaacs inequality (or algebraic Riccati equation) which indicates that the design can be performed as if the system uncertainties were absent. Under certain situations, the sufficient condition is alsonecessary.Once a solution of this nonlinear differential inequality (or algebraic equation) is available, a desired self‐tuning controller with gradient‐type parameter estimator can easily be constructed. The present work falls into the category ofsingularnonlinearH∞control since the desiredH∞performance does not require any penalty on control input variables. The results also provide an immediate application toH∞self‐tuning model reference control in linear systems und

ISSN:1049-8923    

DOI:10.1002/rnc.4590040505

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

摘要:

AbstractThe problem of design of minimax robust LQG controllers for linear systems with parameter and noise uncertainties is considered in this paper. Necessary and sufficient conditions for converting this problem to a two‐person, zero‐sum continuous game problem are presented. A simple procedure for design of a suboptimal minimax robust LQG controller, i.e., the LQG controller for least‐favourable model, is proposed. Necessary and sufficient conditions for the existence of a saddle point are established. Under these conditions, the controller obtained is exactly the minimax LQG controller. When there does not exist a saddle point, the worst‐case error between the controller obtained and the minimax robust LQG controllers under described uncertainties is

ISSN:1049-8923    

DOI:10.1002/rnc.4590040506

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

ISSN:1049-8923    

DOI:10.1002/rnc.4590040501

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY