Robust control Synthesis using Hybrid Controller

使用混合控制器的鲁棒控制综合

• 批准号: 09650459
• 负责人: HARA Shinji
• 金额: $ 2.18万
• 依托单位: TOKYO INSTITUTE OF TECHNOLOGY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650459/
• 关键词: robust control; control system design; hybrid system; digital control; distributed parameter system; CAD; サンプル値制御; 分布定数制御

1) Basic Theory for Hybrid System Theory :1-a) Sampled-data control (continuous/discrete-time)The relationship between the H_2 norm and the H* norm for sampled-data feedback control systems has been clarified. We have introduced a new notion of balanced realization for continuous/discrete-time hybrid systems and proposed methods of order reduction of the continuous-time plant the discrete-time controller. Moreover, we made a comparison with modern and classical approaches for sampled-data control and the features of the modern approach have been clarified.1-b) Switched feedback control (continuous/logic)A general framework for switched control systems has been proposed, and a Lyapunov type sufficient has been obtained, We have also provided a synthesis procedure based on the L_2 induced norm criterion.1-c) Hybrid systems with lumped and distributed parametersWe proposed PDS (proportional, derivative and strain) feedback control law for hybrid mechanical systems with lumped and distributed parameters The PDS controller is easy to implement and robust against physical parameter uncertainty. In order to demonstrate the effectiveness of the PDS control law, two types of experiments have been carried out.2) CAD System :We have developed a tool box named "Sampled-Data Control Toolbox" on MATLAB for uniform treatment of sampled-data control analysis and synthesis. We also investigated a GUI platform for a general class of hybrid systems.

1) 混合系统理论的基本理论：1-a) 采样数据控制（连续/离散时间）采样数据反馈控制系统的H_2范数和H*范数之间的关系已经阐明。我们引入了连续/离散时间混合系统平衡实现的新概念，并提出了连续时间设备和离散时间控制器的降阶方法。此外，我们对采样数据控制的现代和经典方法进行了比较，并阐明了现代方法的特征。1-b）切换反馈控制（连续/逻辑）提出了切换控制系统的通用框架，并且已经获得了足够的Lyapunov类型，我们还提供了基于L_2诱导范数准则的综合程序。1-c）具有集总参数和分布参数的混合系统我们提出了混合机械的PDS（比例，导数和应变）反馈控制律具有集总和分布参数的系统 PDS 控制器易于实现，并且对物理参数不确定性具有鲁棒性。为了证明PDS控制律的有效性，进行了两类实验。2）CAD系统：我们在MATLAB上开发了一个名为“采样数据控制工具箱”的工具箱，用于统一处理采样数据控制分析与综合。我们还研究了用于一般类型混合系统的 GUI 平台。

项目成果

K.Chongsrid & S.Hara: "Sampled-Data Balanced Trunca Tion and Its Application to Low Order Digital Controller Design" Trans.of the Society of Instrument and Control Engineers. 33・5. 384-391 (1997)

K.Chongsrid 和 S.Hara：“采样数据平衡截断及其在低阶数字控制器设计中的应用”，仪器与控制工程师学会刊 33・5（1997 年）。

S.Hara, Y.Yamamoto, H.Fujioka: "Hsys Module : A software Package for Analysis and Synthesis of Sampled-Data Control Systems" Proc.of the ECC'97.

S.Hara、Y.Yamamoto、H.Fujioka：“Hsys 模块：用于采样数据控制系统分析和综合的软件包”Proc.of the ECC97。

S.Hara, Y.Yamamoto, H.Fujioka: "Hsys Module: A Software Package for Analysis and Synthesis of Sampled-Data Control Systems" Proc.of the ECC'97. (1997)

S.Hara、Y.Yamamoto、H.Fujioka：“Hsys 模块：用于分析和综合采样数据控制系统的软件包”Proc.of the ECC97。

K.Chongsrid, S.Hara: "Sampled-Data Balanced Truncation and ITs Application to Low Order Digital Controller Design" 計測自動制御学会論文集. 33・5. 384-391 (1997)

K.Chongsrid、S.Hara：“采样数据平衡截断及其在低阶数字控制器设计中的应用”，仪器与控制工程师学会汇刊 33・5 (1997)。

S.Hara et al.: "HSYS module : A software package for Analysis and synthesis of sampled-data control systems" Proc.of the ECC′97. (1997)

S. Hara 等人：“HSYS 模块：用于分析和综合采样数据控制系统的软件包”Proc. ECC97 (1997)。