安定性と速応性に関するロバスト性能指標に基づくマルチプルコントロールシステム

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タイトル別名
  • Modelless Multiple Control Systems Switched by Robust Performance Criteria Concerned with Stability and Responsiveness
  • アンテイセイ ト ソクオウセイ ニ カンスル ロバスト セイノウ シヒョウ ニ

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The aim of this paper is to propose adaptive control systems and a methodology for the design of them. We use multiple controllers to control a nonlinear plant whose parameters widely change without making use of any plant models. The basic ideas of adaptation by the proposed multiple controllers are both to settle the plant output to the desired reference signal while gradually narrowing down uncertainties of plant parameter values by switching and to keep the plant output stable for a series of switching. Multiple controllers consist of several basic controllers and a switching rule. We introduce two robust performance criteria into each basic controller, by which we try to guarantee stability and responsiveness of the system affected by parameter fluctuations. Switching rule utilizes only tracking error signal between the plant output and the desired reference signal, and simply switches a basic controller in a predefined sequence at a constant switching time intervals. The procedure for constructing multiple controllers is divided into two processes, the generating process and the selecting process. In the former process, a number of candidates for the basic controllers are produced. In the latter process, several basic controllers are selected from the candidates, so that basic controllers will satisfy robust performance requirements for multiple controllers. To illustrate the effectiveness of our approach, we apply the proposed system to the cart-pole balancing problem.

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