重み最適化とH_∞ループ整形法による回転型倒立振子のゲインスケジューリング制御 Gain-scheduling Control of Rotary Inverted Pendulum by Weight Optimization and H_∞ Loop Shaping Procedure

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Gain-scheduling control is one of effective methods for plants whose dynamics changes significantly according to its operating point. A frozen parameter method is known to be a practical gain-scheduling controller synthesis, which interpolates the controllers designed at the prespecified (frozen) operating points according to the current operation point. Hyde et al. proposed a gain-scheduling control that <i>H</i><sub>∞</sub> loop shaping procedure is adopted as a controller synthesis at each operating point. <i>H</i><sub>∞</sub> loop shaping procedure is based on loop shaping of an open loop characteristic by frequency weights and is known to be effective for plants with bad condition number. However, weight selection satisfying control specifications is hard job for a designer. This paper describes the design of a suboptimal weight and a controller by means of algorithm that maximizes the robust stability margin and shapes the open loop characteristic into the desired shape at each operating point. Moreover, we formulate a weight optimization problem as a generalized eigenvalue minimization problem, which reduces the designer's burden of weight selection. Finally, we realize robust and high performance control system by scheduling both weights and controllers. The effectiveness of the proposed control system is verified in terms of the achieved robust stability margin and experimental time responses of a rotary inverted pendulum which involves strong nonlinear dynamics.

収録刊行物

  • 電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society  

    電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 126(12), 1504-1513, 2006-12-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10018403017
  • NII書誌ID(NCID)
    AN10065950
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    03854221
  • NDL 記事登録ID
    8593374
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-795
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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