期刊論文
| 學年 | 93 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2005-07-18 |
| 作品名稱 | Mixed H/sub 2//H/sub /spl infin// design for a decentralized discrete variable structure control with application to mobile robots |
| 作品名稱（其他語言） | |
| 著者 | 黃志良; Chih-Lyang Hwang; Song-Yu Han |
| 單位 | 淡江大學電機工程學系 |
| 出版者 | |
| 著錄名稱、卷期、頁數 | IEEE Transactions on Systems, Man & Cybernetics, Part B 35(4), pp.736-750 |
| 摘要 | Abstract—In this paper, a decentralized discrete variable structure control via mixed 2 design was developed. In the beginning, the 2-norm of output error and weighted control input was minimized to obtain a control such that smaller energy consumption with bounded tracking error was assured. In addition, a suitable selection of this weighted function (connected with frequency) could reduce the effect of disturbance on the control input. However, an output disturbance caused by the interactions among subsystems, modeling error, and external load deteriorated system performance or even brought about instability. In this situation, the -norm of weighted sensitivity between output disturbance and output error was minimized to attenuate the effect of output disturbance. Moreover, an appropriate selection of this weighted function (related to frequency) could reject the corresponding output disturbance. No solution of Diophantine equation was required; the computational advantage was especially dominated for low-order system. For further improving system performance, a switching control for every subsystem was designed. The proposed control (mixed 2 DDVSC) was a three-step design method. The stability of the overall system was verified by Lyapunov stability criterion. The simulations and experiments of mobile robot were carried out to evaluate the usefulness of the proposed method. |
| 關鍵字 | Decentralized control;2-optimization;- optimization;mobile robot;variable structure control |
| 語言 | en |
| ISSN | 1083-4419;1941-0492 |
| 期刊性質 | 國外 |
| 收錄於 | |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 否 |
| 國別 | USA |
| 公開徵稿 | |
| 出版型式 | ,電子版 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/60875 ) |