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A Design Method of Model Error Compensator for Systems with Polytopic-type Uncertainty and Disturbances
http://hdl.handle.net/2298/00045874
http://hdl.handle.net/2298/0004587418a7bc83-23a9-4c36-b1eb-2868b462f388
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
10-1080_18824889-2021-1918392.pdf (1.5 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2022-06-13 | |||||
| タイトル | ||||||
| タイトル | A Design Method of Model Error Compensator for Systems with Polytopic-type Uncertainty and Disturbances | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題 | モデル誤差抑制補償器, ロバスト制御, 外乱オブザーバ, システムのロバスト化, ポリトープ型不確かさ Robust Control, Model Error Compensator, DOB, MEC, Polytopic-type Uncertainty |
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| 資源タイプ | ||||||
| 資源タイプ | journal article | |||||
| 著者 |
吉田, 竜一郎
× 吉田, 竜一郎× 谷川, 祐大× 岡島, 寛× 松永, 信智 |
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| 別言語の著者 |
Yoshida, Ryuichiro
× Yoshida, Ryuichiro× Tanigawa, Yuki× Okajima, Hiroshi× 松永, 信智 |
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| 抄録 | ||||||
| 内容記述 | Control systems achieve the desired performance with the model-based controller if the dynamical model of the actual plant is given with sufficient accuracy. However, if there exists a difference between the actual plant and its model dynamics, the model-based controller does not work well and does not achieve the intended desired performance. A model error compensator (MEC) is proposed for overcoming the model error in our previous study. Attaching the compensator for the model error to the actual plant, the output trajectory of the actual plant is made close to that of its model. Then, from the controller, the apparent difference in the dynamics can be smaller, and performance degradation is drastically reduced. MEC is useful for various control systems such as non-linear systems and the control systems with delay, and so on. In this paper, we propose an original design method of the filter parameters in MEC for systems with polytopic-type uncertainty and disturbances. First, we show an analysis method about the robust performance of MEC for the system with the polytopic type uncertainty based on an linear matrix inequality problem. The gain parameters in MEC is designed using particle swarm optimization and the presented analysis method. The effectiveness of the design method for the system with polytopic-type uncertainty and disturbance is evaluated using numerical examples. | |||||
| 書誌情報 |
SICE Journal of Control, Measurement, and System Integration 巻 14, 号 2, p. 119-127, 発行年 2021-05-26 |
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| ISSN | ||||||
| 収録物識別子 | 1882-4889 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 関連識別子 | 10.1080/18824889.2021.1918392 | |||||
| 権利 | ||||||
| 権利情報 | This is an Accepted Manuscript of an article published by Taylor & Francis in SICE Journal of Control, Measurement, and System Integration on 26/5/2021, available online: http://www.tandfonline.com/10.1080/18824889.2021.1918392 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | AM | |||||
| 出版者 | ||||||
| 出版者 | Taylor & Francis | |||||
