Mixed H2-Passivity Performance Controller Design for Linear Systems

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Project title

Code/計畫編號

NSC102-2218-E019-003

Translated Name/計畫中文名

針對線性系統設計具混和H2-Passivity性能之控制器

Project Coordinator/計畫主持人

Cheung-Chieh Ku

Funding Organization/主管機關

National Science and Technology Council

Department/Unit

Department of Marine Engineering

Website

https://www.grb.gov.tw/search/planDetail?id=3089825

Year

2013

Start date/計畫起

01-08-2013

Expected Completion/計畫迄

31-07-2014

Bugetid/研究經費

564千元

ResearchField/研究領域

電子電機工程

"性能指標往往是控制領域中專家學者們共同研究的重要議題，在以往的性能指標上大多數都以單一性能指標研究作為控制器設計的目標，其指標不外乎是加強系統的穩定性或者是使系統具備抗雜訊功能；對於同時具備兩種性能指標的混和式控制理論也隨著系統的精進與控制的裕度增加而發展，目前為止混和性能控制皆以 H₂ 以及 H∞ 控制理論為基礎進行研究，其中 H₂ 控制理論可應用於使系統的輸出能量以起始條件為基礎進而達到最小化的動作且保證系統之穩定性，而 H∞ 控制理論則是針對限制外部雜訊對系統的影響，因而發展出混和式 H₂ / H∞ 性能的控制設計方法；然而 H∞ 控制理論是以訊號之間比值大小決定雜訊對系統影響的程度，由於訊號選擇的彈性有限因而限制控制器無法配合系統特性進行設計。本計畫中將以被動理論為基礎討論外部雜訊對系統的影響程度，由於被動理論是以系統能量的變化作為理論基礎而被發展出來的，且理論中的能量供應方程式 (Power Supply Function) 可由設計者自行調配後進行降低外部雜訊對系統的干擾程度，因此被動理論具有較為廣義且彈性的控制器設計方法。根據以上所述，本計畫將以混和 H₂ / passivity 性能的研究做為發展主軸進行線性系統的穩定性分析與控制器設計。最後我們將以線性自行車系統作為受控體以驗證所發展理論的有效性與可行性。""The performance index is an important issue in control problems. Most the literatures discussing the performance control problems focus on single performance for presenting the design methods. For two different performance indexes, the mixed performance theory is proposed since sensitivity and controllability of system are increased. As authors known, the mixed performance controller methods are presented by combining the H₂ and H∞ control theories to develop mixed H₂ / H∞ performance. The H₂ control scheme is applied to minimize the system energy based on the initial conditions. And the H∞ performance is employed to deal with disturbance rejection performance of system. Although the H∞ performance is effective and useful, it is not a general description for describing the energy change between system and disturbance. In order to extend the generality, the passivity theory [12-20] is introduced in this project to discuss the energy change between system and external disturbance. With setting power supply function well, the passivity theory includes some control schemes, for example: H∞ scheme, positive real theory and so on. Thus, the Mixed H₂/passivity performance is the discussion issue in this project for proposing the controller design method. Finally, the linear bicycle system is employed to demonstrate the usefulness and effectiveness of the design method proposed by this project."

Keyword(s)

被動理論
混和性能
H₂ 控制
線性矩陣不等式
Passivity Theory
Mixed Performance
H2 Control
Linear Matrix Inequality

DSpace CRIS

Mixed H2-Passivity Performance Controller Design for Linear Systems

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