DocumentCode :
1000478
Title :
Mixed H2/H design for a decentralized discrete variable structure control with application to mobile robots
Author :
Hwang, Chih-Lyang ; Han, Song-Yu
Author_Institution :
Dept. of Mech. Eng., Tatung Univ., Taipei, Taiwan
Volume :
35
Issue :
4
fYear :
2005
Firstpage :
736
Lastpage :
750
Abstract :
In this paper, a decentralized discrete variable structure control via mixed H2/H design was developed. In the beginning, the H2-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 H-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 H2/H 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.
Keywords :
Lyapunov methods; decentralised control; interconnected systems; mobile robots; optimisation; Diophantine equation; Lyapunov stability criterion; bounded tracking error; decentralized discrete variable structure control; energy consumption; low-order system; mobile robots; switching control; Control systems; Design methodology; Energy consumption; Equations; Error correction; Frequency; Lyapunov method; Stability criteria; System performance; Weight control; Decentralized control; mobile robot; variable structure control; Algorithms; Artificial Intelligence; Computer Simulation; Feedback; Models, Statistical; Movement; Numerical Analysis, Computer-Assisted; Robotics; Signal Processing, Computer-Assisted;
fLanguage :
English
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher :
ieee
ISSN :
1083-4419
Type :
jour
DOI :
10.1109/TSMCB.2005.845999
Filename :
1468247
Link To Document :
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