Title :
A homotopy method for decentralized control design
Author :
Mehendale, Charudatta S. ; Grigoriadis, Karolos M.
Author_Institution :
Dept. of Mech. Eng., Houston Univ., TX, USA
Abstract :
This paper considers the design of a full order output feedback decentralized H∞ controller. An iterative algorithm that is based on the idea of two homotopy paths is proposed. Along one homotopy path, the decentralized control design problem, which is essentially non-convex, is locally linearized and solved. Along the other homotopy path the existing controller is deformed at each step so that in the end it attains a decentralized structure. A decentralized control design for a doubly inverted pendulum is demonstrated using the proposed algorithm.
Keywords :
H∞ control; control system synthesis; decentralised control; iterative methods; pendulums; bilinear matrix inequality; decentralized H∞ controller; decentralized control design; doubly inverted pendulum; full order output feedback controller; homotopy method; iterative algorithm; Application software; Communication system control; Control design; Control systems; Distributed control; Linear matrix inequalities; Mechanical engineering; Output feedback; Stability; State feedback;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1242522
