A framework for integrated design of structural and controller parameters

Author

Eisaka, Toshio

Author_Institution

Dept. of Comput. Sci., Kitami Inst. of Technol., Kitami

fYear

2008

fDate

17-20 Dec. 2008

Firstpage

2256

Lastpage

2260

Abstract

Integrated design of structure-control combined system enhances overall performance. Classical two-step sequential or iterative designs served as a guide to improve the performance. However, this separate-discipline approach fails to guarantee overall optimality. Recently, simultaneous design methods have been proposed via non-convex numerical optimization of the parameters of both plant and controller. In this paper, we introduce an alternative framework that is suitable to treat simultaneous design of structural and controller parameters.

Keywords

control system synthesis; iterative methods; optimisation; controller parameter design; iterative designs; nonconvex numerical optimization; separate-discipline approach; structure-control combined system; Automatic control; Control system synthesis; Control systems; Design automation; Design methodology; Design optimization; Polynomials; Robot control; Robot vision systems; Robotics and automation; Integrated design; control system design; numerical optimization;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on

Conference_Location

Hanoi

Print_ISBN

978-1-4244-2286-9

Electronic_ISBN

978-1-4244-2287-6

Type

conf

DOI

10.1109/ICARCV.2008.4795883

Filename

4795883