DocumentCode :
3588296
Title :
Controller design for truck-trailer stochastic system subject to H2 performance and strictly input passivity
Author :
Cheung-Chieh Ku ; Rui-Wen Chen
Author_Institution :
Dept. of Marine Eng., Nat. Taiwan Ocean Univ., Keelung, Taiwan
fYear :
2014
Firstpage :
63
Lastpage :
68
Abstract :
This paper deals with the mixed H2/passivity performance controller design problem for truck-trailer stochastic system. Based on the Ito stochastic equation, the stochastic behavior of the system can be described by multiplicative noise. Using the H2 control scheme, the output energy of the system is minimized under initial conditions. Moreover, the passivity performance is applied to attenuate instable energy from external disturbance. Employing the Lyapunov function, the asymptotical stability of the system is discussed by solving the derived sufficient conditions. Moreover, the mixed H2/passivity performance can be achieved to minimize the output energy and strictly input passivity of the system. Finally, the proposed design methodology is applied to solve the stability problem of truck-trailer system. And, simulation results show that the designed mixed H2/passivity controller effectively makes the Truck-Trailer stochastic system for achieving the mixed H2/passivity performance and asymptotical stability in the mean square.
Keywords :
H2 control; Lyapunov methods; asymptotic stability; control system synthesis; stochastic systems; H2 control scheme; Ito stochastic equation; Lyapunov function; asymptotic stability; external disturbance; mixed H2/passivity performance controller design; multiplicative noise; truck-trailer stochastic system; Asymptotic stability; Closed loop systems; Design methodology; Lyapunov methods; Noise; Stability analysis; Stochastic systems; H2 Performance; Mixed Performance Control; Multiplicative Noise; Passivity Theory; TTMR system;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automatic Control Conference (CACS), 2014 CACS International
Print_ISBN :
978-1-4799-4586-3
Type :
conf
DOI :
10.1109/CACS.2014.7097163
Filename :
7097163
Link To Document :
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