Title :
Multivariable H∞ tracking control of a mono-cycle
Author :
de Jager, Bram ; Veldpaus, Frans
Author_Institution :
Fac. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands
Abstract :
The development of an H∞-controller for a mono-cycle is outlined. The controller design is based on an accurate model of a mono-cycle, derived in the paper, and it considers both performance and robustness specifications. To easily attain the specifications a two degree-of-freedom control scheme is investigated. The results are compared with those for a single degree-of-freedom H∞. design and for a state-feedback controller based on pole placement techniques. The two H∞, designs are shown to be a moderate improvement upon the state-feedback design. The differences between the one and two degree-of-freedom H∞ design depend on the set of measured variables.
Keywords :
H∞ control; bicycles; control system synthesis; multivariable control systems; pole assignment; robust control; state feedback; monocycle; multivariable H∞ tracking control; pole placement technique; robustness specification; state-feedback controller; state-feedback design; two degree-of-freedom control; Mathematical model; Robustness; Sensitivity; Time-domain analysis; Torque; Transfer functions; Wheels; H∞ robust control; modeling; nonlinear dynamics;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
