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

fYear

1997

fDate

1-7 July 1997

Firstpage

331

Lastpage

336

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1997 European

Conference_Location

Brussels

Print_ISBN

978-3-9524269-0-6

Type

conf

Filename

7082115