非線形H^∞制御による電気自動車の走行制御系の設計

概要

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This paper is concerned with the design of a nonlinear tracking control system utilizing recent H^∞ control theory. We introduce a reference system according to an actual system and leading to a state tracking error system. Then we set the condition of equilibrium state for this system. As a result, we turn the nonlinear tracking control problem into a nonlinear regulation problem and develop a solution using H^∞ control. It is treated by replacing the Riccati equation in linear H^∞ control with the Hamilton-Jacobi equation ; finding the solution of the Riccati equation thus entails finding the so-called generating function which is the Hamilton Jacobi equation's solution. From the generating function we can calculate the H^∞ optimal feedback function of the nonlinear tracking control system under the condition of minimal norm of the transfer function from disturbance to output. Its effectiveness is proven by application to the longitudinal control of an electric vehicle. The results are shown by simulation as well as bench experiment.
一般社団法人日本機械学会の論文
1994-01-25