334 省エネルギーロバスト制御のためのハイブリッド補償器の設計(アドバンスト制御理論応用II)(OS アドバンスト制御理論応用)

概要

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This paper proposes a method to synthesize a hybrid controller by using redundancy in hybrid controllers so that the active part of the hybrid controller robustly consumes less energy. One of the most significant advantages of hybrid controllers are the possibility to consume less energy than active controllers without degradation of control performance. Nonetheless, only a few systematic synthesis methods have been proposed so far. Among them, our earlier work has proposed a synthesis method by making use of redundancy in hybrid controllers. However, the method have not guaranteed any robustness against unmodeled dynamics. In this paper, we robustify the existing results by using linear matrix inequalities (LMIs) and S-procedures. We also inspect the effectiveness of the proposed method with an example of an active suspension.
一般社団法人日本機械学会の論文
2001-04-20