アクティブゲインスケジューリング : LPVシステムとゲインスケジューリング制御の協調(<特集>D & D 2007)

概要

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We propose a new collaborative control framework between the time varying design parameter in the control object and the feedback controller. The framework can be regarded as an extension of the integrated design of structural and control systems to time varying systems. The control design problem is formulated as the simultaneous optimization problem that seeks the optimal time varying design parameters of a plant with an LPV system representation, and the feedback controller for the LPV plant. As the control law we adopt the LMI based gain scheduling control that satisfies the closed-loop y_2 gain constraint against the variation of the time varying design parameter of the control object. After the gain scheduling controller is obtained the tuning rule of the time varying design parameter of the plant is determined to improve closed-loop performance. We refer to the present control strategy as Active Gain Scheduling Control (AGSC) because the scheduling parameter in the gain scheduling control system is actively changed by control designers. Under the AGSC framework we can apply various methods to obtain the optimal time varying design parameter in the plant if the time varying design parameter stays in the class that is assumed in the gain scheduling controller design. An example of the AGSC method for a mechanical system with a time varying structural design parameter is presented.
一般社団法人日本機械学会の論文
2008-05-25