離散時間入力拘束システムの目標信号追従制御 : 状態依存可変ゲインフィードバックとオンライン目標信号修正に基づく方法(機械力学,計測,自動制御)

概要

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In this paper, we consider tracking control problems in the presence of actuator saturation. We first show a control law that internally stabilizes the closed-loop system and the tracking error converges to zero in the case where a reference signal is generated by a certain dynamics. The control law is based on the recently developed state dependent gain-scheduling algorithm and makes it possible to achieve large region of attraction and fast convergence of tracking error. Then, based on this result, we propose a control algorithm in the case where the reference signal is an arbitrary time-varying signal. In this case, it is difficult to guarantee strict asymptotic convergence of the tracking error. Hence, we show a control algorithm that makes the tracking error as small as possible at each time and guarantees asymptotic convergence in the case where the reference signal becomes constant after a finite time.
社団法人日本機械学会の論文
2008-07-25