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Title page for etd-0818104-151545


URN etd-0818104-151545 Statistics This thesis had been viewed 2023 times. Download 10 times.
Author Song-Yu Han
Author's Email Address g9201006@ms2.ttu.edu.tw
Department Mechanical Engineering
Year 2004 Semester 2
Degree Master Type of Document Master's Thesis
Language English Page Count 52
Title Mixed H2/H∞ Design for a Decentralized Discrete Variable Structure Control with Application to Mobile Robots
Keyword
  • Variable structure control
  • Mobile robot
  • H∞-optimization
  • H2 -optimization
  • Decentralized control
  • Decentralized control
  • H2 -optimization
  • H∞-optimization
  • Mobile robot
  • Variable structure control
  • Abstract In this thesis, a decentralized discrete variable structure control via mixed H2/H∞design was developed. In the beginning, the H2 norm of output error and weighted control input was minimized to obtain a control such that smaller energy consumption with bounded tracking error was assured. In addition, a suitable selection of this weighted function (connected with frequency) could reduce the effect of disturbance on the control input. However, an output disturbance caused by the interactions among subsystems, modeling error, and external load deteriorated system performance or even brought about instability. In this situation, the H∞ norm of weighted sensitivity between output disturbance and output error was minimized to attenuate the effect of output disturbance. Moreover, an appropriate selection of this weighted function (related with frequency) could reject the corresponding output disturbance. No solution of Diophantine equation was required; the computational advantage was especially dominated for low-order system. For further improving system performance, a switching control for every subsystem was also designed. The proposed control (mixed H2/H∞ DDVSC) is a three-step design method. The stability of the overall system was verified by Lyapunov stability criterion. The simulations and experiments of mobile robot were carried out to evaluate the usefulness of the proposed method.
    Advisor Committee
  • Chih-Lyang Hwang - advisor
  • Kai-tai Song - co-chair
  • Wen-Siyong Yu - co-chair
  • Files indicate in-campus access only
    Date of Defense 2004-07-16 Date of Submission 2004-08-18


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