Toscano Rosario, Ivan Ioan Alexandru
Université de Lyon, LTDS, UMR CNRS 5513 - ECL/ENISE, 58 rue Jean Parot, 42023 Saint-Etienne cedex 2, France.
Université de Lyon, LTDS, UMR CNRS 5513 - ECL/ENISE, 58 rue Jean Parot, 42023 Saint-Etienne cedex 2, France; Valahia University of Targoviste, FIE/ICSTM, B-dul Unirii 18-20, 130082 Targoviste, Romania.
ISA Trans. 2014 Nov;53(6):1857-64. doi: 10.1016/j.isatra.2014.08.009. Epub 2014 Oct 23.
This paper introduces a new control scheme which incorporates the concept of shaping filter together with the use of the ν-gap metric and the robust design of a structured controller. The main motivation in doing this is related to the development of efficient control laws for small size actuators. Designing a structured controller is known to be computationally intractable via the traditional H∞ method. This is mainly due to the non-convexity of the resulting control problem which is of fixed order or structure type. To solve this kind of control problem easily and directly, without using any complicated mathematical manipulations and without using too many "user defined" parameters, we utilize the heuristic Kalman algorithm (HKA) for the resolution of the underlying constrained non-convex optimization problem. The experimental results validate the proposed technique and demonstrate its convenience for the development of fast and precise positioning systems.
本文介绍了一种新的控制方案，该方案将整形滤波器的概念与ν-间隙度量的使用以及结构化控制器的鲁棒设计相结合。这样做的主要动机与开发适用于小型执行器的高效控制律有关。众所周知，通过传统的H∞方法设计结构化控制器在计算上是难以处理的。这主要是由于所得控制问题的非凸性，该问题是固定阶或结构类型的。为了轻松直接地解决这类控制问题，不使用任何复杂的数学操作且不使用过多“用户定义”参数，我们利用启发式卡尔曼算法（HKA）来解决潜在的约束非凸优化问题。实验结果验证了所提出的技术，并证明了其在开发快速精确的定位系统方面的便利性。
