A mixed H2/H∞ adaptive tracking control for constrained non-holonomic systems

被引:24
作者
Tseng, CS [1 ]
Chen, BS
机构
[1] Ming Hsin Univ Sci Technol, Dept Elect Engn, Hsinfong 30410, Taiwan
[2] Natl Tsing Hua Univ, Dept Elect Engn, Hsinchu 30043, Taiwan
关键词
PID; controller; adaptive tracking control; mixed H(2)/H(infinity) performance; non-linear uncertain systems; non-holonomic constraints; MECHANICAL SYSTEMS; DYNAMIC-SYSTEMS; MOBILE ROBOTS; STABILIZATION; OPTIMIZATION;
D O I
10.1016/S0005-1098(03)00038-4
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this study, a PID type controller incorporating an adaptive control scheme for the mixed H(2)/H(infinity) tracking performance is developed for constrained non-holonomic mechanical systems under unknown or uncertain plant parameters and external disturbances. By virtue of the skew-symmetric property of the non-holonomic mechanical systems and an adequate choice of a state variable transformation, sufficient conditions are developed for the adaptive mixed H(2)/H(infinity) tracking control problems in terms of a pair of coupled algebraic equations instead of a pair of coupled non-linear differential equations. The coupled algebraic equations can be solved analytically. (C) 2003 Elsevier Science Ltd. All rights reserved.
引用
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页码:1011 / 1018
页数:8
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