Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Experiment Videos

Mixed H2/H infinity design for a decentralized discrete variable structure control with application to mobile robots.

Chih-Lyang Hwang1, Song-Yu Han

  • 1Department of Mechanical Engineering, Tatung University, Taipei, 10451 Taiwan, ROC. clhwang@ttu.edu.tw

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|September 1, 2005
PubMed
Summary

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Recurrent-Neural-Network-Based Multivariable Adaptive Control for a Class of Nonlinear Dynamic Systems With Time-Varying Delay.

IEEE transactions on neural networks and learning systems·2015
Same author

A reinforcement discrete neuro-adaptive control for unknown piezoelectric actuator systems with dominant hysteresis.

IEEE transactions on neural networks·2008
Same author

Fuzzy neural-based control for nonlinear time-varying delay systems.

IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society·2008
See all related articles

A new mixed H2/H infinity decentralized discrete variable structure control (DDVSC) minimizes energy consumption and tracking errors. This control method effectively attenuates output disturbances for improved system stability and performance, validated through mobile robot experiments.

Area of Science:

  • Control Systems Engineering
  • Robotics
  • Applied Mathematics

Background:

  • Decentralized control systems face challenges from inter-subsystem interactions, modeling errors, and external loads.
  • Output disturbances can degrade system performance and lead to instability in complex systems.
  • Existing control methods may require complex solutions like Diophantine equations, limiting computational efficiency.

Purpose of the Study:

  • To develop a novel decentralized discrete variable structure control (DDVSC) using a mixed H2/H infinity design.
  • To minimize energy consumption and ensure bounded tracking errors.
  • To effectively attenuate output disturbances and enhance system stability and performance.

Main Methods:

  • A three-step design methodology combining H2 and H infinity control principles.

Related Experiment Videos

  • Minimizing the H2-norm for reduced control input energy and bounded tracking error.
  • Minimizing the H infinity-norm of weighted sensitivity to attenuate output disturbances.
  • Incorporating switching control for individual subsystems.
  • Verification of stability using the Lyapunov stability criterion.

    • Main Results:

    • The proposed mixed H2/H infinity DDVSC ensures smaller energy consumption with bounded tracking error.
    • Frequency-weighted functions effectively reduce disturbance effects on control input and reject output disturbances.
    • The method avoids solving Diophantine equations, offering computational advantages for low-order systems.
    • Simulations and experiments on a mobile robot demonstrated the method's effectiveness.

    Conclusions:

    • The developed mixed H2/H infinity DDVSC provides a robust and computationally efficient control strategy.
    • The approach successfully balances performance objectives, including energy efficiency and disturbance rejection.
    • The method's practical utility is confirmed through experimental validation on a mobile robot platform.