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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/60875


    Title: Mixed H/sub 2//H/sub /spl infin// design for a decentralized discrete variable structure control with application to mobile robots
    Authors: 黃志良;Chih-Lyang Hwang;Song-Yu Han
    Contributors: 淡江大學電機工程學系
    Keywords: Decentralized control;2-optimization;- optimization;mobile robot;variable structure control
    Date: 2005
    Issue Date: 2011-10-15 01:01:15 (UTC+8)
    Abstract: Abstract—In this paper, a decentralized discrete variable structure
    control via mixed 2 design was developed. In the
    beginning, the 2-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 -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 to 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
    designed. The proposed control (mixed 2 DDVSC) was
    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.
    Relation: IEEE Transactions on Systems, Man & Cybernetics, Part B 35(4), pp.736-750
    DOI: 10.1109/TSMCB.2005.845999
    Appears in Collections:[電機工程學系暨研究所] 期刊論文

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