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
