New techniques for H2 optimal control of a flexible beam
New techniques for H2 optimal control of a flexible beam
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柔性梁H2优化控制新技术
DOI：
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发表时间：
1991
期刊：
影响因子：
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通讯作者：
M. Vidyasagar
中科院分区：
文献类型：
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作者：
D. Vinke;M. Vidyasagar
控制柔性梁的一种方法是H2最优补偿，它使特定参考输入的均方跟踪误差最小化。然而，对于许多柔性梁，H2最优补偿器要求的对象输入幅值是无法实现的。为了避免这一困难，采用了有约束的H2最优补偿，要求对象输入不超过某一特定值。本文提出了一种基于稳定因式分解和拉格朗日乘子的算法来解决这个问题。控制柔性梁的另一个困难是，通常的梁的输出定义没有定义良好的模型。以前的工作已经表明，另一种输出定义确实具有定义良好的模型。实验结果表明，将该算法应用于任一模型都能获得良好的控制器。
One method of controlling a flexible beam is H2 optimal compensation, which minimizes the mean square tracking error for a particular reference input. However, for many flexible beams the H2 optimal compensator requires plant input magnitudes that are unrealizable. To avoid this difficulty, constrained H2 optimal compensation is used which requires that the plant input not exceed a certain value. In this paper, an algorithm based on stable factorization and a Lagrangian multiplier has been developed to solve this problem. A further difficulty in controlling flexible beams is that the usual output definition of the beam does not have a well defined model. Previous work has shown that an alternative output definition does have a well defined model. Experimental results indicate that applying the algorithm to either model an excellent controller can be obtained.