Establishment of Strictly Positive Real Condition for Tuning MIMO Feedforward Control
Establishment of Strictly Positive Real Condition for Tuning MIMO Feedforward Control
复制标题
建立用于调整 MIMO 前馈控制的严格正真实条件
DOI：
10.1109/lcsys.2021.3109899
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发表时间：
2022
影响因子：
3
通讯作者：
K. Sugimoto and W. Imahayashi,
中科院分区：
文献类型：
--
作者：
Erika Takahashi;Tomoki Miyasaka;Satoshi Funayama;Daiki Tamada;Utaroh Motosugi;Hiroyuki Morisaka;Hiroshi Onishi;Yasuhiko Terada;K. Sugimoto and W. Imahayashi,
两个自由度的结构，使我们能够实现稳定和跟踪独立使用反馈（FB）和前馈（FF）控制，分别。后者通常经历模型的不确定性，这是解决在线调整。调谐法保证零收敛的输出误差的任何目标信号，在一定的严格正真实的（SPR）条件下，然而，它是明显的限制。本研究提出一种方法，以确保SPR条件，通过设计一个FF滤波器和修改的误差信号调谐在多输入多输出的情况下。通过数值算例说明了所提出的方法。
The two-degree-of-freedom structure enables us to achieve stabilization and tracking independently using feedback (FB) and feedforward (FF) controls, respectively. The latter usually undergoes a model uncertainty, which is resolved by online tuning. A tuning law guarantees zero convergence of the output error for any target signals, under a certain strictly positive real (SPR) condition; however, it is noticeably restrictive. This study proposes a method for guaranteeing the SPR condition by designing an FF filter and modifying the error signal for tuning in the multi-input multi-output case. The proposed method is illustrated through a numerical example.