Robust Nonlinear H-infinity Control Design via Stable Manifold Method
Robust Nonlinear H-infinity Control Design via Stable Manifold Method
复制标题
通过稳定流形方法进行鲁棒非线性 H 无穷大控制设计
DOI：
10.1155/2015/198380
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发表时间：
2015
影响因子：
--
通讯作者：
Noboru Sakamoto and Yutaka Yamamoto
中科院分区：
文献类型：
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作者：
Yoshiki Abe;Gou Nishida;Noboru Sakamoto and Yutaka Yamamoto
本文提出了一种系统的数值方法来设计鲁棒非线性H ∞控制器，而无需关于汉密尔顿-Jacobi方程的解的先验低维近似。该方法保证了解的全局计算与任意精度的稳定流形方法，这是一个解决方案的汉密尔顿-雅可比方程的非线性最优控制问题。在这种实现中，汉密尔顿-雅可比方程的稳定解的存在性可以从线性化系统和等价的哈密顿系统的一些性质导出，该等价的哈密顿系统是从汉密尔顿-雅可比方程的变换获得的。数值算例验证了设计方法的有效性。
This paper proposes a systematic numerical method for designing robust nonlinearH∞controllers without a priori lower‐dimensional approximation with respect to solutions of the Hamilton‐Jacobi equations. The method ensures the solutions are globally calculated with arbitrary accuracy in terms of the stable manifold method that is a solver of Hamilton‐Jacobi equations in nonlinear optimal control problems. In this realization, the existence of stabilizing solutions of the Hamilton‐Jacobi equations can be derived from some properties of the linearized system and the equivalent Hamiltonian system that is obtained from a transformation of the Hamilton‐Jacobi equation. A numerical example is shown to validate the design method.