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Iterartive control systems design based on experimental data

基于实验数据的迭代控制系统设计

基本信息

批准号：
08455195
负责人：
SUGIE Toshiharu
金额：
$ 4.22万
依托单位：
KYOTO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1996
资助国家：
日本
起止时间：
1996 至 1997
项目状态：
已结题

项目摘要

The following results have been achieved in the current year by developping the results of(i)System indentification for robust control and(ii)Numerical optimization which were done in the previous year.*1.System identification for robust control*A unified approach of system identification and design of control systems has been obtained based on the results on subspace state-space identification which were done in the previous year. Since robust control needs a set of perturbed models, we proposed one method of identifying such a set which reduces the conservativeness by considering statistical properties of the added noise.*2.Design of control systems via numerical optimization*We exploit a method of mu analysis and synthesis, which play an important role in the robust control to handle physical parameter perturbation, via parameter dependent LMI(linear matrix inequality). It is expected that the proposed method will improve the performance of the control systems.A study on a method of constructing a control system directly from input-output data without the knowledge plant model are discussed, and one such learning method by convex optimization is proposed.*3.Experiment of controlling a helicopter*System identification of the 4-input 6-output helicopter system, which was manufactured in the previous year, have been done by dividing it into for sub-systems. After a basic experiment via H_* control, we re-design a controller by considering the interference among the sub-systems, and then we have obtained a good result in an experiment of havering and tacking of a circle trajectory. However, the unified result of system identification and design of control systems were not achieved because of insufficiency of the sensor precision etc.

本年度通过发展(i)鲁棒控制的系统辨识和（ii）上一年完成的数值优化的结果，取得了以下成果。基于前一年子空间状态空间辨识的研究成果，提出了一种统一的系统辨识与控制系统设计方法。由于鲁棒控制需要一组扰动模型，我们提出了一种通过考虑附加噪声的统计特性来降低保守性的方法。*利用参数相关LMI（线性矩阵不等式）方法，利用在鲁棒控制中起重要作用的mu分析和综合方法来处理物理参数摄动。预期所提出的方法将改善控制系统的性能。讨论了一种不需要知识植物模型直接从输入输出数据构建控制系统的方法，并提出了一种基于凸优化的控制系统学习方法。*对上年生产的四输入六输出直升机系统进行了系统辨识，并将其划分为子系统。在通过H_*控制进行基本实验后，考虑到各子系统之间的干扰，重新设计了控制器，并在圆轨迹的跟踪实验中取得了良好的效果。然而，由于传感器精度的不足等原因，未能实现系统辨识和控制系统设计的统一结果。