LPV H∞ Control with an Augmented Nonlinear Observer for Sawyer Motors

Mathematics

Youngwoo Lee¹  Khac Huan Su¹  Kwankyun Byeon²  Wonhee Kim³ 

[1] Department of Electrical Engineering, Chonnam National University, Gwangju 61186, Korea;Department of Energy System Engineering, Chung-Ang University, Seoul 06974, Korea;School of Energy System Engineering, Chung-Ang University, Soeul 06974, Korea;

关键词: Sawyer motors;    linear parameter varying (LPV) system;    disturbance observer;    augmented observer;    linear matrix inequality (LMI);    H_∞ control;   

DOI  :  10.3390/math10010018

来源: DOAJ

【 摘 要 】

This study presents LPV H_∞ control with an augmented nonlinear observer (ANOB) to improve both the position and yaw tracking errors for Sawyer motors. The proposed control method consists of the forces and torque modulation scheme, an ANOB, and a Lyapunov-based current controller with the LPV H_∞ state feedback controller to guarantee the stability of tracking error dynamics. The ANOB is designed to estimate all the state variables including the position, velocity, current, and disturbance using only position feedback. We propose a vertex expansion technique to solve the influence of the convex interpolation parameters in the LPV system on the tracking error performance. To be robust against disturbance, a state feedback controller with the LPV gain scheduling is determined by applying the H_∞ control in the linear-matrix-inequality (LMI) technique. The closed-loop stability is proved through the Lyapunov theory. The effectiveness of the proposed control method is evaluated through simulation results and compared with the conventional proportional-integral-derivative (PID) control method to verify both the improved tracking error performance and a suitable disturbance rejection.

【 授权许可】

Unknown