Title :
Nonlinear H∞ controller design for a class of nonlinear control systems
Author_Institution :
Dept. of Autom., Univ. of Petroleum, Dongying, China
Abstract :
As a kind of robust control for nonlinear systems, nonlinear H∞ control has been developed in recent years. Since controller design requires the solution of a positive definite function from a nonlinear partial differential HJI inequality, and since no any efficient algorithms have been proposed for solving the inequality to date, a nonlinear H∞ controller is very difficult to realize in practice. In this paper, for a class of nonlinear control systems, a design method for nonlinear H∞ controllers is presented. By choosing a set of suitable penalty variables, the HJI inequality can be replaced by an algebraic matrix Riccati inequality. As an example, nonlinear H∞ tracking controllers for rigid robot arms are designed
Keywords :
H∞ control; Riccati equations; control system synthesis; manipulators; matrix algebra; nonlinear control systems; nonlinear equations; robust control; tracking; algebraic matrix Riccati inequality; control algorithms; nonlinear H∞ controller design; nonlinear H∞ tracking control; nonlinear control systems; penalty variables; positive definite function; rigid robot arms; robust control; Algorithm design and analysis; Control systems; Design methodology; Linear matrix inequalities; Matrices; Nonlinear control systems; Nonlinear systems; Riccati equations; Robot control; Robust control;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1997. IECON 97. 23rd International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3932-0
DOI :
10.1109/IECON.1997.671064
