数値最適化による周波数応答に基づいたロバスト性能を満たす制御器設計

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2021/12/01

タイトル(英語): Numerical Optimization Approach for Robust Performance Controller Using Frequency Responses

著者名: 伊東　航平（三重大学），弓場井　一裕（三重大学），矢代　大祐（三重大学），駒田　諭（三重大学）

著者名(英語): Kohei Ito (Mie University), Kazuhiro Yubai (Mie University), Daisuke Yashiro (Mie University), Satoshi Komada (Mie University)

キーワード: ロバスト性能，周波数応答，凸最適化，粒子群最適化(PSO)　　robust performance，frequency responses，convex optimization，Particle swarm optimization (PSO)

要約(英語): The robust controller is often required for suppressing modeling errors and disturbances. In order to design the robust controller analytically, the H∞ control problem and the μ-synthesis are proposed as the model-based controller design techniques. These two methods need the nominal plant model and the uncertainty. However, it is difficult to obtain the accurate plant model with limited complexity. The inappropriate plant model leads to large uncertainty. As a result, the designed controller is conservative. This paper proposes designing the robust controller with only frequency responses. In addition, the proposed method designs the controller automatically by the numerical optimization. In the method, the robust performance condition is addressed as the design problem. The robust performance condition is formulated as a iterative convex optimization using the linear approximation by the Taylor expansion. However, since the Taylor expansion is used for the formulation, the initial controller is needed and the designed controller depends on the initial controller. To solve the problem, the particle swarm optimization (PSO) is introduced to obtain a reasonable initial controller. The PSO reduces dependence on initial controllers because many initial controllers are given randomly as candidates of the solution. Simulation and experimental results are shown to confirm the effectiveness of the proposed method.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.141 No.12 （2021） 特集Ⅰ：電気・電子・情報関係学会東海支部連合大会　特集Ⅱ：研究会優秀論文

本誌掲載ページ: 1360-1370 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/141/12/141_1360/_article/-char/ja/