The design of a robust autoland controller using an optimization based design process is described. A modular controller architecture is developed first. Inner loops are based on Dynamic Inversion, speed and longitudi...
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We propose an efficient computational approach to minimize the H/sub /spl infin//-norm of a transfer-function matrix depending affinely on a set of free parameters. The minimization problem, formulated as a semi-infin...
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We propose an efficient computational approach to minimize the H/sub /spl infin//-norm of a transfer-function matrix depending affinely on a set of free parameters. The minimization problem, formulated as a semi-infinite convex programming problem, is solved via a relaxation approach over a finite set of frequency values. In this way, a significant speed up is achieved by avoiding the solution of high order LMIs resulting by equivalently formulating the minimization problem as a high dimensional semidefinite programming problem. Numerical results illustrate the superiority of proposed approach over LMIs based techniques in solving zero order H/sub /spl infin//-norm approximation problems.
作者：
王龙J. AckermannRobust Control Group
Institute of Robotics and System Dynamics German Aerospace Research CenterD-82230 Wessling Germany)
Presented are the fact that the transfer function from the front steering angle to yaw rate is strictly positive real, irrespective of the uncertain mass and uncertain velocity, how to determine the positivity margin ...
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Presented are the fact that the transfer function from the front steering angle to yaw rate is strictly positive real, irrespective of the uncertain mass and uncertain velocity, how to determine the positivity margin for this transfer function (some stabilization results are obtained), and how to check the positivity of a controller family. Furthermore,by exploiting the intrinsic structure of system equations and uncertainties, a nonconservative PID stabilization criterion for driver support systems is established. Some interesting results on positivity and connections of PID controllers are shown. Finally, some extreme point results on PID α-stabilization are obtained. These results give certain explanations and justifications for the simulation results performed at German Aerospace Research center.
In this paper, by exploiting the intrinsic structure of system equations and uncertainties, we first establish a nonconservative PID stabilization criterion for driver support systems. We then show some interesting re...
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In this paper, by exploiting the intrinsic structure of system equations and uncertainties, we first establish a nonconservative PID stabilization criterion for driver support systems. We then show some interesting results on positivity and connections of PID controllers. Finally, some extreme point results on PID α-stabilization are obtained. These results give certain explanations and justifications for the simulation results performed at German Aerospace Research center.
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