H infinitive Nonlinear Command Tracking

• Main Authors: Pan, Hao-Shiang, 盤號祥
• Other Authors: Hwang Thong-Shing
• Format: Others
• Language: zh-TW
• Published: 1997
• Online Access: http://ndltd.ncl.edu.tw/handle/42434580196307343508

碩士 === 中華工學院 === 航空太空工程研究所 === 85 === The major purpose of this research is to investigate the numerical computation of Hamilton-Jacobi-Isaacs equation in nonlinear H infinitive control problem and comparethe differences among H infinitive method, differential geometry approach method and linearized optimal control method. The first part of this research is to introduce the above three control methods. Theoretically, both H infinitive controller and differential geometryapproach controller can be designed directly for nonlinear system. The major idea of differential geometry approach is to apply dynamic inversion method to eliminate the nonlinear term of the original system. For the case of nonminimumphase system, there is at least one zero in the right half plane of the root locus of the system. It will appears the effect of zero dynamic of the closed-loop system and cause the internal stability problem for the differential geometry method. Consequently, differential geometry approach method is not a practical technique in solving the nonminimum phase nonlinear system. In this case, if we use the H infinitive control design, then the problem will disappear. The second part of this research is to apply the above theories in a minimum phase system which is a pendulum control and a nonminimum phase system which is inverted pendulum control. From the results of the simulation, we makesure that the H infinitive control design method can solve the problem of internal stability and increase the ability of controlling a practical system.