A mixed H2/H∞ adaptive tracking control for constrained non-holonomic systems |
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| Authors: | Chung-Shi Tseng [Author Vitae] Bor-Sen Chen [Author Vitae] |
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| Affiliation: | a Department of Electrical Engineering, Ming Hsin University of Science Technology, Hsin-Fong 30410, Taiwan
b Department of Electrical Engineering, National Tsing Hua University, Hsin-Chu 30043, Taiwan |
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| Abstract: | In this study, a PID type controller incorporating an adaptive control scheme for the mixed H2/H∞ tracking performance is developed for constrained non-holonomic mechanical systems under unknown or uncertain plant parameters and external disturbances. By virtue of the skew-symmetric property of the non-holonomic mechanical systems and an adequate choice of a state variable transformation, sufficient conditions are developed for the adaptive mixed H2/H∞ tracking control problems in terms of a pair of coupled algebraic equations instead of a pair of coupled non-linear differential equations. The coupled algebraic equations can be solved analytically. |
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| Keywords: | PID controller Adaptive tracking control Mixed H2/H&infin performance Non-linear uncertain systems Non-holonomic constraints |
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