The design of optimal strictly positive real (SPR) compensators using numerical optimization
is considered. The plants to be controlled are linear and nonlinear flexible manipulators.
For the design of SISO and MIMO linear SPR controllers, the optimization
objective function is defined by reformulating the H2-optimal control problem subject
to the constraint that the controllers must be SPR. Various controller parameterizations
using transfer functions/matrices and state-space equations are considered. Depending
on the controller form, constraints are enforced (i) using simple inequalities guaranteeing
SPRness, (ii) in the frequency domain, or (iii) by implementing the Kalman-Yakubovich-
Popov lemma. The design of a gain-scheduled SPR controller using numerical optimization
is also considered. Using a family of linear SPR controllers, the time dependent
scheduling signals are parameterized, and the objective function of the optimizer seeks
to find the form of the scheduling signals which minimizes the manipulator tip tracking
error while minimizing the control effort.
| Identifer | oai:union.ndltd.org:TORONTO/oai:tspace.library.utoronto.ca:1807/11142 |
| Date | 30 July 2008 |
| Creators | Forbes, James Richard |
| Contributors | Damaren, Christopher John |
| Source Sets | University of Toronto |
| Language | en_ca |
| Detected Language | English |
| Type | Thesis |
| Format | 908902 bytes, application/pdf |
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