外部入力を有する拘束システムに対するスイッチング状態フィードバック制御則の構成法

抄録

This paper considers switching state feedback control of systems with unknown but bounded disturbance inputs subject to state and control constraints, and resolves convergence problems which arise with the effects of unknown disturbances. This difficulties have not been handled by the switching control laws which were proposed in the literatures. The proposed switching control law assures convergence of the state and successive controller switching even in the presence of unknown disturbances. The main idea is to construct an upper bound of the state reachable set ' such that convergence of the state is assured by restricting this set to some subset of the state space. The resulting optimization problems which provide a sequence of feedback gains are more difficult to solve than those with no disturbances. However, this optimization problems may be solved with some heuristic manners. In addition, required on-line computational burden is the same as that in case of no disturbance inputs.