モデル誤差補償器のオンライン調整法

抄録

In this study, the automatic tuning model error compensator (AT-MEC) is proposed. MEC is one of the two-degree-of-freedom control methods to suppress the influence of the model error. This compensator has simple and general structure, and is easy to be implemented. However, there is no systematic tuning method for compensation gain for multi-input multi-output nonlinear systems. In this paper, the fictitious reference iterative tuning (FRIT) method is applied as on-line adjustment method of MEC. FRIT calculates the optimal value for parameters of a controller based on the deviation from a response of a reference closed loop model. By combinating online tuning method to MEC, AT-MEC suppresses the influence of fluctuating model errors. In addition, to extend the applicability of the AT-MEC, the exact linearization technique is introduced to AT-MEC. As the result, the proposed method works for the fluctuating model error of a number of MIMO nonlinear systems. In this paper, the validity of this proposed method is verified by the experiment of an automatic driving vehicle.