基於數據驅動的追蹤控制設計與實現

Tracking Control Design and Implementation: a Data-Driven Approach

林曜華(Yao-Hua Lin)

指導教授 ： 周永山

淡江大學/工學院/電機工程學系碩士班/碩士(2021年)

https://doi.org/10.6846/TKU.2021.00652

摘要

本論文研究離散時間、線性系統的數據驅動、追蹤控制設計問題。有別於傳統基於模型的控制設計方法，需先對受控體建置數學模型，然後設計控制器，本論文所提供的方法，毋需系統建模，而可由受控體的開迴路實驗數據逕行設計，對於不易建模的受控體，是一個很好的選擇。本論文提供狀態回授以及動態輸出回授的數據驅動追蹤控制設計。數個數值例子模擬以及電路實驗證實所提供設計方法的確有效。

關鍵字

數據驅動控制 ； 線性矩陣不等式 ； 追蹤控制

並列摘要

This thesis investigates the data-driven tracking control design for discrete-time linear systems. Contrary to the traditional model-based design where a mathematical model is identified for the plant and then a controller design follows, the proposed design does not need the step of system modelling. Instead, it can be done directly based on the experimental data collected from the plant. This provides a good alternative to the controller design for those plants that are difficult to identify their models. Data-driven tracking control design via state feedbacks and dynamic output feedbacks are considered. Simulation of several numerical examples and an electronic circuit experiment show the effectiveness of the proposed design.

並列關鍵字

data-driven control (DDC) ； linear matrix inequality (LMI) ； tracking control

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