An \({\mathscr {H}}_{\infty }\) Approach to Data-Driven Offset-Free Tracking

[摘要] Data-driven controllers also called model-free controllers were invented in order to omit plant modeling step of model-based controllers. Design procedure of these controllers is directly based on experimental I/O data collected from real plant. It can ensure their reliability in real world applications, where the exact model is not available in most cases. In this paper, we consider the problem of accurate tracking performance in presence of external disturbances using data-driven methodologies combined with $$\mathscr {H}_\infty $$ H ∞ approach. Defining the improved subspace-based predictor, as the base step of the proposed controller’s design procedure, an integrator is applied to the control loop, which increases the accuracy of controller’s reference tracking performance. Moreover, a weighting function is considered for disturbance attenuation. Simulation results evidently illustrate efficiency and satisfactory performance of the proposed controller.

[学科分类] 自动化工程

[关键词] Data-driven control;Subspace predictor;\({\mathscr {H}}_{\infty }\) control;Offset-free tracking