Synthesis of robust servo-controller using adaptive artificial potential field method

This paper deals with the synthesis of robust servo-controller using the novel technique of adaptive artificial potential field method (AAPFM) where an artificial potential field is formulated with the properties that 1) there exists a global optimum curve (the minimum potential line) and 2) the feasible region (where the closed loop principal gains reside) is contained in a set of converging boundary plates. The conventional design objectives of disturbance rejection, tracking, and robustness are formulated into an equivalent problem of shaping the closed loop principal gains into an ideal response curve that corresponds to an unique minimum potential line in an artificial potential field. Two design examples: the Rosenbrock problem and an aircraft system, are considered and it is shown that the AAPFM is effective in shaping and balancing the principal gains.