構造的に安定なバックラッシを含む適応有限時間整定系の設計

概要

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Structual stability means that even if identified error and disturbance exist they don't influence control almost while they are small. It is possible to realize structually stable system if closed loop system is stable. When the poles of the one are set to be all zero, the finite settling time control system is realized. When motor is used as a actuator, we had better use the gear in order to generate big torque by small motor. Gear contains backlash as a nonlinear element. But it is possible to convert it into static gain and diturbance. But using observer and state feedback, pole allocation is performed as inner model principle is satisfied. As controlled object is identified, the parameters of controller are converged to real value on line. The finite settling time control is performed as adaptive control or self tuning control.
岡山理科大学の論文