μ設計理論で周波数成形されたスライディングモード制御による柔軟構造物のアクティブ制御 (<小特集>ロボットの知能化)

概要

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This paper proposes a new design method for a sliding mode control system using μ synthesis theory. This concept is based on a frequency-shaped approach. A general hyperplane consists of a reference model without dynamics. Therefore, a conventional sliding mode control system often becomes unstable due to spillover phenomena of high frequency caused by high-speed switching. The proposed design method suppresses such spillover phenomena because of frequency shaping. Also, it has good robustness on the hyperplane to realize a minimum value of H_∞ norm and the structured singular value from some noise to state variables. We have just applied this new method to the flexible structure of a test rig with four stories such as a high-rise building. We have obtained good performance from simulations and experiments.
社団法人日本機械学会の論文
1996-10-25