二自由度モデルマッチング制御系における安定化制御器のH_∞制御理論による設計 : 油圧マニピュレータ各軸のロバスト設計法

概要

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We have studied disturbance observer and applied its control method to the 6-DOF manipulator which is driven by hydraulic power and also confirmed that disturbance estimation & compensation control is robust in the sense of 'model-matching characteristic' to the output of the nominal model. On the other hand, the disturbance canceling controller has the same configuration as a model matching 2-DOF control system, in which Q(s), that is a stabilizing filter, plays a very important roll against robust stability of control system. In this paper we propose new design method for the Q(s) by applying H-Infinity control theory and as a result, it was verified by an experiment in which robust, stable positional precision can always be achieved against fluctuations in the system parameter.
一般社団法人日本機械学会の論文
1998-01-25