ロバスト超平面を有するスライディングモード制御の柔軟構造物への適用

概要

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Sliding mode control theory is nonlinear robust control theory and one of variable structure control. This theory has good performance against uncertainty satisfied matching condition. But the conventional sliding mode control system often becomes unstabled due to high frequency vibration caused by unmodelled dynamics. In this paper, we consider application of Frequensy-Shaped Sliding Mode Control (FSSMC) to flexible structure. Flexible structure has uncertainty on the control input side, e.g. time delay, friction, and so on. It is difficult for control of flexible structure because of these uncertainty, when we applied a linear control. Applying sliding mode conrol, we can design a eternal system against these uncertainty and dynamics for sake of mating condition satisfied. Moreover, closed loop system does not become unstabled due to ummodelled dynamics for sake of robust hyperplane designed using H_∞ theory. For example of application, we have just applied to the fiexible truss structure with control momentam gyro (CMG). We have verified from simulation and experiment that this method has good performance.
社団法人日本機械学会の論文
1999-01-25