連続的可変構造制御によるロバストサーボ系

概要

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A method to design a robust servomechanism by continuously variable structure control is proposed. The state and control signal of this servomechanism do not chatter since a continuous control scheme is used. The input-output relation of this servomechanism is determined by prescribing a hyperplane in s state space of which the neighborhood is asymptotically attractive every where. The control scheme guarantees that state trajectories starting outside the neighborhood of the hyperplane tend towards it and state trajectories starting inside it stay in it. Therefore, this servomechanism is less insensitive with respect to parameter variations, disturbances and nonlinearity. The output error which is caused by the deviation of the trajectory from the hyperplane is further derived as a function of the deviation. The results are extended to obtain a robust servomechanism of type l. An example is given in order to illustrate the efficiency of the proposed design method.
一般社団法人日本機械学会の論文
1988-07-25