123 MRダンパーを用いたセミアクティブサスペンションのインテグラルスライディングモード制御(非線形制御理論応用I)(OS 非線形制御理論応用)

概要

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In the design of sliding mode controllers for semi-active suspensions it is difficult to guarantee the existence of the sliding mode completely, which provides robust properties to the systems, because of the passivity constraints. This paper presents a new strategy for the design methods to hold the sliding mode as long as possible, using the Integral Sliding Mode theory, which was proposed by V.Utkin and J.Shi. The straregy is roughly described as follows: when the value of the switiching funct ion is almost equal to zero, the nonlinear control input used to reject undesired disturbances is better when it is as small as possible. This straregy leads to a dead zone algorithm. Numerical simulations and experimental results show the validity of the effectiveness of the controller.
一般社団法人日本機械学会の論文
2001-04-20