Robust Motion Control Based on Quadratic Stabilization and Its Application to Two-Inertia Systems
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概要
- 論文の詳細を見る
This paper considers robust motion control of uncertain systems which contain norm-bounded time-varying unstructured uncertainties. The proposed design method is based on quadratic stabilization. The feedback controller, which robustly stablizes the uncertain plant and achieves the desired performance, is constructed based on the solutions of two matrix Riccati equations with a scaling matrix. To achieve further improvement of the command response, we introduce a feedforward control based on the inverse system of the controlled nominal plant. Our method is applied to a two-inertia system which is the simplest model of a mechanical system with torsional vibration. The simulation results show the effectiveness of the proposed method.
- 一般社団法人日本機械学会の論文
- 1994-09-15
著者
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YAMAMOTO Shigeru
Department of Nutrition and Food Science, Ochanomizu University
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Yamamoto Shigeru
Department Of International Nutrition Institute Of Health Biosciences The University Of Tokushima Gr
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Yamamoto S
Department Of Mechano-informatics & Systems Nagoya University
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Nishida Takao
Osaka Gas Co., Ltd.
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Kawabata Tadashi
Department of Mechanical Engineering, Osaka University
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Kimura Hidenori
Department of Systems Engineering, Osaka University
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Nishida Takao
Osaka Gas Co. Ltd.
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Kimura H
Univ. Electro‐communications Tokyo Jpn
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Kimura Hidenori
Department Of Systems Engineering Osaka University
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Kawabata Tadashi
Department Of Mechanical Engineering Osaka University
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Kimura Hidenori
Department Of Mathematical Engineering And Information Physics The University Of Tokyo
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Yamamoto Shigeru
Department Of Food And Nutritional Sciences Graduate School Of Humanities And Sciences Ochanomizu Un
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Yamamoto Shigeru
Department Of Systems Engineering Osaka University
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Yamamoto Shigeru
Department Of Biology Faculty Of Science Kyushu University
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