Sliding Mode Positioning Control of Single Link Flexible Arm Using H_∽ Control Hyperplane with Q Parametrization
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概要
- 論文の詳細を見る
This paper is concerned with the positioning control of single link flexible arm using sliding mode control theory.We designed the control system using output feedback method.But the high gain sliding mode controller often causes the control system unstable based on spillover phenomena in higher frequency region.Therefore, we also design for the switching hyperplane using H_∽ control theory.But H_∽ controller has a problem of a big overshoot.Then we apply to Q parametrization which has a performance of H_∽ controller.In a word, nominal controller is the H_∽ controller.Q parametrization can satisfy some constraints, for example, norm, overshoot, settling time and so on.Q controller has a good performance.However, it becomes a high-order compensator.In this study, it becomes from the 6th to the 25th-order.
- 一般社団法人日本機械学会の論文
- 1999-06-15
著者
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Nonami Kenzo
Department For Electronics And Mechanical Engineering University Of Chiba
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Hirasawa Shuichi
Department Of Electronics And Mechanical Engineering Chiba University
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