219 ルール型擬似スライディングモード制御に関する研究 : 実験による有効性の検証(移動体の制御,OS-1 先端的・萌芽的制御技術とその応用)

概要

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As a new control technique, rule-based pseudo sliding-mode control system is developed. In the rule based pseudo sliding-mode control system, the transient solution is constrained on the subspace that is spanned by the corresponding eigenvectors with negative eigenvalues of the linearized system, and consequently, the similar motion to the sliding-mode is generated. In the previous report, we demonstrated theoretically and numerically the fundamental feature of the rule based pseudo sliding-mode control system, such as prevention of chattering and high robustness. In this report, the validity of the present control technique is confirmed by comparing the results of the experiment with those of the numerical simulation.
2004-09-27