20718 セットアップ動作を考慮した最適サーボ系の構成 : ヘリコプター姿勢制御モデルへの応用(OS12 インテリジェントシステムと制御)

概要

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An optimal servo control method for linear time invariant discrete-time systems is one of the most popular control strategy. Although it has been widely used in several control applications, they have not usually taken into account of a setup phase action before starting optimal servo control. Hence, this paper tries to improve transient performance at the switch from a setup phase action to an optimal servo control. We show that the control objective can be achieved by setting optimal initial value of integrator at the start time of optimal servo control. The effectiveness of the proposed method is shown through the application of the attitude control of helicopter model.
社団法人日本機械学会の論文
2005-03-17