非線形メカニカルシステムのディジタルロバスト制御

概要

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Various continuous-time robust control methods have been proposed for nonlinear systems. However the implementation of these methods usually requires digital control systems. A digital implementation of a control algorithm based on a continuous-time theory often leads to chattering, even when a continuous input function is used, and makes the control error larger than the theoretically guaranteed control error limits. In this paper we propose a robust control scheme of nonlinear mechanical systems, on the premise of using the digital control. This scheme gives the admissible control error taking the sampling period into consideration, and introduces the weighting function for the input gain in order to reduce the chattering. Then it is shown that the proposed control scheme is effective by numerical simulations.
システム制御情報学会の論文