Digital Robust Control of Nonlinear Mechanical Systems
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- YOSHIKAWA Tsuneo
- Faculty of Engineering, Kyoto University
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- SUGIE Toshiharu
- Faculty of Engineering, Kyoto University
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- IMURA Junichi
- Faculty of Engineering, Kyoto University
Bibliographic Information
- Other Title
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- 非線形メカニカルシステムのディジタルロバスト制御
- ヒセンケイ メカニカル システム ノ ディジタル ロバスト セイギョ
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Abstract
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.
Journal
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- Transactions of the Institute of Systems, Control and Information Engineers
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Transactions of the Institute of Systems, Control and Information Engineers 3 (9), 298-309, 1990
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
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Keywords
Details 詳細情報について
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- CRID
- 1390001205166199808
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- NII Article ID
- 130002036331
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- NII Book ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL BIB ID
- 3673825
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed