書誌事項
- タイトル別名
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- Application of H.INF. Control Theory for 2-DOF Control System. A Design Method of Robust Controller for each axis of a Hydraulic Manipulator.
- 2ジユウド モデル マッチング セイギョケイ ニ オケル アンテイカ セイギョ
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説明
We have studied disturbance observer and applied its control method to the 6-DOF manipulator which is driven by hydraulic power and also confirmed that disturbance estimation & compensation control is robust in the sense of 'model-matching characteristic' to the output of the nominal model. On the other hand, the disturbance canceling controller has the same configuration as a model matching 2-DOF control system, in which Q(s), that is a stabilizing filter, plays a very important roll against robust stability of control system. In this paper we propose new design method for the Q(s) by applying H-Infinity control theory and as a result, it was verified by an experiment in which robust, stable positional precision can always be achieved against fluctuations in the system parameter.
収録刊行物
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- 日本機械学会論文集Ｃ編
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日本機械学会論文集Ｃ編 64 (617), 177-184, 1998
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681305638400
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- NII論文ID
- 130004083666
- 110002383522
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
- http://id.crossref.org/issn/03875024
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- NDL書誌ID
- 4391886
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDLサーチ
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可