Experimental Analysis of Disturbance Damping Performance of Homogeneous Finite-Time Control Using Frequency Response

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  • Nagasaki Tomohiro
    Department of In formation Science and Technology，Ritsumeikan University
  • Fukui Yoshiro
    Computer Science and Systems Engineering，Kyushu Institute of Technology
  • Wada Takahiro
    Department of In formation Science and Technology，Ritsumeikan University

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  • 周波数応答を使った同次有限時間整定制御がもつ対外乱減衰性能の解析
  • シュウハスウ オウトウ オ ツカッタ ドウ ジ ユウゲン ジカン セイテイ セイギョ ガ モツ タイ ガイラン ゲンスイ セイノウ ノ カイセキ

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Abstract

<p>This paper discusses the robustness of the performance of the closed loop system for a homogeneous finite time proportional-derivative control (FT-PD control) of a one-link robot manipulator. We show that FT-PD control's disturbance rejection performance of low frequency is superior to the conventional PD control via the describing functions estimated by an experiment.</p>

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