H∞理論に基づく3重倒立振子のスライデイングモード制御

URI http://harp.lib.hiroshima-u.ac.jp/it-hiroshima/metadata/3788
File
Title
H∞理論に基づく3重倒立振子のスライデイングモード制御
Title Alternative
Sliding Mode Control for an Inverted-Triple Pendulum System Based on the H∞ Control Scheme
Author
氏名 川辺 尚志
ヨミ カワベ ヒサシ
別名 Kawabe Hisashi
氏名 山中 智司
ヨミ ヤマナカ トモシ
別名 Yamanaka Tomoshi
Subject
Inverted-triple pendulum
H∞ controller
Sliding mode control
Loop-shaped method
Frequency-shaped regulator
Reduced-order model
NDC
548.3
Abstract

A stabilization control for an inverted-triple pendulum system connected in series is investigated by formulating a reduced-order model excluding the cart velocity, and by using a sliding mode controller (HSMC) based on the H∞ control theory, a conventional H∞ servo controller (HIC), and a frequency-shaped regulator (FSLQ) to compare the robust performance against a disturbance impulsively applied to the 3rd link. By applying the loop-shaped H∞ control scheme to the design of the switching plane of the sliding mode, the robust hyper-plane with both frequency characteristics and integral ones can be easily realized even to a multi-link system having the jw poles. The HSMC system designed here exhibits considerably excellent robustness as compared with other robust control systems beginning with the HIC and FSLQ systems.

Journal Title
広島工業大学紀要. 研究編
Volume
37
Spage
49
Epage
57
Published Date
2003
Publisher
広島工業大学
ISSN
13469975
NCID
AA11599110
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
it-hiroshima