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
ファイル
タイトル
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
別タイトル
Sliding Mode Control for an Inverted-Triple Pendulum System Based on the H∞ Control Scheme
著者
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
キーワード
Inverted-triple pendulum
H∞ controller
Sliding mode control
Loop-shaped method
Frequency-shaped regulator
Reduced-order model
NDC
548.3
抄録

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.

掲載雑誌名
広島工業大学紀要. 研究編
37
開始ページ
49
終了ページ
57
出版年月日
2003
出版者
広島工業大学
ISSN
13469975
NCID
AA11599110
本文言語
日本語
資料タイプ
紀要論文
著者版フラグ
出版社版
旧URI
区分
it-hiroshima