| Item type |
紀要論文 / Departmental Bulletin Paper(1) |
| 公開日 |
2023-03-30 |
| タイトル |
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タイトル |
超安定理論に基づく適応モデル追従制御系の性能向上に関する一考察 |
| タイトル |
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タイトル |
A Consideration of the Improved Performance of an Adaptive Model-Following Control System Based on the Hyperstability Theorem |
|
言語 |
en |
| 言語 |
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|
言語 |
jpn |
| キーワード |
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主題Scheme |
Other |
|
主題 |
adaptive tracking error |
| キーワード |
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主題Scheme |
Other |
|
主題 |
robustness |
| キーワード |
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主題Scheme |
Other |
|
主題 |
hyperstability sliding mode |
| 資源タイプ |
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資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
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資源タイプ |
departmental bulletin paper |
| 著者 |
川辺, 尚志
藤本, 克彦
藤岡, 栄治
Kawabe, Hisashi
Fujimoto, Katsuhiko
Fujioka, Eiji
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| 抄録 |
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内容記述タイプ |
Abstract |
|
内容記述 |
The improved performance of an adaptive model-following control syetem (AMFC) which is based on the Popov's hyperstability theorem and developed by Balestrino et al. has been discussed using a 2-link robotic manipulator. With an optimized saturation function (sat(ν)opt) in place of the unit vector input function(ν/llνll) for robust compensation, the steady tracking error characteristics e(∞) can be greatly improved, in addition to the elimination effect of the chattering occurring near the hyper-planes during the sliding mode, and the improved performance by taking the sat(ν)opt can be expected even to such a multi-input system as a robotic manipulator of multi-degree of freedom. It is also found that the improved AMFC via sat (ν)opt has a satisfactory performance on the robustness as compared with the LQ system. |
| 書誌情報 |
広島工業大学研究紀要
巻 28,
p. 75-86,
発行日 1994
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| 出版者 |
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出版者 |
広島工業大学 |
| ISSN |
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収録物識別子タイプ |
ISSN |
|
収録物識別子 |
03851672 |
| 書誌レコードID |
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収録物識別子タイプ |
NCID |
|
収録物識別子 |
AN0021271X |
| フォーマット |
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内容記述タイプ |
Other |
|
内容記述 |
application/pdf |
| 著者版フラグ |
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|
出版タイプ |
VoR |
|
出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
kenkyukiyo28075.pdf (733.0 kB)
