H∞制御に基づく設計法との比較による周波数応答データに基づく外乱オブザーバ設計法の長所の実験的検証

カテゴリ: 研究会(論文単位)

論文No: MEC20041

グループ名: 【D】産業応用部門 メカトロニクス制御研究会

発行日: 2020/12/12

タイトル(英語): Experimental verification of FRD-based disturbance observer design for the non-minimum phase system compared with $H_{\infty}$-based design

著者名: Wang Xiaoke(東京大学),Ohnishi Wataru(東京大学),Koseki Takafumi(東京大学)

著者名(英語): Xiaoke Wang(The university of Tokyo),Wataru Ohnishi(The university of Tokyo),Takafumi Koseki(The university of Tokyo)

キーワード: 外乱オブザーバ|周波数応答データ|凸最適化|ＬＭＩ|Disturbance observer|frequency response data|convex optimization|linear matrix inequality

要約(日本語): Disturbance observer is a widely-used tool in the industrial field to reject the influence of disturbances and trial-and-error method as well as $H_{\infty}$ method are extensively used in its design. This paper compared the frequency response data (FRD)-

要約(英語): Disturbance observer is a widely-used tool in the industrial field to reject the influence of disturbances and trial-and-error method as well as $H_{\infty}$ method are extensively used in its design. This paper compared the frequency response data (FRD)-based disturbance observer design for non-minimum phase motion system with conventional trial-and-error and $H_{\infty}$ methods. FRD-based automatic tuning process saves design effort and experiment results have verified the effectiveness of the proposal.

原稿種別: 英語

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