スライディングモード微分器を用いたオブザーバ設計による劣駆動システムの安定化制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/11/01

タイトル(英語): A Stabilization Control of Underactuated System Using Sliding Mode Differentiator Based Disturbance Observer

著者名: 鈴木　健（慶應義塾大学），村上　俊之（慶應義塾大学）

著者名(英語): Ken Suzuki (Keio University), Toshiyuki Murakami (Keio University)

キーワード: 劣駆動システム，オーバーヘッドクレーン，振動抑制制御，スライディングモード微分器　　underactuated system，overhead crane，vibration suppression，sliding mode differentiator

要約(英語): There are many studies on underactuated systems that control input number is less than output one. That system leads cost reduction and space-saving. Previously, an observer was used widely to control an underactuated system; moreover, time delay occurs because of a low-pass filter. Generally, we use a low-pass filter to obtain the derivative. Recently, Levant suggested a sliding mode differentiator that can estimate the derivative of a input signal, and its time delay is low. Therefore, a new construction of a observer using sliding mode differentiator is proposed, and we investigate how to design the gain of the differentiator. The proposed method was evaluated via a crane experiment. Furthermore, the result showed that the proposed method is effective for controlling an underactuated system.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.11 （2012）

本誌掲載ページ: 1024-1032 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/11/132_1024/_article/-char/ja/