1リンク弾性アームのQパラメトリゼーションに基づくH_∞制御超平面を有するスライディングモード位置決め制御

抄録

This paper is concerned with the positioning control of single link flexible arm using sliding mode control theory. We designed for the control system using output feedback method. But the high gain sliding mode controller often causes the control system unstable based on spillover phenomena in higher frequency region. Therefore, we also design for the switching hyperplane using H_∞ control theory. But H_∞ controller has a problem which is a big overshoot. Then we apply to Q parametrization which has a performance of H_∞ controller. In a word, nominal controller is the H_∞ controller. Q parametrization can satisfy some constraints, for example norm, overshoot, settling time and so on. Q controller has a good performance. However, it becomes a high-order compensator. In this study, it becomes from 6th to 25th-order.