外乱オブザーバ補償に基づく直立型単車輪サーボ系の安定化 Stabilization of Vertical Mono-wheeled Servo System Based on Disturbance Observer Compensation

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In this paper, we are concerned with the stabilizing control for a vertical mono wheeled servo system based on the disturbance observer compensation. After separating the mono-cycle dynamic structure into a body-frame dynamic system and a mono-wheeled system, the mono-wheeled system is regarded as a main control system and we consider that unstable behavior of the vertical mono-wheeled system because of one supported point body is caused by the virtual disturbance torque. For this purpose, this paper proposes a design method of 2-degrees of freedom control system including disturbance observer for such virtual disturbance torque in feedback loop and evaluates its effec-tiveness by experiment. The main aim of such 2-degrees of freedom control is to accomplish the regulator problem and the servo problem, especially the regulator problem is realized by 2-stage control whose structure has firstly pseudo-stabilization by disturbance observer compensation and secondly output feedback with H∞ controller for whole the system.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 16(6), 798-806, 1998-09-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10002864448
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4545727
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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