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
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.
日本ロボット学会誌 16(6), 798-806, 1998-09-15
The Robotics Society of Japan