通信外乱オブザーバを用いたむだ時間制御系のモデル誤差に対するロバスト性 : 2重積分の制御対象とPD制御器を用いた構成例における検証 Robustness on Model Error of Time Delayed Control Systems with Communication Disturbance Observer : Verification on an Example Constructed by Double Integration Controlled Object and PD Controller

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著者

    • 名取 賢二 NATORI Kenji
    • 慶應義塾大学理工学部システムデザイン工学科 Department of System Design Engineering, Faculty of Science and Technology, Keio University
    • Oboe Roberto OBOE Roberto
    • Control Engineering and Technology, Department of Mechanical and Structural Engineering, University of Trento
    • 大西 公平 OHNISHI Kouhei
    • 慶應義塾大学理工学部システムデザイン工学科 Department of System Design Engineering, Faculty of Science and Technology, Keio University

抄録

This paper discusses robustness on model error of time delayed control systems with communication disturbance observer (CDOB). A feature of the time delay compensation method based on the concept of network disturbance (ND) and CDOB is that the method can be utilized without delay time model (predictive control methods like Smith predictor usually need delay time model). Therefore the method can effectively compensate time delay effect even in the case with time-varying delay. However the method needs a model of controlled system for implementation. Then the robustness on model error of controlled system model is a very important issue for development of the time delay compensation method. In this paper, the robustness on model error is discussed from the perspective of robust stability and steady-state characteristic. At first, robust stability problem is analyzed comparing to that of Smith predictor. Then steady-state characteristic is also studied in the same manner. The validity of analytical results on both robust stability and steady-state characteristics are verified by experimental results.

収録刊行物

  • 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society  

    電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 128(6), 709-717, 2008-06-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10021134434
  • NII書誌ID(NCID)
    AN10012320
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    09136339
  • NDL 記事登録ID
    9532431
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-1608
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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