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―

DOI Web Site Web Site BIBCODE 被引用文献8件 参考文献23件
  • 名取 賢二
    慶應義塾大学理工学部システムデザイン工学科
  • Oboe Roberto
    Control Engineering and Technology, Department of Mechanical and Structural Engineering, University of Trento
  • 大西 公平
    慶應義塾大学理工学部システムデザイン工学科

書誌事項

タイトル別名
  • 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-
  • ツウシン ガイラン オブザーバ オ モチイタ ムダ ジカン セイギョケイ ノ モデル ゴサ ニ タイスル ロバストセイ 2ジュウ セキブン ノ セイギョ タイショウ ト PD セイギョキ オ モチイタ コウセイレイ ニ オケル ケンショウ
  • —Verification on an Example Constructed by Double Integration Controlled Object and PD Controller—
  • —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—

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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.

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