LQ控制的全镇定解耦控制及其在机械系统中的应用

Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI:10.1109/CCA.2001.973900

R. Suzuki, T. Miyazaki, N. Kobayashi

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引用次数: 5

摘要

本文提出了一种利用LQ控制的极限特性和观测器的全镇定解耦控制方法。采用该方法得到的全镇定控制器具有扰动解耦性、良好的跟踪性能和解耦控制性能。将该方法应用于机械系统的解耦控制，并通过对比实验验证了该方法的有效性。

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Decoupling control via all stabilizing controller with limiting properties of LQ control and its application to a mechanical system

In this paper, decoupling control via all stabilizing controller with limiting properties of LQ control and observers is proposed. The all stabilizing controller has disturbance decoupling properties, a good tracking performance and decoupling control property by using the proposed method. Moreover, the proposed method is applied to decoupling control of a mechanical system, and the effectiveness of the method is confirmed by comparative experiments.

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Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)

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