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장지성(J. S. Jang),지상원(J. W. Ji),김영복(Y. B. Kim) 유공압건설기계학회 2008 드라이브·컨트롤 Vol.5 No.1
Pneumatic driving systems have hard non-linear characteristic and large friction force compared with driving power. Hence, it cannot be robust against parameter uncertainties, modelling error, disturbance and noise. In this study, we apply a mixed H2/H∞ control to the generalized plant for a pneumatic driving apparatus system including parameter uncertainty and disturbance. In order to design the H2/H∞ controller, we use the LMI technique. To evaluate control performance and robust stability of the designed controller, we compare it with a conventional controller such as PVA(Position-Velocity-Acceleration state controller) using the simulation results. As a result, it can be known that designed controller shows better robust stability than the conventional controller.
공압 인공 근육 구동 장치의 선형화 모델을 이용한 위치 제어
장지성(J. S. Jang),유원상(W. S. Yoo),강보식(B. S. Kang) 한국동력기계공학회 2005 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In this study, a position control algorithm being applied to a pneumatic artificial muscle driving apparatus is proposed. The position control algorithm is composed of a feedback controller and a feedforward controller. The feedback controller which feeds back position, velocity and acceleration is derived from the linear model of pneumatic artificial muscle driving apparatus. The feedforward controller is designed to improve position trajectory tracking performance. The effectiveness of the designed controller is proved by experimental results.