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Discontinuous H∞ Control of Underactuated Mechanical Systems with Friction and Backlash
Raul Rascon,Joaquin Alvarez,Luis T. Aguilar 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.5
Nonlinear H∞-control is extended to discontinuous mechanical systems with degree of underactuationone, where nonlinear phenomena such as Coulomb friction and backlash are considered. The problem in questionis to design a feedback controller via output measurements so as to obtain the closed-loop system in which alltrajectories are locally ultimate bounded, and the underactuated link is regulated to a desired position while alsoattenuating the influence of external perturbations and nonlinear phenomena. It is considered that positions are theonly measurements available for feedback in the system. Performance issues of the discontinuous H∞-regulationcontroller are illustrated in an experimental study made for a rectilinear plant with friction modified to have a gapin the point of contact between bodies.