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Output Chattering Attenuation between Two Tracking Controllers
Guozheng Qin,Zhi-Sheng Duan 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.3
In this paper, an output chattering attenuation scheme is proposed for two tracking controllers. The controllers have integral actions and are used to eliminate the steady-state tracking errors. By designing a compensator and reducing the discontinuous switching, the output chattering at the switch-ing points can be attenuated significantly. Moreover, combining with the generalized Kalman-Yakubovich-Popov (KYP) lemma and the parameter-dependent Lyapunov function method, this problem can be characterized in terms of linear matrix inequality (LMI) formulation. Finally, the simulation results demonstrate the effectiveness of the proposed method.