제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Precise Positioning $H_\infty$ Control Considering Resonance and Coulomb Friction

  • Yamauchi, A. (Faculty of Eng., Tokyo Univ. of Agric. and Technology) ;
  • Mikami, Y. (Faculty of Eng., Tokyo Univ. of Agric. and Technology) ;
  • Moran, A. (Faculty of Eng., Tokyo Univ. of Agric. and Technology) ;
  • Hayase, M. (Faculty of Eng., Tokyo Univ. of Agric. and Technology)
  • Published : 1994.10.01
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Abstract

The control system of a precise positioning mechanism with resonance and Coulomb friction has been designed using H$_{\infty}$ control theory, and the control performance has been verified by computer simulation and experimental analysis. The DGKF type H$_{\infty}$ control theory with scalar weighting factors was utilized for designing the control system. The followings have been confirmed from the present study: (1) The system with H$_{\infty}$ control presents better convergence and stability than the system with conventional control (PI-notch filter control). (2) The H$_{\infty}$ control system have good robustness properties for a wide range of operating conditions in the presence of external disturbances such as Coulomb friction and changing mechanical resonant frequency.ncy.

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