제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Derivative State Constrained Optimal $H_{2}$ Integral Controller and its Application to Crane System

  • Komine, Noriyuki (School of Information and Electronics, Tokai University) ;
  • Benjanarasuth, Taworn (Faculty of Engineering and Research Center for Communications and Information Technology King Mongkut's Institute of Technology Ladkrabang) ;
  • Ngamwiwit, Jongkol (Faculty of Engineering and Research Center for Communications and Information Technology King Mongkut's Institute of Technology Ladkrabang)
  • Published : 2005.06.02
Download PDF
⟨ Previous Next ⟩

Abstract

Study in this paper concerns the optimal $H_{2}$ integral servo problems for linear crane model systems via the constraints of the derivatives of state variables added to the standard constraints. It is shown in the paper that the derivative state constrained optimal $H_{2}$ integral servo problems can be reduced to the standard optimal $H_{2}$ control problem. The main subject of the paper is to apply the results of derivative state constrained $H_{2}$ integral servo theorem in crane system. The effect of our proposed controller with respect to mitigate an under damping for crane model system is also verified.

Keywords