대한기계학회논문집 (Transactions of the Korean Society of Mechanical Engineers)
- 제16권7호
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- Pages.1307-1313
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- 1992
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- 1225-5963(pISSN)
DOI QR Code
유연한 조작기의 끝점 위치 제어
End-Point Position Control of a Flexible Manipulator
- 발행 : 1992.07.01
초록
본 연구에서는 유연한 조작기의 끝점 위치 제어를 위해 LQG/LTR 제어법을 적 용함으로서 기존의 고전적 제어방법과 비교하고자 한다.
The end-point position control of a flexible manipulator is a non-minimum phase system. The PD feedback of the end-point position is not stable in contrast with that of the hub jangle. However, the system can be stabilized conditionally by the feedback of both the hub rate angle and the end-point position. Even in the non-minimum system, the LQG/LTR control law is more systmatic controller design method than the classical control law which uses a root-locus technique.
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