Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Nonlinear $H_2/H_\infty/LTR$ Control of the Parallel Flexible Inverted Pendulum Connected by a Spring

스프링 연결 병렬형 탄성 역진자의 비선형 $H_2/H_\infty/LTR$ 제어

  • 한성익 (순천제일대학 기계전기제어과)
  • Published : 2000.05.01
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Abstract

In this paper, a nonlinear $H_2/H_\infty/LTR$ control for the flexible inverted pendulum of a parallel type with Coulomb friction is presented. The dynamic equation for this system is derived by the Hamilton's principle and assumed-mode method. This hard nonlinear system can be modeled by a the quasi-linear state space model using the REF method. It is shown that the $H_2/H_\infty$ control can be applied to the nonlinear controller design of the system having Coulomb frictions if the proper LTR conditions are satisfied. In order to present the usefulness of the suggested control method, the nonlinear $H_2/H_\infty/LTR$ controller is designed to control the Position of the end point of the flexible inverted pendulum that has Coulomb frictions present in actuator parts. The results are given via computer simulations.

Keywords

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