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http://dx.doi.org/10.3795/KSME-A.2013.37.6.805

Robust Controller Design for Hydraulic Dipod Platform Based on 2-DOF H∞ Controller Synthesis Framework  

Lee, Young-Hoon (Agency for Defense Development)
Cho, Taik-Dong (Dept. of Mechanical Engineering, Chungnam Nat'l Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.37, no.6, 2013 , pp. 805-814 More about this Journal
Abstract
A hydraulic dipod platform is used for tracking and stabilizing an antenna system to designate a satellite on a moving vehicle. The 2-DOF controller is very well suited to this controller design object because it is more flexible than the 1-DOF controller when the design object is not only the consideration between stabilizing and tracking but also the trade-off between performance and robustness. The 2-DOF controller synthesis based on the $H_{\infty}$ framework is divided into two design procedures. In this hydraulic dipod platform example, the single-step method shows better performance whereas the two-step method shows better robustness. The difference between these two synthesis results is compared using the structural property of the interconnection system matrix.
Keywords
2-DOF(TDF) Robust Control; Dipod Platform; $H_{\infty}$-LSDP; Feedback Controller; Feedforward Compensator;
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