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

  • 제9권11호
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  • Pages.868-873
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  • 2003
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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슬라이딩 모드를 이용한 상태공간 H2H∞ 제어기에 관한 연구

A Study on State Space H2H∞ Controller Using Sliding Mode

  • 발행 : 2003.11.01
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초록

$H_{\infty}$ control has been applied to the design of practical control systems widely because of its robustness. It can minimize $H_{\infty}$ norm of the transfer function between the desired output and the disturbances. The SMC(Sliding Mode Control) is more robust and give the better performance than the $H_{\infty}$ control if the matching condition is satisfied. A controller which can have the advantages of $H_{\infty}$ control and the SMC is proposed to add the robustness of the SMC to the $H_{\infty}$ controller. Its design is based on the augmented system of which dynamics have one higher order than that of the original system and has the same dynamic as the desired system in spite of uncertainties. The dynamic of proposed sliding surface is the same dynamic as the system controlled by $H_{\infty}$ controller without the uncertainties which satisfy the matching condition.

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참고문헌

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