Combined Controller Design via Sliding-mode and Ｈ∞ Techniques Applied to Moving-Based Single Flexible Arm

• Main Authors: Lin, Hsin-Chih, 林信志
• Other Authors: Chen Yon-Ping
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/82131500953990468596

碩士 === 國立交通大學 === 控制工程系 === 84 === A modified approach, combining sliding-mode and Ｈ∞ techniques, of frequency shaping sliding-mode controller is proposed in this thesis. The design methods which permit shaping frequency through introducing a class of switching surfaces generated by compensator dynamics. Although the compensator can be design by pole-placement method, the locations of poles is hard to associate with its phenomenon of frequency shaping. According to the cost function, we adjust the weight function in order to compensate or penalize one specific frequency domain by Ｈ∞ control synthesis. This controller retains the ability in eliminating the matching type disturbance. We also discuss the capability of eliminating the mismatching type disturbance and the reaching and sliding conditions. While selecting the plant, we choose the moving-based single flexible arm system. In spite of the diverse application in aerospace, designing a suitable controller is difficult because the unmodelling components of finite dimensional model approximation is large. Moreover, the large amplitude and low frequency disturbance, generated by the movement of base, increase the problem of control. The robustness of controllers can be verified by employed into the plant.