한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1996년도 추계학술대회 논문집
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- Pages.391-395
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- 1996
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- 2005-8446(pISSN)
H$_\infty$ 제어기법을 적용한 소형 SMA 그립퍼의 힘 추적 제어
Force Tracking Control of a Small-Sized SMA Gripper H$_\infty$ Synthesis
초록
This paper presents a robust force tracking control of a small-sized SMA gripper with two fingers using shape memory alloy(SMA) actuators. The mathematical governing equation of the proposed system is derived by Hamilton's principle and Lagrangian equation and then, the control system model is integrated with the first-order actuator dynamics. Uncertain system parameters such as time constant of the actuators are also included in the control model. A robust two degree of freedom(TDF) controller using H
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