한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)

한국정밀공학회 (Korean Society for Precision Engineering)
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쿨롱마찰을 갖는 유연 링크 로봇의 H$_2$ /H$_\infty$ 최적제어

  • 한성익 (순천공업전문대 제어계측과) ;
  • 김종식 (부산대 기계설계공학과)
  • 발행 : 1996.11.01
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초록

A new method of nonlinear robust controller synthesis is introduced which is an extension of linear mixed $H_2/H_{\infty}$ control. This method guarantees robust stability fur hard nonlinearity and uncertainty of the plant. The method is applied to the control of a flexible link of robot with Coulomb friction. Simulation shows good performances with respect to the response and the robustness.

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