논문 국내 국내전문학술지(KCI급) 능동 댐핑 주입과 외란 관측기 기반 선형 운동 도립진자 비선형 위치 제어
- 학술지 구분 국내전문학술지(KCI급)
- 게재년월 2020-07
- 저자명 박재경, 김동수, 김석균
- 발행처명 제어.로봇.시스템학회 논문지
- 발행국가 국내
- 논문언어 외국어
- 전체저자수 3
홈페이지논문 초록 (Abstract)
This article develops a nonlinear position-regulation law for linear-motion inverted-pendulum systems, taking into account practical constraints, such as the plant nonlinearities and parameter and load variations. The novelty of this work is twofold. First, a method is developed to transform the plant dynamics into a form compatible with the proposed technique. Second, a control law is constructed systematically using the active-damping-injection and disturbance-observer techniques. Simulation results show significant performance improvements in position-reference tracking and regulation under various operating scenarios.