柔軟構造物の位置・姿勢制御系に対するロバストモデルマッチングの適用

Abstract

In this paper, we consider position and attitude control of flexible structures using the Robust Model Matching method.The Robust Compensator designed in the Robust Model Matching is attached to the existing controller, and improves the sensitivity for parametric variations independently of the reference input responses. The purpose of the position and attitude control of the flexible structures is to get fast and accurate responses with its elastic vibrations suppressing, therefore the Robust Model Matching is effective on the control system design of the flexible structures.Here, we have considered two problems on applying the Robust Model Matching to a control system of flexible structures. One is a treatment for the truncated error, the other is the design method of the Robust Compensator from the point of view of stabilities against the model uncertainties. In the former, we defined the equivalent disturbances including the truncation error. In the latter, we proposed the method which decides the parameters contained in the Robust Compensator in consideration of stability against additive variations. By the proposed method, some attitude control systems of a flexible artificial satellite apparatus are designed, and their performances are shown by simulations.