ゲインスケジュールH_∞制御による2リンクフレキシブルアームの位置決め・制振制御(機械力学,計測,自動制御)

概要

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This study is concerned with the positioning and vibration control of two-link-flexible-arm using Gain-scheduled H_∞control theory based on LMI (Linear Matrix Inequality). It is necessary to control the vibration of the arm tip, because, the link part of robot is elasticity body. And, the robot arm has strong non-linearity by attitude change with turn operation. From these two problems, tip vibration of the arm, and the change of the dynamical system, it is difficult to obtain a satisfactory performance, even if the robot arm is controlled using LTI controller which is designed for one of all states. Then, Gain-scheduled H_∞controller is designed, to obtain a satisfactory control performance of the positioning accuracy and tip vibration in range of motion. The validity of this proposal is experimentally verified using the above mentioned test rig.
一般社団法人日本機械学会の論文
2002-06-25