フレキシブルアームの制振制御の一方法(機械力学,計測,自動制御)

概要

論文の詳細を見る
This paper presents a method for vibration control system of one-link flexible arms. This method is based on the robust model following control scheme that has been proposed by the authors. This scheme can robustly control the nominal model in the presence of unmodeled dynamics and achieve the desired model following simultaneously. Therefore, this method is suitable for controls of plants that are difficult to model like flexible arms. Furthermore, a sufficient condition for stabilizing the nominal model in the presence of unmodeled dynamics is derived and the existence of bounds for all signals is proved. Finally, the results of computer simulation and flexible arms' vibration control experiment are presented to show the effectiveness of the proposed method.
一般社団法人日本機械学会の論文
2002-10-25