外部構造の実験的同定に基づく機械運動系の制御 : 第1報, 制御手法の提案

概要

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A new method of discrete-time control is proposed and applied to nonlinear mechanical systems, in which, instead of the equation of motion, the value of parameters describing the input and output relations at a finite number of discretely specified points in the state space are used to determine the input at every sampling time. The determination of the parameters at discretely specified points from experimental data on the input and output relations is discussed with consideration of the accuracy of the parameters. As for the systems in which the dimension of the output vector is larger than that of the input vector, two methods are presented to calculate a unique input vector from the desired output vector. The results of computer simulations and experiments on the motion control of one-link arms and a two-link arm are presented, which confirm the applicability of the proposed control method.
一般社団法人日本機械学会の論文
1992-02-25