水中マニピュレータの適応形予測制御

概要

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This paper describes the design of digital control based on predictive control for an underwater manipulator. The discrete time model of the manipulator becomes an uncontrollable system which has nonlinear terms and zero of unstable and/or near by the stability bound zero. Hence, the conventional adaptive control method cannot be directly applied. Kaynak and Hoyer have proposed simple predictive control method. This adaptive control system based on the predictive control method is directly applicable to nonminimum phase systems. However, the stability and convergency of the control system cannot be guaranteed. In this paper, it is shown that the adaptive control system guarantees the stability for most 2nd-order stable systems. Experimental results from a underwater manipulator demonstrate the effectiveness of the adaptive control system.
一般社団法人日本機械学会の論文
1995-03-25