フィードフォワード入力を用いた終端状態制御のパラメータ変動に対するロバスト性能 : 走行振り子の位置決め制御による検証

概要

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This paper shows an application of the already proposed final-state control method to a cart and pendulum system and demonstrates that the method is useful for positioning control of mechanical systems with a flexible mode. In numerical calculations and experiments, we assume that the effective length of the pendulum changes, and the settling characteristics and the robustness of the final-state control performance under this parameter variation are investigated. It is shown that the final-state control performance with the feedforward input is better than that without it within a certain range of parameter variation, and that the use of the feedforward input designed by considering the parameter variation is effective in improving the robustness.
一般社団法人日本機械学会の論文
1995-07-25