不確定変動を含む系に対するminimax制御則の最適設計 : 2リンクマニピュレータのトラッキング問題への適用

概要

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This paper considers the optimization of systems having uncertain parameters by using minimax strategy. An optimization problem is converted to a minimax problem to treat system design variables as a minimizer which improves a performance index and uncertainties as a maximizer which worsens the same index. The solution of the minimax problem improves the worst case performance most, so the systems designed by the above formulation has robustness to uncertainties. We propose the method which uses the historical information of the optimization process to solve the minimax problems which don't have a saddle point. As a numerical example, we investigate a control system design for a tracking problem of a rigid robot manipulator. In this system, parameters of a first-order lag element between a controller and a actuator have uncertainty, and we design feedback gains of a PD controller. The robustness of the control system design by a proposed method against the uncertainty is demonstrated.
一般社団法人日本機械学会の論文
1998-12-25