525 アーム先端に質量の不確かさを有する柔軟アームのロバスト振動制御(柔軟アーム/マニピュレータの制御)(OS.08 : 先端的・萌芽的制御技術とその応用)

概要

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This paper presents a controller design method for a flexible arm with uncertainty in tip mass. The uncertainty is taken into consideration by using quadratic stability model and a robust controller is obtained by using H^∞ control law. An experimental system is built and parameters of the arm are identified. Computer simulations are carried out and it is shown that the obtained controller with a good performance. The influence of the difference in nominal model to the control performance is also investigated.
一般社団法人日本機械学会の論文
2001-08-03