MC-14 UNIFIED DESIGN OF TIME-VARYING GAIN TYPE ACCESS CONTROL AND INTEGRAL TYPE SERVO CONTROL BY MEANS OF NONSTATIONARY OPTIMAL CONTROL METHOD

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概要

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• Nonstationary optimal regulator (NOR) is a motion control method which produces superior vibrationless trajectories for the positioning control problems of vibration systems. This study discusses a unified design method of the time-varying gain type access control similar to NOR and the integral type servo control similar to LQI (Linear Quadratic Integral) control based on a frequency-shaped time-varying criterion function. This method realizes two high performance control modes and the smooth switching of the modes by the optimization of single criterion function. The effectiveness of this method is verified by numerical calculations and experiments.

• 一般社団法人日本機械学会の論文

著者

• Hara Susumu

  Division Of Electronics And Information Engineering Toyota Technological Institute

関連論文

• MC-14 UNIFIED DESIGN OF TIME-VARYING GAIN TYPE ACCESS CONTROL AND INTEGRAL TYPE SERVO CONTROL BY MEANS OF NONSTATIONARY OPTIMAL CONTROL METHOD

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