制御対象のエネルギ収支に着目した機械力学系の最適制御(機械力学,計測,自動制御)

概要

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This paper deals with an optimal control of non-linear mechanical system. In this method, the functional consists of total energy of controlled system, performance function and energy function. This energy function is described by energy flow which is transmitted from controller to controlled system. The functional is described as a first-order expression concerning with control variables, therefore it is able to induce optimal control law from the condition of minimizing the functional. This method was applied to the control problems of the energy regenerative active suspension and of the nonholonomic system. As a result, it is clarified that this method is useful to design controllers for energy regenerative control systems and nonlinear mechanical system.
一般社団法人日本機械学会の論文
2006-10-25