有限離散時間二次形式評価関数に基づく2自由度最適トラッキング制御(機械力学,計測,自動制御)

概要

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In this paper, we propose the method used is the linear optimal tracking control, based on the discrete quadratic evaluation function. A new design method is presented for the tracking control with compensation input. This proposed method uses two degrees of freedom control, on condition of the limited terminal step. The optimal tracking control is formulated, and we have proved that this technique theoretically includes a preview control. It is shown by means of simulation, that the proposed method decreases the performance index value more than the preview control under some conditions. Finally, these approaches are applied to a manipulator, and the efficiency is verified by the proposed methods.
一般社団法人日本機械学会の論文
2004-06-25