730 特性変動を有するスマートマニピュレータの制振性能向上を目指した制御機構最適化

概要

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This paper proposes an advanced design approach of a control system for smart structures that have a characteristics variation. The one-link manipulator constructed as a smart structure hands various weight objects and so the characteristics of the system are varied. The system is composed of piezoelectric sensor/actuator array and scheduled controller. The control system is designed according to the H2 specification with a reduced-order modal model. An adaptive control is conducted by scheduling the controllers to keep the stability and performance against the characteristics variation of the system. The design problem for improving the H2 performance is defined, and then the scheduled control system is optimized to achieve an enhanced performance for the vibration control.
社団法人日本機械学会の論文
2005-08-22