1P1-A22 実時間最適化を活用した高性能制御システムの構成

概要

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In this paper, we consider tracking control problems in the presence of actuator saturation. We first show a control law that internally stabilizes the closed-loop system and the tracking error converges to zero in the case where a reference signal is generated by a certain dynamics. The control law is based on the recently developed state dependent gain-scheduling algorithm and makes it possible to achieve large region of attraction and fast convergence of tracking error. Then, based on this result, we propose a control algorithm in the case where the reference signal is an arbitrary time-varying signal. By using the proposed tracking control algorithm, the overshoot of the plant output can be attenuated. Moreover, we show effectiveness of the proposed control algorithm through experimental results.
一般社団法人日本機械学会の論文