D301 適応出力フィードバックによる不感帯を有するフレキシブルアームの先端位置制御(OS8 適応学習制御とその応用)

概要

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In this paper, we deal with a tip position control problem of a flexible arm with dead zone for the control input. A design method of an adaptive control based on an output feedback for nonlinear nonminmum-phase flexible arm systems will be presented. To realize an adaptive output feedback control for nonminimum-phase control systems, we introduce a parallel feedforward compensator (PFC) so as to satisfy the OFEP (Output Feedback Exponentially Passive) conditions and design an adaptive feedforward input with a structure of neural networks in order to remove undesired vibration and the steady-state bias error from the PFC output. The effectiveness of the proposed method is examined through an experiment for a flexible arm with dead zone.
2011-06-28