スケジュールドH_∞制御を用いたDDロボットの軌道制御

実機による検証

抄録

To achieve high performance control of a nonlinear plant such as D. D. (Direct Drive) manipulators, the disturbance force added on each joint and the nonlinear forces such as gravity and interacting forces should be compensated. Recently, the scheduled H_∞ control, which guarantees global stability and high performance for nonlinear plants, has been investigated. In this papers, we propose a new control of D. D. manipulators using the scheduled H_∞ control. Firstly, we treat the D. D. manipulators as a linear system with scheduling parameters. Secondly, we apply the scheduled H_∞ control to it. Finally, we verify the effectiveness by some experiments.