不確かさを考慮した拘束システムの目標値整形とその実験検証

抄録

This paper extends the off-line reference shaping method proposed by the authors to the case where non-parametric uncertainties exist in closed loop systems. The method guarantees that input/state constraints are satisfied in the presence of uncertainty, while it improves the tracking performance. More importantly, the effectiveness of the proposed method is evaluated by simulation and experiment. In particular, it demonstrates the difference between the nominal reference shaping and the proposed robust one.