ロバスト性を考慮した面積誤差評価予見制御によるメカニカルシステム経路制御

抄録

As a path control method of mechanical system, we proposed a new method using preview control with Superficial Error Evaluation Term (SEET) based on a different viewpoint of the usual position error in order to evaluate strictly the path control error.
However, there were some problems in previous report, such as not to guarantee robustness of control system, and also the transformation of SEET to discrete-time expression were not specified.
In this report, we improve this method about the following two points, aiming to construct a more practical control method.
(1) We design both SEET and a control system from a consistent viewpoint of discrete-time system. With this, the transformation of SEET to discrete-time expression becomes unnecessary, and we make the meaning of SEET clear.
(2) A method to guarantee steady-state robustness of the control system is given, using a theory of type-I servo control system, in order to cope with parameter uncertainties and continued disturbance.