ロバスト高速・高精度位置決め制御のためのGAによるフィードフォワード補償器自律設計

抄録

This paper presents a novel Genetic Algorithm (GA) based autonomous feedforward compensator design for the fast-response and high-precision positioning of mechatronic systems. The positioning system is mainly composed of a robust 2-degrees-of-freedom controller with feedback and feedforward compensators. The feedback compensator ensures the robust nature against variations of load mechanical parameters and the feedforward compensator allows the positioning to be fast and precise. The feedback compensator can be theoretically synthesized by μ-Synthesis, considering the robust stability and/or performance. The feedforward compensator, on the other hand, can be autonomously designed by GA, where both structure and its parameters of the compensator are optimized to realize the desired robust positioning performance against the load inertia variation. The effectiveness of the proposed optimal design has been verified by experiments using a prototype of 2-mass resonant system.