Abstract
In this paper we deal with the active control of shock caused by the collision between two objects so as to make the deformation of shock-receiving object large and deformation of shock-giving object small. Because the shockreceiving object deforms elast-plastically, we appliy gain-scheduled(GS) control to overcome the discontinuous input when the deformation of shock-receiving object change from the elastic range to plastic range. Moreover we utilize varying gain of a frequency weighting function in order to improve performance of shock control. Evaluation index of effectiveness of control is the plastic deformation ratio between the two objects. By carrying out experiment, it is verified that the GS controller designed is effective for active control of shock.
