C-1-4 終端誤差を許容した多項式入力型終端状態制御(情報・精密機器のサーポ・スマート制御,口頭発表)

抄録

Abstract As a method to generate a feedforward input that achieves high speed and high precision positioning,a polynomial-input-type final-state control has been proposed.This method can generatea feedforward input that which drives an initial state to a final state in a finite time.However,the existence of the solution is not always ensured for any initial and final states.To solve this problem, a final-state control method using a polynomial and time-series data has been proposed,though,it requires an extra memory to store the time-series data.In this research,we propose a method that does not require the time-series data by introducing a negligibly-sinall final-state error.The effectiveness of the proposed method is verified by performing simulations.