3202 特性変動を有するシステムのスマート構造による適応制御(J06-1 スマート構造,J06 知的材料・構造システム)

抄録

This study is concerned with a vibration control strategy for a flexible-link mechanism in order to achieve significant vibration suppression. The characteristics of the system are varied according to the configuration of the manipulator and holding mass at the end of the manipulator. A smart-link system is composed of piezoelectric actuators and gain-scheduled controller. The control system is designed by solving H_2 control problem using a reduced-order modal model. An adaptive control is conducted by scheduling some LTI controllers to keep the stability and performance against the characteristics variation of the system. The design problem for improving the H_2 performance is defined, and then the scheduling gains for their LTI controllers are optimized by the presented approach, resulting in an enhanced performance for the vibration control.