剛性が変位に依存する時変システムに対する終端状態制御

抄録

In this research, we considered the final-state control for time-varying systems with a stiffness dependent on the displacement. In such systems, the resonant frequency changes during positioning. A frequency-shaped final-state control and a time-varying final-state control were applied, and the obtained control performances were compared by performing simulations. The simulation results indicated that the time-varying final-state control achieved a good nominal performance while the frequency-shaped final-state control method achieved a good robust performance against parameter variations.