抄録
The authors have studied on power assist systems for conveyance of flexible structures. The previous study realized a robust control system design which consists of an impedance controller, a disturbance accommodating optimal controller, a disturbance observer and a reaction force controller. However, the control system requires the precise state space model of a controlled object and an observer for estimating undetected state variables. It becomes much burden for controller designers. In order to overcome such a drawback, this paper introduces an improved control system design adopting a simplified vibration system model and a suboptimal control law. The suboptimal controller does not need the observer. Moreover, this paper verifies the effectiveness of the improved control system by experiments using a power assist cart and their corresponding simulations.
