抄録
In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Mechanism using a pneumatic cylinder is therefore expected to be useful to perform tasks such as day-to-day work support for elderly people. In this study, we have evaluated characteristics of force control of pneumatic cylinder using predictive functional control (PFC) system. The predictive functional control is one of the model based predictive control (MPC) schemes, which predict the future outputs of actual plant over prediction horizon and compute the control effort over control horizon at every sampling instance. In this paper, PFC control performances of pneumatic cylinder are reported.
