仮想時間応答を評価するAI的データ駆動制御V-Tigerの多入出力化

抄録

AI-like data driven control ‘V-Tiger’ (Virtual Time-response based Iterative Gain Evaluation and Redesign) calculates a virtual time response when a certain controller K is used based on one experimental data, and sets K to reduce the settling time and overshoot. Also, low-impact active vibration controlled casters that utilize center of percussion are attracting attention to realize low-impact, low-vibration carts. However, this system is a one-input, two-output system, and it takes time and effort to adjust the five control gains of the controller. Therefore, establishing a systematic method for determining the optimal gain is mentioned as a remaining issue. This paper expands V-Tiger for multi-output system and applies to the active caster utilizing center of percussion.