時変評価関数を用いた位置決めおよび振動制御の同時最適化

抄録

For positioning control of flexible structures, it is important to reduce residual vibration after the positioning is completed. If a positioning controller and a vibration controller are designed independently and abrupt switching is performed from the former to the latter, the moving structure suffers from impact and additional vibration is caused. This paper presents a method of simultaneous synthesis both motion and vibration controllers, using a time-varying criterion function for optimal control. This method is applied to positioning control of a flexible structure. The usefulness of this method is verified theoretically and experimentally.