単純適応制御系設計におけるスケーリングの導入と拮抗型空圧人工筋駆動機構の位置決め制御への応用

札場 勇大, 蛯原 義雄, 萩原 朋道, 岡崎 安直, 小松 真弓

研究成果: Contribution to journalArticle査読

抄録

In this paper, we aim at achieving accurate positioning control of a pneumatic actuation mechanism of antagonist-type by means of the simple adaptive control (SAC) method. Since this plant does not satisfy the ASPR-ness condition, we introduce a parallel feedforward compensator (PFC) so that the SAC strategy can be applied. However, the introduction of PFC leads to performance deterioration and in particular causes a steady state error. To suppress the steady-state error while keeping the fundamental structure of the SAC system, we introduce a “constant scaling” to the SAC system. We also consider a “dynamic scaling” so that the transient response of the controlled system can be improved. Through experiments, we show that the SAC strategy with these scalings is indeed effective in achieving accurate positioning control. <br>
寄稿の翻訳タイトルSimple Adaptive Control Synthesis Enhanced by Scaling and Its Application to Positioning Control of Antagonist-Type Pneumatic Actuation Mechanism
本文言語Japanese
ページ(範囲)350-356
ページ数7
ジャーナルシステム制御情報学会論文誌
22
10
DOI
出版ステータス出版済み - 10 15 2009

フィンガープリント 「単純適応制御系設計におけるスケーリングの導入と拮抗型空圧人工筋駆動機構の位置決め制御への応用」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

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