Active control of shock by using feedforward input

In this paper we deal with active control of shock in a collision problem between two objects. In order to make plastic deformation of a shock-receiving object reach a target value and suppress deformation of another shock-giving object, feedforward input is applied. Because the object shocks has nonlinear characteristics, the control input is calculated by applying final-state control with error learning. Thus the relationship between the target value of plastic deformation, final time, input restriction, and contact rigidity is clarified. Especially, it is varified that the conservation of energy in the collision process is satisfied. By carrying out experiments using a digital signal processor, it is demonstrated that the feedforward input designed is effective for enlarging the deformation ratio between two objects.