Robustness of Final-State Control Performance by Means of Feedforward Input under Parameter Variation(Verification in Positioning Control of a Cart and Pendulum System)

Hidekazu Nishimura, Koji Funaki, Takayoshi Totani

研究成果: Article

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This paper shows an application of the already proposed final-state control method to a cart and pendulum system and demonstrates that the method is useful for positioning control of mechanical systems with a flexible mode. In numerical calculations and experiments, we assume that the effective length of the pendulum changes, and the settling characteristics and the robustness of the final-state control performance under this parameter variation are investigated. It is shown that the finahstate control performance with the feedforward input is better than that without it within a certain range of parameter variation, and that the use of the feedforward input designed by considering the parameter variation is effective in improving the robustness.

元の言語English
ページ(範囲)2938-2944
ページ数7
ジャーナルTransactions of the Japan Society of Mechanical Engineers Series C
61
発行部数587
DOI
出版物ステータスPublished - 1995 1 1
外部発表Yes

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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