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.
|ジャーナル||Transactions of the Japan Society of Mechanical Engineers Series C|
|出版物ステータス||Published - 1995 1 1|
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering