Practical positioning control method of flexible structures using nonstationary robust regulator

Author

Hara, Susumu ; Yoshida, Kazuo

Author_Institution

Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan

Volume

1

fYear

1996

fDate

11-13 Dec 1996

Firstpage

173

Abstract

In this method, the closest trajectory input derived a priori from the nonstationary optimal control theory to the object distance is used as a feedforward control and the positioning error at the terminal point is compensated by the nonstationary robust feedback control to which it is smoothly switched. By applying the method to a positioning control of a flexible structure, the usefulness of the method is verified theoretically and experimentally. Moreover, from a comparison between the nonstationary robust control and a conventional robust servo control for a positioning control of a two-mass-spring system, the advantage of the former one is demonstrated

Keywords

feedback; feedforward; flexible structures; position control; robust control; feedforward control; flexible structures; nonstationary optimal control theory; nonstationary robust feedback control; nonstationary robust regulator; positioning control method; positioning error; robust servo contr; two-mass-spring system; Control systems; Error correction; Feedback control; Flexible structures; Optimal control; Regulators; Robust control; Servosystems; Size control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.574284

Filename

574284