簡易型内部モデル制御の構成法と把持力制御への応用

摘要

プロセス制御などに利用されている内部モデル制御は，rnHorowizやMorariらによって提案され，研究が進められrnてきた制御方法で，制御対象に制御対象のモデルを並列にrn接続し，両者の出力誤差をコントローラに通しフィードバッrnクする制御方法である。%A simplified IMC scheme is proposed in this paper. By using an inverse system or an approximate inverse system for the IMC structure, the order of the controller leads the high order, meanwhile the high order controller is not practical in implementation. This paper is concerned with the problem of reducing a high order controller to a reduced order one. The disturbance estimation property of the closed loop system is also discussed. The proposed procedure is applied to prototype robotic hand that can hold an object with suitable grasping force without force sensor. The effectiveness of the proposed controller scheme is confirmed by experiments.