出力フィードバック適応的非定常制御の一手法（振動系の位置泀め制御への適用）

摘要

One of the authors has proposed an adaptive nonstationary control (ANSC) method and its applications to positioning control of vibration systems. In that control method, the time-varying feedback gains are obtained by online computations of a time-varying Riccati equation taking the parameter variations of the controlled object into account. However, the previous paper discussed as the state feedback control method. Its improvement to the output feedback control method is one of important issues for actual applications. Generally, the output feedback controller of the optimal control includes Kalman filter as the observer. However, the use of Kalman filter for the ANSC method requires much computational load in actual implementations because it is designed by another time-varying Riccati equation. Therefore, this paper proposes a practical output feedback control method of ANSC without Kalman filter. The proposed method corresponds to a two-degree-of-freedom control system which consists of an online simulator and a sliding mode controller. This structure enables us to reduce the computational load. The effectiveness of the method is verified theoretically and experimentally.%ロボットや精密情報機器など，あらゆる機械構造物rnにおいて，位置決め制御は重要な役割を果たしている．rnこの数十年間，位置決め制御は大型や軽量の対象を扱rnうようになり，同時に一層の高速・高精度制御が求めらrnれるようになった．そのため，振動モードの影響を無視rnできない柔軟な構造物を対象とする，振動系の位置決rnめ制御技術が重要となってきた．