METHOD OF ROBUSTNESS INPUT SHAPED CONTROL USING RESIDUAL DISPLACEMENT WITH FLEXIBLE SYSTEM LIMITED ACCELERATION

摘要

The present invention relates to a robustness input shaped control method using allowable residual displacement with respect to a flexible system wherein acceleration is limited. In motion of the flexible system, a vector with respect to A_1, A_2, and A_3 of each impulse is calculated in accordance with pulse time using a displacement vector with respect to residual displacement expressed as a phasor vector form by using a transfer function of a pendulum system.