あらかじめ指定された過渡性能と定常性能を実現する摩擦補償制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2020/10/01

タイトル(英語): Friction Compensation Control to Achieve Pre-specified Transient and Steady-state Performance

著者名: 奥山　淳（東海大学工学部精密工学科）

著者名(英語): Atsushi Okuyama (Department of Precision Engineering, Tokai University)

キーワード: 摩擦補償，Funnel制御，バックステッピング，あらかじめ指定された性能　friction compensation，Funnel control，backstepping，pre-specified performance

要約(英語): A friction compensation control method based on funnel control has been developed that achieves a pre-specified transient and steady-state performance. The proposed control method has the following features: (1) the controller is designed using a backstepping method, (2) the friction characteristic is represented by the LuGre model, (3) the nonlinear characteristic of the LuGre model is approximated by a neural network, and (4) the weights of the neural network are estimated adaptively. To verify the effectiveness of the proposed control method, experiments were performed using a positioning stage. As a result, it was confirmed that the proposed control method could achieve the pre-specified transient and steady-state performance even when the dynamic behavior of nonlinear friction changed.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.140 No.10 （2020） 特集：IoT時代を支えるスマートファシリティ関連技術

本誌掲載ページ: 782-790 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/140/10/140_782/_article/-char/ja/