Gain-Scheduling of Nonstationary Optimal Regulators Based on Multi-Design-Point. Its Application to Positioning and Vibration Control of Time-Varying Vibration Systems.

摘要

Positioning control of vibration systems is one of the basic techniques relating to conveyance devices as cranes, robot arms, precision instruments as Hard Disk Drives, and so on. This study discusses the positioning and vibration control of time-varying vibration systems. We assume that the time-varying parameter of a vibration system is detected by an on-line measurement. In this study, nonstationary optimal regulators (time-varying state feedback and time-varying Kalman filter) based on multi-design-point for the varying parameter are designed a priori. Their time-varying controllers are stored in computer memories. According to the on-line detected time-varying parameter, the actual controller is obtained by using the gain-scheduling of the previous controllers. This study shows the effectiveness of this method by numerical calculations.