This paper shows an application of the already proposed final-state control method to a cart and pendulum system and demonstrates that the method is useful for positioning control of mechanical systems with a flexible mode. In numerical calculations and experiments, we assume that the effective length of the pendulum changes, and the settling characteristics and the robustness of the final-state control performance under this parameter variation are investigated. It is shown that the finahstate control performance with the feedforward input is better than that without it within a certain range of parameter variation, and that the use of the feedforward input designed by considering the parameter variation is effective in improving the robustness.
|ジャーナル||transactions of the japan society of mechanical engineers series c|
|出版ステータス||Published - 1995|
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