C15 A Polynomial Input Type Final-State Control Introducing a Negligibly-Small Final-State Error : Experimental Study
Tsubasa Tanaka, Mitsuo Hirata · The Proceedings of the Symposium on the Motion and Vibration Control · 2013
As a method to generate a feedforward input that achieves high speed and high precision positioning, a polynomial-input-type final-state control has been proposed. This method can generate a feedforward input that drives an initial state to a final state in a finite time. However, the existence of the solution is not always ensured for any initial and final states. To solve this problem, a final-state control method using a polynomial and time-series data has been proposed, though, it requires an extra memory to store the time-series data. In this research, we propose a method that does not require the time-series data by introducing a negligibly-small final-state error. The effectiveness of the proposed method is verified by performing simulation and experimental study.