Robust digital coordinative control of redundant actuator systems

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This research is concerned with robust digital coordinative control of redundant actuator system. The purpose of the research is to establish the robust coordinative controller design method in digital systems with its experimental evaluation. The obtained results are summarized as follows :As for the robust controller design methods, we have studied about two types of control schemes. First, we have developed design methods which consist of linear H_*-based robust compensation and linearization by nonlinear feedback. Second, we have developed the nonlinear control methods which take account of the inherent nonlinear properties of the plants to be controlled. The effectiveness of these methods are demonstrated through fundamental (non-coordinative) experiments using a magnetic levitation system or a single robot arm.Concerning to the experimental evaluation for coordinative control, we have performed experiments based on the first type controller design method. First, we have shown the validity of our design method through the experiments of high speed manipulation and coordinative stabilization by using a pair of one-degree-of-freedom actuators. Second, we have constructed a pair of three-degree-of-freedom DD robots, and have shown the effectiveness of our control method through coordinative tracking control.