Direct Design of Human Skill and Its Implementation on Robot Using Model-free Controller Synthesis

本研究在不需建立任何数学模型的情况下，提出了一种从人的操作数据中整定控制器的方法。由于没有构造数学模型，我们不知道在控制器实现之前，所设计的控制器是否实际上稳定了受控对象。首先，作为基础研究，提出了基于被控对象输入/输出数据的闭环稳定性评价方法，并将其融入控制器整定的非线性和线性优化问题中。在线性优化问题的情况下，提出了保证闭环稳定的控制器参数整定方法。

This research proposed the controller tuning method from human operation data without constructing any mathematical model. Since the mathematical model is not constructed, we have no idea in advance of the controller implementation whether the designed controller actually stabilizes the controlled plant or not. Firstly, as a basic study, the evaluation method of the closed-loop stability from the input/output data of the controlled plant was proposed, and it was incorporated into the nonlinear and the linear optimization problem for the controller tuning. Moreover, in the case of the linear optimization problem, the controller parameter tuning method guaranteeing the closed-loop stability was proposed.