Robust digital coordinative control of redundant actuator systems

研究了冗余作动器系统的鲁棒数字协调控制问题。研究的目的是建立数字系统鲁棒协调控制器设计方法，并对其进行实验评估。结果总结如下：对于鲁棒控制器的设计方法，我们研究了两类控制方案。首先，我们开发了基于线性H_*的鲁棒补偿和非线性反馈线性化的设计方法。其次，我们开发了非线性控制方法，它考虑了被控对象固有的非线性特性。通过使用磁悬浮系统或单个机械臂的基本（非协调）实验证明了这些方法的有效性。对于协调控制的实验评价，我们基于第一类控制器设计方法进行了实验。首先，通过一对单自由度作动器的高速操纵和协调稳定实验，验证了设计方法的有效性。其次，构建了一对三自由度DD机器人，并通过协调跟踪控制验证了控制方法的有效性。

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.