Initial Value Compensation with Additional Input Considering Optimization of Control Input

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  • Hirose Noriaki
    Department of Computer Science and Engineering, Nagoya Institute of Technology
  • Terachi Yasuhisa
    Department of Computer Science and Engineering, Nagoya Institute of Technology
  • Kawafuku Motohiro
    Department of Computer Science and Engineering, Nagoya Institute of Technology
  • Iwasaki Makoto
    Department of Computer Science and Engineering, Nagoya Institute of Technology
  • Hirai Hiromu
    Department of Computer Science and Engineering, Nagoya Institute of Technology

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  • 制御入力の最適化を考慮した付加入力型初期値補償
  • セイギョ ニュウリョク ノ サイテキカ オ コウリョシタ フカ ニュウリョクガタ ショキチ ホショウ

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Abstract

This paper presents a novel initial value compensation (IVC) with additional input by considering the optimization of control input. IVC has been used to improve the control performance of various control systems with different initial values. Essential subjects, however, have been still remained: In the conventional IVC approaches, the increase in the amplitude and number of high-frequency components of the control input that accompany an increase in the control bandwidth could not be avoided. In this research, therefore, an optimization approach for the control input is applied under the constrains of the conventional IVC approach. The effectiveness of the proposed approach has been verified by numerical simulations and experiments using a prototype.

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