119 Active Shock Control : Application of H_∞ Control

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  • 119 アクティブ衝撃制御 : H_∞制御の適用

Abstract

In this paper we treat a collision problem between two objects and apply H_∞ control in order to actively control the shock caused by the collision. The controller is designed so that the shock is transfered as unilaterally as possible. In order to evaluate the shock transfer ratio the deformation ratio between the two objects is introduced. In our experiment the discretized controller is implemented in the digital signal processor used to realize instantaneous cotrol motion. By carrying out the experiment it is verified that active shock control is realizable and the controller we designed is usufull for shock control.

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