Simultaneous Optimization of Positioning and Vibration Controls Using Time-Varying Criterion Function
Susumu Hara* and Kazuo Yoshida**
*Graduate Student, Keio University
**Faculty of Science and Technology, Keio University, Hiyoshi 3-14-1, Kohoku-ku, Yokohama, 223 Japan
For the positioning control of flexible structures, it is important to reduce residual vibration after the positioning is completed. If a positioning controller and a vibration controller are designed independently and abrupt switching is performed from the former to the latter, the moving structure suffers from impact, and additional vibration is caused. This paper presents a method for simultaneously synthesizing both motion and vibration controllers, using a time-varying criterion function for optimal control. This method is applied to the positioning control of a flexible structure. The usefulness of the method is verified theoretically and experimentally.