追従制御問題の一解法と, マニピュレータ制御への応用 [in Japanese] A Solving Method of Tracking Control Problem and Applications to Manipulator Control [in Japanese]
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As a tracking control method of control system, the method of improving control input succesively by the repetition trial is actively researched. When the tracking control is carried out by the repetition trial, the classic optimal control theory can be applied. The authours research a successive approximation method of tracking control problem and simulate the 3-link robot manipulator. This note reports the results of these researches.
- Marine Engineering
Marine Engineering 31(2), 108-116, 1996-02-01
The Japan Institute of Marine Engineering