Advances in High-Performance Motion Control of Mechatronic Systems

3

Transient Control Using Initial Value Compensation

A. Okuyama

Tokai University

N. Hirose

Toyota Central R&D Labs., Inc.

T. Yamaguchi

Ricoh Company Ltd.

M. Iwasaki

Nagoya Institute of Technology

CONTENTS

3.1    Introduction

3.1.1    Background

3.1.2    Initial Value Compensation (IVC)

3.2    Overview of Switching Control

3.3    Design of IVC

3.3.1    Design of Initial Values on Feedback Controller

3.3.2    Design of Additional Input to Controller

3.3.3    Design of Optimal Switching Condition

3.4    Industrial Applications 1 (IVC for Mode Switching)

3.4.1    HDD (Reduction of Acoustic Noise)

3.4.2    Robot (Personal Mobility Robot)

3.4.2.1    Introduction

3.4.2.2    Mathematical Model

3.4.2.3    Design of IVC

3.4.2.4    Experimental Results ...