| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To develop and provide an algorithm capable of restricting influences of turbulence encountered to the minimum even in a case wherein an observation error of a predefined turbulence, an observation error of a moving condition of one's own machine, and the uncertainty of a system influence each other in the worst way by considering all of the influences of these errors and uncertainty in order to perform the turbulence restricting control considering the observation error of the predefined turbulence, the observation error of the moving condition of the own machine, and uncertainty of the system. <P>SOLUTION: A delay system having uncertain wasted time in a control input terminal is used to secure the robust performance relative to a modeling error of a system, and information about predefined turbulence using a previously estimated error width is used to secure the robust performance relative to the observation error of the information about predefined turbulence, and further, the control estimating a machine body moving condition using the previously estimated error width is performed to secure the robust performance relative to the observation error of the moving condition of the own machine. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
