| 摘要 |
PROBLEM TO BE SOLVED: To smoothly correct a deviation of an actual attitude in relation to a desired attitude of a base body, while suppressing generation of an overshoot or an undershoot, in a mobile body moving, while moving up and down the base body. SOLUTION: When a required manipulated variable is determined by a feedback control law to converge a state amount deviationΔθof the attitude of the base body 24 to "0", feedback gain of the feedback control law is determined by using the time series in a period from current time to predetermined time in the future in the time series of a desired inertial force of the mobile body 1 or the base body 24. The required operation amount is determined by the calculation of the feedback control law on the basis of the determined feedback gain and an observed value of the state amount deviation. COPYRIGHT: (C)2011,JPO&INPIT
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