| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem of a conventional mobile body positioning device in which when additive input type initial value compensation is added to a semi-closed control system, only an observable sensor position is taken into consideration in designing, and initial value compensation performance is not ensured in a load position. SOLUTION: In the positioning control device for performing repeated position control of a mobile body by semi-closed loop control, an additive input signal other than position instruction is inputted to the semi-closed control system, and the initial value response in repeated positioning is suppressed by both the position of the mobile body and a sensor position signal. COPYRIGHT: (C)2008,JPO&INPIT
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