| 摘要 |
PROBLEM TO BE SOLVED: To integrate various kinds of control rules of sensor feedback control, sensor-based control and the like in controlling a system having a number of actuators and a number of sensors. SOLUTION: In this integrated control device for the system having multi- degree of freedom and multiple sensor, the first control operation command is produced on the basis of dyA=p(yA) by the sensor feedback control unit, the second control operation command is produced on the basis of dyB=q(zB) by the sensor-based control unit, the produced control operation commands are inputted to an operation selector to weight the first control operation command and the second control operation command, and the weighted first control operation command and second control operation command are integrated on the basis of a formula (8) and a formula (9) to be outputted to the actuators as the operation command.
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