| 摘要 |
PCT No. PCT/JP93/00049 Sec. 371 Date Nov. 1, 1993 Sec. 102(e) Date Nov. 1, 1993 PCT Filed Jan. 14, 1993 PCT Pub. No. WO93/20489 PCT Pub. Date Oct. 14, 1993A preview control apparatus uses a previously known future target value to control, among other things, robots and industrial machinery. Fast, highly accurate control is achieved in accordance with a target instruction without a learning process. The preview control apparatus produces a control input, outputted to a control object every predetermined sampling period, in a manner that a future deviation estimate obtained from a model of the control object becomes minimized to coincide the output of the control object with the target instruction. The preview control apparatus includes inputs for the future target instruction and a control object output and a memory for storing the future target instruction, a preview control constant and at least one past control input. An arithmetic unit calculates a deviation according to the difference between the target instruction and the control object output. The arithmetic unit further calculates a control input to be outputted to the control object, in such a manner that an evaluation function including at least a squared weighting of a future deviation estimate becomes minimum, using the future target instruction, the control object output, the past control input, the deviation, and the model of the control object.
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