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Understanding the final-state control from the standpoint of the model predictive control and its application to a three-dimensional trajectory control problem
http://hdl.handle.net/2237/00032251
http://hdl.handle.net/2237/00032251c1393e8e-7ee3-4371-8246-ca78bd2f4f8f
名前 / ファイル | ライセンス | アクション |
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2020-05-26 | |||||
タイトル | ||||||
タイトル | Understanding the final-state control from the standpoint of the model predictive control and its application to a three-dimensional trajectory control problem | |||||
言語 | en | |||||
著者 |
Hara, Susumu
× Hara, Susumu× Yokoo, Ryuya× Miyata, Kikuko |
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アクセス権 | ||||||
アクセス権 | open access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
権利 | ||||||
言語 | en | |||||
権利情報 | “This is a post-peer-review, pre-copyedit version of an article published in [Microsystem Technologies]. The final authenticated version is available online at: http://dx.doi.org/10.1007/s00542-019-04397-0”. | |||||
抄録 | ||||||
内容記述 | In many motion control problems of mechatronic equipment, the control performance of the final-state of the control period is strictly important for positioning or settling issues. Totani and Nishimura proposed a final-state control (FSC) method using the compensation input for achieving such requirements in 1994. The FSC technique has been improved and applied to various kinds of actual mechanical motion control problems. In the same way, there is a similar method to solve these kinds of problems called model predictive control (MPC). However, the difference between FSC and MPC has not been fully clarified yet. This paper shows the relationship between the FSC and MPC methods. First, an updating-type FSC (UFSC) proposed by a part of the authors is introduced. Then, this paper analytically shows that the control input of UFSC agrees in the input of MPC under some conditions. This analysis makes clear the meaning of “updating” in the FSC technique for actual mechanical motion control applications. Moreover, this paper shows an application of the UFSC to a three-dimensional positioning problem with a fixed-wing airplane and performs numerical simulations to help the understanding the characteristics of the UFSC. Through the discussions of this paper, the characteristic of the FSC is clarified. | |||||
言語 | en | |||||
内容記述タイプ | Abstract | |||||
内容記述 | ||||||
内容記述 | ファイル公開:2021/01/01 | |||||
言語 | ja | |||||
内容記述タイプ | Other | |||||
出版者 | ||||||
言語 | en | |||||
出版者 | Springer | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプresource | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
出版タイプ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1007/s00542-019-04397-0 | |||||
ISSN(print) | ||||||
収録物識別子タイプ | PISSN | |||||
収録物識別子 | 0946-7076 | |||||
書誌情報 |
en : Microsystem Technologies 巻 26, 号 1, p. 49-57, 発行日 2020-01 |
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著者版フラグ | ||||||
値 | author |