선형 Magnetostatic 작동기의 정밀 접촉력제어를 위한 최적제어기 설계

Optimal contact force control for a linear magnetostatic actuator

When a manipulator makes contact with an object having position uncertainty, performance measures vary considerably with the control law. To achieve the optimal solution for this problem, an unique objective function that weights time and impact force is suggested and is solved with the help of variational calculus. The resulting optimal velocity profile is then modified to define a sliding mode for the impact and force control. The sliding mode control technique is used to achieve the desired performance. Sets of experiments are performed, which show superior performance compared to any existing controller.