The purpose of this research is to construct a simple and practical controller design method, considering the actuator’s parameter uncertainty, without using a model of controlled objects. In this method, a controller is designed with an actuator model including a single-degree-of-freedom virtual structure inserted between actuator and controlled object, resulting in a model-free controller design. Furthermore, an $H_{\infty }$ control problem is defined so that the actuator’s parameter uncertainty is compensated by satisfying a robust stability condition. Because the actuator model including the virtual controlled object is a simple low-order system, and the actuator’s parameter uncertainty is considered, a controller with high robustness to the actuator’s parameter uncertainty can be designed based on traditional model-based control theory. The effectiveness of the proposed method is verified by both simulation and experiment.

本研究的目的是在不使用受控对象模型的情况下，考虑执行器的参数不确定性，构建一种简单实用的控制器设计方法。在这种方法中，设计的控制器具有执行器模型，该执行器模型包括插入执行器和受控对象之间的单自由度虚拟结构，从而实现了无模型的控制器设计。此外，$H_{\infty }$定义控制问题，以便通过满足鲁棒的稳定性条件来补偿执行器的参数不确定性。因为包含虚拟受控对象的执行器模型是一个简单的低阶系统，并且考虑了执行器的参数不确定性，所以可以基于传统的基于模型的控制理论设计对执行器的参数不确定性具有高鲁棒性的控制器。仿真和实验验证了该方法的有效性。