Positioning control device of actuator provided with strain wave gearing using h-infinity control

A positioning control device of an actuator provided with a strain wave gearing, in which the actuator provided with a configuration in which rotation of a motor is reduced by the strain wave gearing and transmitted to a load shaft, is driven and controlled, and positioning control for the load shaft is performed, the positioning control device of the actuator provided with the strain wave gearing comprising:

• a full-closed control system for feeding back a position of the load shaft and driving and controlling the motor so that the load shaft is positioned at a target position;
• wherein the full-closed control system has an H∞ compensator designed so that, when a generalized plant that has, as a disturbance input, angular transmission error generated synchronously with relative rotation of constituent components of the strain wave gearing is assumed to be the actuator to be controlled, an H∞ norm of a transfer function from the disturbance input of the generalized plant to an evaluation output becomes a predetermined value or less;
• and
• the H∞ compensator controls a drive current flowing to the motor.