トルクに制限がある場合の振り子の制御 : インテリジェントコントローラを用いた振り上げ制御

概要

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Zhou and his co-workers proposed an "intelligent controller" that simulates the control behavior of a human operator. The controller has multiple control modes to simulate a human operator switching several control actions according to the state of a target plant. In this paper, we discuss an application of the intelligent controller to swing up a one-link pendulum under driving torque limitation. To design the controller, we examine the action of a human operator who controls the swing-up motion of a one-link pendulum, and obtain three control modes with six parameters. Then the parameters are adjusted using a pendulum simulation system. The experimental results show that the designed controller achieves successful swing-up control even if the plant parameters are changed.
一般社団法人日本機械学会の論文
1992-12-25