C307 高次線形化座標を用いた2自由度1劣駆動系の近似線形化制御(OS7 非線形制御理論とその応用3)

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概要

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• This paper deals with an approximate linearization control of 2-DOF underactuated-by-1 systems, which uses specifically computed linearization coordinate so that the approximation error remains small. The coordinate is derived in systematic way by solving a first order linear partial differential equation. The resulting coordinate is infinite series of the joint position and highly nonlinear. The proposed control is verified in experiments for the rotational inverted pendulum. The linearization coordinates are drived also for mobile inverted pendulum, Acrobot, and for Pendubot.

• 2011-06-28

著者

• 星野 祐

  諏訪東京理大

関連論文

• B314 歩行面と点接触する劣駆動二足歩行機の試作と矢状面内での歩行安定化(OS2 ロボットのダイナミクスと制御2)
• C307 高次線形化座標を用いた2自由度1劣駆動系の近似線形化制御(OS7 非線形制御理論とその応用3)

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