1P1-Q04 受動性に基づく非線形制御による倒立振子型移動ロボットの安定化と走行制御(【機械力学・計測制御部門】ロボットシステムのダイナミクス&デザイン)

概要

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A mobile inverted pendulum robot is expected to be applied to a robot which is used in human living space and personal mobility. In this study, we propose a nonlinear controller for accelerating and driving the system with interconnection and damping assignment passivity-based control (IDA-PBC). Although deriving the IDA-PBC for an underactuated system is difficult, we show that the dynamics of the pendulum can be properly described as a full actuated port-Hamiltonian system and the controller is derived. The proposed controller guarantees asymptoic stability of the pendulum angle to a desired one with a large stable region. This leads to the accelerating and driving based on the relation between the pendulum angle and the translational acceleration arising from instability of the system. The proposed approach can realize various controllers which have desired properties through energy shaping of the system. The effectiveness of the controller is verified in simulations.
一般社団法人日本機械学会の論文
2011-05-26