Stabilizing control of underactuated inertia wheeled pendulum using coordinate transformation and Lyapunov function method

カテゴリ: 部門大会

論文No: GS2-2

グループ名: 【C】平成30年電気学会電子・情報・システム部門大会プログラム

発行日: 2018/09/05

タイトル(英語): Stabilizing control of underactuated inertia wheeled pendulum using coordinate transformation and Lyapunov function method

著者名: Zhang Ancai(東京工科大学),Jinhua She(東京工科大学),Qiu Jianlong(Linyi University),Zhang Xinghui(Linyi University),Pang Guochen(Linyi University)

著者名(英語): Ancai Zhang|Jinhua She|Jianlong Qiu|Xinghui Zhang|Guochen Pang

キーワード: Inertia wheeled pendulum|Underactuated mechanical systems|Coordinate transformation|Lyapunov function

要約(日本語): An inertia wheel pendulum (IWP) is a nonlinear underactuated mechanical system with two degrees of freedom (DOF). The stabilizing control problem for the IWP is discussed in this paper. And a new stabilizing control method is developed. The method first uses a coordinate transformation to change the IWP into a cascade nonlinear system. And then, a stabilizing control law is designed based on a Lyapunov function for the cascade system. The control law drives the IWP to any arbitrarily small neighbourhood of the target position. This enables the stabilizing control of the IWP easily to achieve. A numerical example verifies the effectiveness of the new method.

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