自動微分を用いた非線形制御の検討及び一輪型移動ロボットのLateral面のシミュレーションと実験による検証

カテゴリ: 研究会(論文単位)

論文No: MEC14168

グループ名: 【D】産業応用部門 メカトロニクス制御研究会

発行日: 2014/10/11

タイトル(英語): Study on nonlinear control using automatic differentiation and verification through simulation and experiment in lateral plane of mono-wheel robot

著者名: Bui Van Dinh (横浜国立大学),藤本 康孝(横浜国立大学)

著者名(英語): Bui Van Dinh (Yokohama National University),Fujimoto Yasutaka( Yokohama National University)

キーワード: Automatic Differentiation|Nonlinear Control|Nonlinear Model|Lateral Plane|Mono-Wheel Robot

要約(日本語): A nonlinear model is very complex. It causes the exponential increase in computation time. To implement the computation based on nonlinear control is impossible. Automatic differentiation is a new approach for implementing the computation of the nonlinear systems. This paper shows simulation and experiment in lateral plane of mono-wheel robot.

要約(英語): A nonlinear model is very complex. It causes the exponential increase in computation time. To implement the computation based on nonlinear control is impossible. Automatic differentiation is a new approach for implementing the computation of the nonlinear systems. This paper shows simulation and experiment in lateral plane of mono-wheel robot.

原稿種別: 日本語

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