入力外乱補償特性をもつ部分線形化手法を用いたPendubotの振り上げ制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2013/09/01

タイトル(英語): Swing-up Control of the Pendubot using a Partial Linearization Method having Compensation Property for Input Disturbances

著者名: 逸見　知弘（香川高等専門学校機械電子工学科），西原　智之（香川高等専門学校専攻科 創造工学専攻），十河　宏行（香川高等専門学校機械電子工学科）

著者名(英語): Tomohiro Henmi (Department of Electro-Mechanical Engineering, Kagawa National College of Technology), Tomoyuki Nishihara (Advanced Course in Industrial Systems Engineering, Kagawa National College of Technology), Hiroyuki Sogo (Department of Electro-Mechanical Engineering, Kagawa National College of Technology)

キーワード: Pendubot，劣駆動システム，部分線形化，スライディングモード制御，エネルギー制御法　　Pendubot，Underactuated system，Partial linearization method，Sliding-mode Control， Energy based Control

要約(英語): In this paper, a swing-up controller for the Pendubot which is a typical example of nonlinear underactuated systems is proposed. The proposed method consists in three steps, Step 1: a swing-up control of a first link, Step 2: a swing-up control of a second link with stabilizing the first link at upright position, and Step3: a stabilization control of both links at its unstable equilibrium state. As the controller of Step1, a sliding-mode type partial linearization method, which has the robustness for input disturbances, is applied to swing-up and stabilize of the first link. The controller of Step2 is consisted of an energy based swing-up controller for the second link and stabilization controller for the first link designed in Step1. A control input of Step2 is computed by adding inputs of two controllers, and the input of other controller is regarded as a input disturbances,respectively. Using this idea, the swinging-up of the second link with stabilizing the first link is achieved. And sliding-mode controller to stabilize both links is used as the controller of Step3. Finally, numerical simulation and experiment results are given to show an effectiveness of the proposed method.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.133 No.9 （2013） 特集：エージェントシミュレーションの最新動向

本誌掲載ページ: 1828-1836 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/133/9/133_1828/_article/-char/ja/