モデル誤差抑制補償器を用いた車輪型倒立振子のロバスト速度補償

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: 2019/03/01

タイトル(英語): Robust Velocity Compensation of Inverted Pendulum Robot with Model Error Compensator

著者名: 岡島　寛（熊本大学大学院自然科学研究科），奥村　洸祐（熊本大学大学院自然科学研究科），松永　信智（熊本大学大学院自然科学研究科）

著者名(英語): Hiroshi Okajima (Graduate School of Science and Technology, Kumamoto University), Kosuke Okumura (Graduate School of Science and Technology, Kumamoto University), Nobutomo Matsunaga (Graduate School of Science and Technology, Kumamoto University)

キーワード: 倒立振子，ビークル制御，非最小位相系，ロバスト制御　　inverted pendulum，vehicle control，non-minimum phase systems，robust control

要約(英語): It is well known that inverted pendulums are difficult to control because of its non-minimum phase and non-linear characteristics. Car robot type inverted pendulums are developed and it provides small spacing than four wheel mobile robot. Moreover, car robot type inverted pendulums have high acceleration performance. In previous study, how to obtain the reference value of the body angle for driving at desired acceleration is proposed using zero dynamics of the non-linear system. This method use the exact values of the model parameters to obtain desired acceleration signal. Therefore, the robot cannot achieve desired acceleration if the plant parameters are different from its model parameters. So, it is necessary to minimize the effect of the model error to achieve robust acceleration performance. In this paper, we propose a method to achieve robust acceleration performance based on the model error compensator. Also, the performance of the model error compensator is improved using the virtual output to satisfy minimum phase condition. The effectiveness of the proposed system is evaluated by the driving experiments of a car robot type inverted pendulum.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.139 No.3 （2019） 特集：フレキシブルセラミックスコーティング

本誌掲載ページ: 219-226 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/139/3/139_219/_article/-char/ja/