不安定極を有するフィードバック補償を用いた小型移動体の姿勢安定化制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2013/03/01

タイトル(英語): Posture Control for Personal Mobility Robot using Feedback Compensation with Unstable Pole

著者名: 廣瀬　徳晃（（株）豊田中央研究所），但馬　竜介（（株）豊田中央研究所），鋤柄　和俊（（株）豊田中央研究所），津坂　祐司（（株）豊田中央研究所）

著者名(英語): Noriaki Hirose (TOYOTA CENTRAL R&D LABS., INC.), Ryosuke Tajima (TOYOTA CENTRAL R&D LABS., INC.), Kazutoshi Sukigara (TOYOTA CENTRAL R&D LABS., INC.), Yuji Tsusaka (TOYOTA CENTRAL R&D LABS., INC.)

キーワード: 姿勢制御，パーソナルモビリティロボット，不安定極，ZMP　　posture control，personal mobility robot，unstable pole，zero moment point

要約(英語): This paper presents a novel posture control approach using feedback compensation with an unstable pole. For the narrow and small PMR (personal mobility robot), it is required to control its posture for achieving quick turning and high acceleration. However, in the conventional control approach that uses the posture angle as a controlled variable, the ZMP (zero moment point) cannot be settled to the desired point in the following cases: an unknown disturbance force given to the PMR, the fluctuation in the center of gravity of the PMR, and the conditioned change between the tires and the road surface. In this paper, a novel control method using feedback compensation with an unstable pole is proposed to achieve the desired ZMP at steady state. The proposed controller changes the control input for the actuator of the posture control to zero in order to achieve the desired posture angle. The effectiveness of the proposed approach is verified via experiments using a prototype of the PMR.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.3 （2013） 特集：産業計測制御全般

本誌掲載ページ: 282-289 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/ieejias/133/3/133_282/_article/-char/ja/