書誌事項
- タイトル別名
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- Gain Scheduling Control System Synthesis of an Acrobot Based on SOS
- SOSに基づくアクロボットのゲインスケジューリング制御--姿勢制御実験による検証
- SOS ニ モトズク アクロボット ノ ゲインスケジューリング セイギョ シセイ セイギョ ジッケン ニ ヨル ケンショウ
- —Attitude Control Experiment—
- —姿勢制御実験による検証—
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The dynamics of acrobots, two-link underactuated system, have strong nonlinearity, so that gain scheduling (GS) control is suitable for stabilizing the system in a wide range of operation. In this paper, GS controller design problems for the attitude control are reduced to solving polynomially parameter-dependent linear matrix inequalities (PDLMIs). The polynomially PDLMIs are relaxed by matrix sum of squares (SOS) polynomials to find feasible solutions. Several reduction techniques are adopted to reduce the amount of computation for solving the SOS problems while direct formulations are too computationally expensive to solve. For two attitude modes of the acrobot, the effectiveness of GS control is shown by experiments as well as nonlinear simulations.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 46 (7), 373-382, 2010
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390282679479776640
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- NII論文ID
- 10026797739
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 10783931
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
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- 抄録ライセンスフラグ
- 使用不可