Gain Scheduling Control System Synthesis of an Acrobot Based on SOS
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- ICHIHARA Hiroyuki
- School of Science and Technology, Meiji University
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- KAWATA Masakatsu
- Department of Control Engineering, Maizuru National College of Technology
Bibliographic Information
- Other Title
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- 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
- 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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Abstract
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.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 46 (7), 373-382, 2010
The Society of Instrument and Control Engineers
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Details 詳細情報について
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- CRID
- 1390282679479776640
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- NII Article ID
- 10026797739
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- NII Book ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL BIB ID
- 10783931
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed