非線形最適制御によるacrobotの振り上げ安定化 · 先行研究...
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Acrobot
20141218 MBD
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Acrobot
Acrobot
Acrobot
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Acrobot
Acrobot
Acrobot
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Acrobot
Acrobot
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Acrobot q2
q1
x
y
2nd Link (active)
1st Link (passive)
g
Swing-up problem
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Acrobot
Acrobot
Acrobot
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LQR
Nonlinear Control
Nonlinear Control
*etc
**etc
Acrobot
** Olfati-Saber, R. (2000). Control of underactuated mechanical systems with twodegrees of freedom and symmetry. In
Proceedings of the American controlconference. Chicago, USA (pp. 40924096)
* Spong, M. W. (1995). The swing up control problem for the acrobot. IEEE ControlSystems Magazine, 15(1), 4455
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Acrobot
Acrobot
Acrobot
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Hamilton-Jacobi
Riccati
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Hamilton-Jacobi
Hamilton
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Hamilton
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*N. Sakamoto, A. J. van der Schaft: Analytical Ap- proximation Methods for the Stabilizing Solution of the Hamilton-Jacobi
Equation: IEEE Trans. Au- tomat Control, 53-10, 2335/2350 (2008)
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Acrobot
Acrobot
Acrobot
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2
Acrobot
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Acrobot
Hamilton-Jacobi
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Acrobot
Hamilton-Jacobi
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Acrobot
Hamilton-Jacobi
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Acrobot
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m1,m2+10%
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Acrobot
Hamilton-Jacobi
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Hamilton-Jacobi
k=15
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