障害物のある非ホロノミックシステムのフィードバック制御系設計

• 井前 譲

  岩手大学工学部

• 森 孝行

  月島機械 (株)

• 鳥巣 諒

  岩手大学農学部

書誌事項

タイトル別名

• A Feedback Control Design for Constrained Nonholonomic Systems
• ショウガイブツ ノ アル ヒホロノミックシステム ノ フィードバック セイギョ

抄録

We propose a time-varying feedback controller for constrained nonholonomic systems, which consists of feedforward and feedback controllers. Our approach is mainly based on two-degree-of-freedom (2-DOF) techniques for nonlinear systems. First, we obtain numerical solutions for certain nonlinear optimal control problems with state-constraints through off-line calculations, and then construct the feedforward controller with the help of the optimal solutions. Next, we construct a linear time-invariant feedback controller by making use of the regulator theory on the associated linearized systems. Combining such two controllers and introducing a simple scheme on how to avoid the obstacles, we obtain the 2-DOF based time-varying feedback controller. We demonstrate, by numerical simulations, practicability of the proposed controller.

収録刊行物

• システム制御情報学会論文誌

  システム制御情報学会論文誌 11 (9), 499-507, 1998

  一般社団法人 システム制御情報学会

キーワード

• constrained nonholonomic systems
• timevarying feedback controllers
• two-degree-of-freedom
• optimal control
• regulator theory

詳細情報

• CRID: 1390001205165627392
• NII論文ID: 10004333305
• NII書誌ID: AN1013280X
• DOI: 10.5687/iscie.11.499
• ISSN: 2185811X
• ISSN: 13425668
• NDL書誌ID: 4560993
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4560993
• データソース種別:
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  • NDL
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  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可