Implementation of Multirate H2 Optimal Digital Controller to a Micro-Tunneling Robot Navigation System

• YOSHIDA Koichi

  NTT Access Network Service System Laboratories

書誌事項

タイトル別名

• Implementation of Multirate H₂ Optimal Digital Controller to a Micro-Tunneling Robot Navigation System

抄録

In this paper, a multirate H₂ control synthesis is presented for the horizontal navigation system of a centerarticulated micro-tunneling robot, which has different sampling intervals for the horizontal positioning and head angle control of the robot. The projected line to be tunneled is approximated by a transfer function and combined with a dynamic model of the robot. Then, for the corresponding lifted system we design a discrete H₂ optimal controller with a causality constraint in the form of state space representation aiming at its quick implementation to the on-site navigation system. The validity of the controller is verified in numerical simulations.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 42 (9), 1001-1007, 2006

  公益社団法人 計測自動制御学会

キーワード

• multirate system
• <i>H</i>₂ control
• micro-tunneling robot
• Kalman filter

詳細情報

• CRID: 1390001204502423168
• NII論文ID: 130003971605
• NII論文ID: 10018250507
• NII書誌ID: AN00072392
• DOI: 10.9746/sicetr1965.42.1001
• ISSN: 18838189
• ISSN: 04534654
• NDL書誌ID: 8518666
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8518666
• Web Site: https://www.jstage.jst.go.jp/article/sicetr1965/42/9/42_9_1001/_pdf
• 本文言語コード: en
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可