対称アフィンシステムの設定点サーボ問題―ＰＩ制御による実用安定化

• 志水 清孝

  慶応義塾大学理工学部

• 田村 健一

  慶応義塾大学大学院理工学研究科

書誌事項

タイトル別名

• Setpoint Servo Problem for Symmetric Affine System-Practical Stabilization by PI Control
• タイショウ アフィン システム ノ セッテイテン サーボ モンダイ PI セイギョ ニ ヨル ジツヨウ アンテイカ
• Practical Stabilization by PI Control
• PI制御による実用安定化

抄録

This paper is concerned with control of nonholonomic systems. As is well known, symmetric affine system is unable to control with continuous time invariant state feedback control. In this paper we apply PI Control to a setpoint servo problem for the symmetric affine system. PI control posesses two adjustable parameters K_p, K_I-, and in addition the so-called manual reset quantity m₀. (Note that adjusting m₀ is equivallent to adjusting an initial condition z₀ of integrator z = e.) By the PI control with the manual reset m₀ appropriately chosen, not only controllable part of symmetric affine system is asymptotically stabilized but also uncontrollable part can be made to converge to the desired point. Applying the PI control with m₀, we can control the symmetric affine system without transforming into the “chained form”. We confirmed the effectiveness of the proposed method by the simulation results for various plants like a two-wheeled vehicle and a four-wheeled vehicle, a flying robot, etc.

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 21 (8), 253-259, 2008

  一般社団法人 システム制御情報学会

キーワード

• nonholonomic system
• symmetric affine system
• PI control
• manual reset quantity
• four wheeled vehicle

詳細情報

• CRID: 1390282680142847360
• NII論文ID: 10021837724
• NII書誌ID: AN1013280X
• DOI: 10.5687/iscie.21.253
• ISSN: 2185811X
• ISSN: 13425668
• NDL書誌ID: 9608047
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9608047
• 本文言語コード: ja
• データソース種別:
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