回転型倒立振子のリミットサイクルの外乱抑制型安定化制御

• 石井 千春

• 田島 剛史

書誌事項

タイトル別名

• Stabilization Control with L2-Gain Disturbance Attenuation for a Kind of Limit Cycle of an Inverted Pendulum System.
• カイテンガタ トウリツ フリコ ノ リミットサイクル ノ ガイラン ヨクセイガタ アンテイカ セイギョ

抄録

In this paper, we consider such a stabilization control for a single inverted pendulum system that makes the pendulum rotating cyclically. We call this a limit cycle control of the inverted pendulum system. First, a realization law of such limit cycle is derived based on the law of mechanical energy conversion. Then, a stabilization control law for the produced limit cycle is designed based on the Lyapunov stability theory. Finally, the stabilization control law is extended so as to ensure not only stability of the limit cycle but also an L₂-gain disturbance attenuation in the presence of viscosity friction and modeling error. The effectiveness of the proposed control scheme is demonstrated via experimental works.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 68 (666), 406-411, 2002

  一般社団法人 日本機械学会

キーワード

• Motion Control
• Nonlinear Control
• Mechatronics and Robotics
• Inverted Pendulum System
• Limit Cycle
• L<SUB>2</SUB>-Gain Disturbance Attenuation

詳細情報

• CRID: 1390282681334542848
• NII論文ID: 110002378356
• NII論文ID: 130004084438
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.68.406
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 6083287
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6083287
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/68/666/68_666_406/_pdf
• 本文言語コード: ja
• 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