2輪型倒立振子ロボットのサンプル値制御  [in Japanese] Sampled-Data Control of Two-Wheel Self-Balancing Robot  [in Japanese]

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Abstract

「SCI'14」2014.05.21(水)-23(金) 於:京都テルサ

In this paper, we consider digital control of two-wheel self-balancing robots. Conventionally, a continuous-time controller is first designed and then discretized to implement it on a digital controller. In this case, intersample behavior is often ignored. Alternatively, we propose sampled-data control for self-balancing robots to improve intersample behavior. We show simulation and experimental results to illustrate the effectiveness of the proposed method.

Journal

  • 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, 2014-05

    システム制御情報学会

Codes

  • NII Article ID (NAID)
    120005460718
  • Text Lang
    JPN
  • Article Type
    article
  • ISSN
    1342-5668
  • Data Source
    IR 
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