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Title
Japanese:ポアンカレ断面上におけるPI制御を用いたDenguribotの起き上がり安定化 
English:Rising up Motion and Stabilizaing Control of Denguribot utilizing PI 
Author
Japanese: 石川恭兵, 関口和真, 三平満司.  
English: Kyouhei Ishikawa, Kazuma Sekiguchi, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第56回システム制御情報学会研究発表講演会論文集 
English:Proceedings of the 56th Annual Conference of the Institute of Systems, Control and Information Engineers 
Volume, Number, Page         pp. 455-456
Published date May 23, 2012 
Publisher
Japanese:システム制御情報学会 
English: 
Conference name
Japanese:第56回システム制御情報学会研究発表講演会 
English:the 56th Annual Conference of the Institute of Systems, Control and Information Engineers 
Conference site
Japanese:京都 
English:Kyoto 
Abstract This paper describes the rising up motion and stabilizing control for Denguribot. Denguribot is the Acrobot composed of 2 rounded links. The purpose of this paper is to stabilize Denguribot in a standing position from lying down. In order to achieve this purpose, we propose rising up control law using PI controller. Our method is to make an angle of Denguribot track its reference function via output zeroing control to pumping up its energy and to update the reference on a Poincare aection. Numerical simulation shows the effectiveness of the suggested method.

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