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.