Home >

news Help

Publication Information


Title
Japanese: 
English:Rising up Motion and Stabilizaing Control of Denguribot utilizing PI Controller on a Poincare Section 
Author
Japanese: 石川 恭兵, 関口 和真, 三平 満司.  
English: Kyohei Ishikawa, Kazuma Sekiguchi, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of SICE Annual Conference 2012 
Volume, Number, Page         pp. 558-563
Published date Aug. 21, 2012 
Publisher
Japanese:計測自動制御学会 
English:SICE 
Conference name
Japanese: 
English:SICE Annual Conference 2012 
Conference site
Japanese:秋田県 
English:Akita 
Abstract This paper describes the rising up motion and stabilizing control for Denguribot. Denguribot is the Acrobot composed of two 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 by partial linearization method to pump up its energy and to update the reference on a Poincare section. As a stabilization control law, we approximate Denguribot as the Acrobot and design a stabilization control law for the Acrobot, using exact linearization method. Numerical simulation shows the effectiveness of the suggested method.

©2007 Tokyo Institute of Technology All rights reserved.