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タイトル
和文:Cayley Mapによる剛体運動の離散時間ベクトル表現と非線形最適制御への応用 
英文:Discretization of Rigid Body Motion via Cayley Map and its Application to Nonlinear Optimal Control 
著者
和文: 田所祐一, 田屋裕輝, 伊吹竜也, 三平満司.  
英文: Yuichi Tadokoro, Yuki Taya, Tatsuya Ibuki, MITSUJI SAMPEI.  
言語 Japanese 
掲載誌/書名
和文:第6回計測自動制御学会制御部門マルチシンポジウム論文集(USB) 
英文: 
巻, 号, ページ         1B2-6
出版年月 2019年3月7日 
出版者
和文:計測自動制御学会 
英文: 
会議名称
和文:第6回計測自動制御学会制御部門マルチシンポジウム 
英文: 
開催地
和文:熊本 
英文: 
アブストラクト This paper presents a discrete-time rigid body motion model using Cayley map for the special Education group SE(3). A continuous-time model and related discretization methods are introduced to illustrate the motivation of this work. The Cayley map for SE(3) is then adopted as a vector representation of an element of SE(3). The proposed representation allows exact computation of the discrete-time equation of rigid body kinematics. Moreover, the gradient of functions with respect to the state or input can also be easily computed. An application to an optimal control of a fully-actuated system on SE(3) is considered, and the gradient of the cost function is computed analytically. A simulation shows that the preset method dramatically improves the computation time.

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