Proceedings of the 56th Annual Conference of the Institute of Systems, Control and Information Engineers
巻, 号, ページ
pp. 455-456
出版年月
2012年5月23日
出版者
和文:
システム制御情報学会
英文:
会議名称
和文:
第56回システム制御情報学会研究発表講演会
英文:
the 56th Annual Conference of the Institute of Systems, Control and Information Engineers
開催地
和文:
京都
英文:
Kyoto
アブストラクト
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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