ガウス過程で強化した内外変換可能(EIC)形式に基づく劣駆動バランスロボットの制御
Gaussian Process-Enhanced, External and Internal Convertible (EIC) Form-Based Control of Underactuated Balance Robots
劣駆動バランスロボットのEIC形式制御で生じる制御不能運動の条件を特定し、ガウス過程によるデータ駆動型モデルで強化した制御法を提案、2例の実験で有効性を示した。
著者: Feng Han, Jingang Yi
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
External and internal convertible (EIC) form-based motion control (i.e., EIC-based control) is one of the effective approaches for underactuated balance robots. By sequentially controller design, trajectory tracking of the actuated subsystem and balance of the unactuated subsystem can be achieved simultaneously. However, with certain conditions, there exists uncontrolled robot motion under the EIC-based control. We first identify these conditions and then propose an enhanced EIC-based control with a Gaussian process data-driven robot dynamic model. Under the new enhanced EIC-based control, the stability and performance of the closed-loop system is guaranteed. We demonstrate the GP-enhanced EIC-based control experimentally using two examples of underactuated balance robots.
関連論文
- 平衡点適応制御による単線二輪ロボットのトラックスタンド制御/バランス
