高度に劣駆動なバランスロボットのためのカスケード非線形制御設計
Cascaded Nonlinear Control Design for Highly Underactuated Balance Robots
非駆動自由度が駆動自由度より多い劣駆動バランスロボットに対し、動力学を仮想駆動されるカスケード部分系に分解し、仮想・実制御入力を逐次設計することで軌道追従とバランスを両立させる非線形制御を提案した。
著者: Feng Han, Jingang Yi
分類: cs.RO
原文アブストラクト
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of actuated coordinates and balancing of unactuated coordinates, the proposed control converts a robot dynamics into a series of cascaded subsystems and each of them is considered virtually actuated. To achieve the control goal, we sequentially design and update the virtual and actual control inputs to incorporate the balance task such that the unactuated coordinates are balanced to their instantaneous equilibrium. The closed-loop dynamics are shown to be stable and the tracking errors exponentially converge towards a neighborhood near the origin. The simulation results demonstrate the effectiveness of the proposed control design by using a triple-inverted pendulum cart system.
