Control of Nonholonomic Systems Under the Gravity Field

重力场下非完整系统的控制

• 批准号: 15360223
• 负责人: SAMPEI Mitsuji
• 金额: $ 5.12万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2003
• 资助国家: 日本
• 起止时间: 2003 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-15360223/
• 关键词: Nonholonomic system; Output zeroing; Zero dynamics; Hopping robot; Devil stick; Juggling; Swing up motion; Compliance; 双線形システム; 非線形H∞制御; 持続回転運動; 連続跳躍

In this research, we investigate the following systems for nonholonomic system under the gravity field.1. Continuous Hopping Motion Control of One Linear Actuator RobotThis robot has mechanics to be able to realize continuous hopping motion on vertical plane by one linear actuator : We showed that continuous hopping is possible to build servo system by regarding one linear actuator robot as a discrete system. Also we constructed the hopping robot which has a pneumatic cylinder and a small air tank, and succeeded 14 times hopping by this robot.2. Enduring Rotary Motion Control of Devil StickWe showed that enduring rotary motion of devil stick is realized by zeroing output functions which are obtained through observation of human operations. Also we constructed experimental devil stick system by using a industrial manipulator in substitution for a human arm, and succeeded 15 times rotary motion of the stick.3. Swing Up Control on the Horizontal Bar with ComplianceWe proposed the model of an acrobot on the horizontal bar with compliance, and derived the control strategy to swing up the acrobot more rapidly by efficient use of that compliance. Also we developed experimental system which uses linear springs to simulate the compliance, and confirmed effective swing up motion is achieved.4. Nonlinear Control of Inverted Pendulum System with Up-down MotionWe analyzed the performance of the stabilization of a inverted pendulum by using not only horizontal motion but also vertical motion. By expressing the inverted pendulum model which moves on vertical plane freely as bilinear system, we derived the nonlinear H infinity control law so as to make use of vertical motion appropriately.

在本研究中，我们研究了以下重力场下的非完整系统： 1．一台线性执行器机器人的连续跳跃运动控制该机器人具有能够通过一个线性执行器在垂直平面上实现连续跳跃运动的机制：我们表明，通过将一台线性执行器机器人视为离散系统，连续跳跃可以构建伺服系统。并搭建了带有气缸和小储气罐的跳跃机器人，并成功实现了14次跳跃。 2．魔鬼棒的持久旋转运动控制我们通过观察人类操作获得的输出函数归零来实现魔鬼棒的持久旋转运动。并用工业机械手代替人臂构建了实验性魔鬼棒系统，并成功实现魔鬼棒15次旋转运动。 3．具有顺应性的单杠上的摆动控制我们提出了具有顺应性的单杠上的杂技机器人模型，并导出了通过有效利用顺应性来更快速地摆动杂技机器人的控制策略。我们还开发了使用线性弹簧来模拟顺应性的实验系统，并证实可以实现有效的向上摆动运动。 4．具有上下运动的倒立摆系统的非线性控制我们不仅使用水平运动而且还使用垂直运动来分析倒立摆的稳定性能。将在垂直平面上自由运动的倒立摆模型表示为双线性系统，推导了非线性H无穷控制律，以适当地利用垂直运动。

项目成果

Adaptive Fuzzy Control of One Linear Actuator Hopping Robot

一种线性执行器跳跃机器人的自适应模糊控制

• 发表时间: 2003
• 期刊: Journal of Advanced Computational Intelligence and Intelligent Informatics 7・2
• 作者: Y.Yamakoshi;N.Nasuda;O.Kodaira;Son Kuswadi
• 通讯作者: Son Kuswadi

Son Kuswadi: "Adaptive Fuzzy Control of One Linear Actuator Hopping Robot"Journal of Advanced Computational Intelligence and Intelligent Informatics. 7・2. 92-100 (2003)

Son Kuswadi：“一个线性致动器跳跃机器人的自适应模糊控制”高级计算智能和智能信息学杂志7・2（2003）。

Analysis of Compliance Effect for Swing Up Control

上摆控制顺应效果分析

• 发表时间: 2004
• 期刊: 3^rd IFAC-Symposium on Mechatronic Systems
• 作者: Shigeki Nakaura;Shigeki Nakaura
• 通讯作者: Shigeki Nakaura

Feedback Control of Enduring Rotary Motion of Devil Stick

魔鬼棒持久旋转运动的反馈控制

• 发表时间: 2003
• 期刊: Proc. of the 42^nd IEEE Conference on Decision and Control
• 作者: Y.Yamakoshi;N.Nasuda;O.Kodaira;Son Kuswadi;Y.Yamakoshi;Son Kuswadi;Yasuyuki Kawaida
• 通讯作者: Yasuyuki Kawaida

Yasuyuki Kawaida: "Feedback Control of Enduring Rotary Motion of Devil Stick"Proc.of the 42nd IEEE Conference on Decision and Control. 3396-3401 (2003)

Yasuyuki Kawaida：“Devil Stick 持久旋转运动的反馈控制”第 42 届 IEEE 决策与控制会议论文集。