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oai:gunma-u.repo.nii.ac.jp:00003378 2023-06-19T13:03:06Z 572:575:576

ロボットによる倒立振子の安定化制御 : 最適レギュレータ理論による制御システムの設計と実験 Stabilizing Control of a Inverted Pendulum by a One-Link Robot / Design of Control System by Optimal Regulator Theory and Experiment Stabilizing Control of a Inverted Pendulum by a One-Link Robot / Design of Control System by Optimal Regulator Theory and Experiment 小島, 宏行 山口, 晃明 坂本, 賢治 日本機械学会 本文データは学協会の許諾に基づきCiNiiから複製したものである Robotics Automatic Control Control Device Inverted Pendulum Stabilizing Control Optimal Regulator Theory Experiment application/pdf Journal Article This paper describes the control design method and the experimental results of the stabilizing control of a inverted pendulum by a one-link horizontal robot. First, the nonlinear equation of motion of the mechanical system consisting of the pendulum and the robot is showed. Then, by applying the optimal regulator theory to the linear equation of motion, the optimal feedback coefficients are derived, and the validity of the control design method are confirmed by the numerical simulation of the stabilizing control of the inverted pendulum. Furthermore, it is showed experimentally that the inverted pendulum can be controlled well by the robot, and the experimental results of the continuous control consisting of the swing-up control and stabilizing control is demonstrated. 日本機械学会 1991-12-25 2017-03-27 jpn journal article VoR http://hdl.handle.net/10087/2840 https://gunma-u.repo.nii.ac.jp/records/3378 http://ci.nii.ac.jp/naid/110002380089/ 0387-5024 AN00187463 日本機械学會論文集. C編 57 544 3890 3894 https://gunma-u.repo.nii.ac.jp/record/3378/files/C57_3890.pdf application/pdf 241.0 kB 2020-11-25