システム制御情報学会論文誌
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
人の視覚運動制御系の振舞いに基づく倒立振子系のむだ時間補償制御
牛田 俊福田 憲一郎李 眞蛾出口 光一郎
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ジャーナル フリー

2007 年 20 巻 4 号 p. 160-166

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An image-based inverted pendulum control system with a large time delay of camera has some analogies with human stick balancing control. Cabrera and his group pointed out that time delays and state-dependent fluctuations play an essential role in neural control mechanism. In this paper, we investigate some properties of the time delays and the fluctuations using our new model which is consistent with the actual inverted pendulum control system. For noise free case, a sufficient condition for the stability of our time-delayed control system is derived.
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