リアプノフの第２法に基づく４叉移動機構の経路追従フィードバック制御法

佐藤 嵩浩; 山口 博明; 米澤 直晃

doi:10.11511/jacc.59.0_788

THE 59TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : FrA6-6

DOI https://doi.org/10.11511/jacc.59.0_788

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences, The Institute of Electrical Engineers of Japan

Co-host: Technically Cosponsored by 51 Societies and Institutes

Name : THE 59TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Location : [in Japanese]

Date : November 10, 2016 - November 12, 2016

A Path-following Feedback Control Method for a Four-forked Steering Walker based on the Lyapunov's Second Method

*T. Sato, H. Yamaguchi, N. Yonezawa

Author information

Keywords: Nonholonomic system, Kinematics, Undulatory locomotor, Path-following, Lyapunov's second method

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

This paper presents a new path-following feedback control method for a four-forked steering walker based on the Lyapunov's second method. The previous feedback control method requires a convergent operation for the calculation of the state variables in a curvilinear coordinate system. It also requires a high order Lie derivative operation for the calculation of the control inputs. The computational costs of these operations are quite high. The proposed method has the equivalent performance without high computational costs under a condition in which the locomotor moves at a constant speed. The validity of the proposed method has been verified in simulations.

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