日本シミュレーション学会英文誌
Online ISSN : 2188-5303
ISSN-L : 2188-5303
Special Section on Recent Advances in Simulation in Science and Engineering
Locomotion Control of Snake-like Robot utilizing Friction Forces: Stability Verification of Model Following Servo Controller
Shunsuke NansaiHiroshi Itoh
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2022 年 9 巻 1 号 p. 113-127

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The purpose of this paper is to verify the effectiveness of Model Following Servo Control (MFSC) as a stabilizing control measure for systems with uncontrollable disturbances. Both the gravity compensation control system of the 1-link manipulator and the head-position control system of the two-wheeled robot is designed. In gravitational compensation control, gravitational acceleration is defined as an uncontrollable state. In the head-position control, the frictional force in the axial direction of the skidding wheel is defined as an uncontrollable state. The effectiveness of the MFSC as a stabilizing control system for systems containing uncontrollable states is verified via numerical simulations.

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© 2022 Japan Society for Simulation Technology
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