主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
This paper presents a guaranteed cost controller design approach to waypoint following control for a powered paraglider (PPG). We derive a set of sum-of-squares (SOS) conditions to minimize the upper bound of a given cost function. Since the guaranteed cost SOS design conditions derived in this paper are non-convex, the so-called path-following method is provided to efficiently solve them. The guaranteed cost SOS design approach is compared with the existing guaranteed cost linear matrix inequality design approach. The simulation results demonstrate the capabilities of the guaranteed cost SOS design approach in minimizing the given cost function.