ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P1-E02
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パラフォイール型飛行ロボットの最適2次コスト保証制御
*岩瀬 惟真Kai-Yi WONG田中 基康田中 一男
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会議録・要旨集 フリー

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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.

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