線形近似系に対するフラット出力を用いた二重振子の制振位置決め

抄録

This paper presents vibration-free positioning control of a double pendulum driven by a linear actuator, which is applicable to vibration suppression of a slung load carried by unmanned aerial vehicle (UAV). Since the system is not differentially flat, a linear flat output for its linear approximation is used to generate the vibration-free trajectory for the linear actuator. The flat output is firstly characterized based on the Brunovsky canonical form of the control-affine system, then a simple formula to determine the linear flat output using system matrices is derived. The approximate flatness-based controller suppresses residual vibration both in numerical simulations and experiments.