Risk-Sensitive Control of a Single-link Flexible Arm

Yuichi Sawada; Daisuke Koga

doi:10.11499/sicep.2004.0_41_5

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_41_5

会議情報

主催: The Society of Instrument and Control Engineers

共催: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Risk-Sensitive Control of a Single-link Flexible Arm

*Yuichi Sawada, Daisuke Koga

著者情報

キーワード: flexible arm, risk-sensitive control

会議録・要旨集フリー

p. 41

詳細

抄録

In this paper, a risk-sensitive control of a single-link flexible arm subject to random disturbance is considered. Assuming that effect of nonlinear terms in the dynamics, a set of liberalized model is obtained for applying the LEQG control theory which is one of the risk-sensitive controls. Simulation studies are presented to demonstrate the effect of variations of the risk-sensitive parameter.

責任著者(Corresponding author)

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