多変数関数の近似的逆関数に基づく冗長自由度電気自動車のアクチュエータ配分最適化

— 行列に基づくLagrange inversionの演算 —

抄録

In order to design control systems for ULVs (Ultra Lightweight Vehicles) with redundant actuators, a hierarchical control structure has been proposed. In the structure, the force distribution has been determined based on numerical optimizations. To determine the distribution, the inverse of the multivariate nonlinear function is required. This paper propose a method to compute an approximate but explicit inverse via proposing a method to construct the Lagrange inversion based on matrix computations. This is enabled by expanding the function as the power series in terms of the Kronecker products.