計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
アフィン非線形システムのP・SPR・D制御とその倒立振子への応用
受動性に基づく安定化理論
志水 清孝
著者情報
ジャーナル フリー

2008 年 44 巻 7 号 p. 575-582

詳細
抄録

This paper is concerned with P·SPR·D control of affine nonlinear system and the Lagrangean system which are passive system. P·SPR·D control consists of proportional (P) action + strict positive real (SPR) action + derivative (D) action. Such control can asymptotically stabilize the affine nonlinear system being of multi input and multi output. Further a set-point servo problem (a set-point tracking control) for the Lagrangean system is also solved by the P·SPR·D control. Stability analysis of P·SPR·D control is made, based on the passivity theory and LaSalle's invariance principle. P·SPR·D control is applied to an inverted pendulum. We swing up the pendulum by the Direct Graient Descent Control at the first stage, and then switch to the P·SPR·D control in order to stabilize it at the upright position. The effectiveness of the proposed method is demonstrated by the simulation results.

著者関連情報
© 社団法人 計測自動制御学会
前の記事 次の記事
feedback
Top