3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot

Dinh Van Bui, Yasutaka Fujimoto

Abstract

This paper presents a method, Algorithmic Differentiation, that can compute a three dimensional (3D) nonlinear model and design the nonlinear controller, simultaneously. It has not been feasible using the conventional methods because of the complexity of the system. Moreover, the interesting work of the proposed method is noted that the head angle of the mono-wheel robot can be controlled although it lacks a yaw axis actuator. The simulation results of the stability of the system are shown.

Original languageEnglish
Title of host publication2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages558-564
Number of pages7
ISBN (Electronic)9781479984640
DOIs
StatePublished - 2016 Jun 20
Event14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand

Other

Other14th IEEE International Workshop on Advanced Motion Control, AMC 2016
CountryNew Zealand
CityAuckland
Period16/4/2216/4/24

Fingerprint

Wheels
Robots
Actuators
Controllers

Keywords

  • 3D nonlinear model
  • Algorithmic differentiation
  • Head angle
  • Mono-wheel robot
  • Nonlinear control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Van Bui, D., & Fujimoto, Y. (2016). 3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. (pp. 558-564). [7496409] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/AMC.2016.7496409

3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot. / Van Bui, Dinh; Fujimoto, Yasutaka.

2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 558-564 7496409.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Van Bui, D & Fujimoto, Y 2016, 3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot. in 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016., 7496409, Institute of Electrical and Electronics Engineers Inc., pp. 558-564, 14th IEEE International Workshop on Advanced Motion Control, AMC 2016, Auckland, New Zealand, 22-24 April. DOI: 10.1109/AMC.2016.7496409
Van Bui D, Fujimoto Y. 3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc.2016. p. 558-564. 7496409. Available from, DOI: 10.1109/AMC.2016.7496409

Van Bui, Dinh; Fujimoto, Yasutaka / 3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot.

2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 558-564 7496409.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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