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

Dinh Van Bui, Yasutaka Fujimoto

抄録

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.

本文言語英語
代表出版物のタイトル2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
出版者Institute of Electrical and Electronics Engineers Inc.
ページ558-564
ページ数7
ISBN(電子版)9781479984640
DOI
ジャーナル掲載日出版済み - 2016 6 20
イベント14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, ニュージ―ランド

その他

その他14th IEEE International Workshop on Advanced Motion Control, AMC 2016
ニュージ―ランド
Auckland
期間16/4/2216/4/24

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Wheels
Robots
Actuators
Controllers

Keywords

    ASJC Scopus subject areas

    • Control and Systems Engineering

    これを引用

    Van Bui, D., & Fujimoto, Y. (2016). 3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot. : 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.

    研究成果: 著書の章/レポート/会議のプロシーディングス会議での発言

    Van Bui, D & Fujimoto, Y 2016, 3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot. : 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, ニュージ―ランド, 22-24 4月. DOI: 10.1109/AMC.2016.7496409
    Van Bui D, Fujimoto Y. 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. 利用可能場所, 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.

    研究成果: 著書の章/レポート/会議のプロシーディングス会議での発言

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