Art

J-GLOBAL ID：201302223783097692   Reference number：12A1812046

Approximate Linearization Control of 2-DOF Underactuated-by-1 Systems Using Higher Order Linearization Coordinate

高次線形化座標を用いた2自由度のアクチュエーションが不足1のシステムの近似線形化制御

Author (1)： HOSHINO Tasuku (Tokyo Univ. of Sci., Suwa)
Material： Journal of System Design and Dynamics (Web)  (J Syst Des Dyn (Web))
Volume： 6  Issue： 3  Page： 287-296 (J-STAGE)  Publication year： 2012 
JST Material Number： U0040A  ISSN： 1881-3046  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *modification ,  coordinate ,  *approximation method ,  partial differential equation ,  simulation ,  experiment ,  robot ,  inverted pendulum ,  control
Semi thesaurus term： *linearization

JST classification (1)： System and control theory in general  (IA02010H)

Reference (13)：

• (1) Krener, A.J., Approximate linearization by state feedback and coordinate change, Systems & Control Letters, Vol. 5 (1984), pp. 181-185.
• (2) Hauser, J. and Murray, R.M., Nonlinear controllers for non-integrable systems: the Acrobot example, Proceedings of American Control Conference (1990), pp. 669-671.
• (3) Saeki, M., Nonlinear Controller Design for Inverted Pendulum and Exact Linearization Method, Transaction of the SICE, Vol. 29, No. 4 (1993), pp. 491-493.
• (4) Guzzella, L. and Isidori, A., On approximate linearization of nonlinear control systems, International Journal on Robust and Nonlinear Control, Vol. 3 (1993), pp. 261-276.
• (5) Spong, M.W., Partial feedback linearization of underactuated mechanical systems, Proceedings of IEEE/RSJ/GI Intelligent Robotic Systems (1994), pp. 314-321.

Terms in the title (4)： 線形化 ,  座標 ,  2自由度 ,  近似