基于平衡集的转盘上硬币的控制

2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI:10.1109/SICE.2006.314988

T. Kai

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引用次数: 8

摘要

在本文中，我们提出了一种新的控制算法，用于旋转台上的硬币，这是我们不容易控制的。首先推导了转台上一枚硬币的带仿射约束的非完整运动系统，并给出了该系统的非线性控制性质。然后，介绍了将NKSAC转移到任意平衡/非平衡状态的控制算法。最后通过仿真结果验证了控制算法的有效性

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Control of a Coin on a Rotating Table based on Its Equilibria Set

In this paper, we propose new control algorithms for a coin on a rotating table, which we cannot easily control. We first derive the nonholonomic kinematic system with affine constraints (NKSAC) for a coin on a rotating table and show nonlinear control properties of the system. Then, control algorithms which transfer the NKSAC to any equilibrium/nonequilibrium are introduced. Finally, we show simulation results to confirm the effectiveness of our control algorithms

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2006 SICE-ICASE International Joint Conference

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