アベ　ナオト   Abe Naoto   阿部　直人    所属   明治大学  理工学部    職種   専任教授
言語種別	英語
発行・発表の年月	2019/06
形態種別	国際会議議事録
査読	査読あり
標題	Experimental Comparison of the Integral Approximation for the State Predictive Control - the Stabilization Control of the Inverted Pendulum with Flexible Arm -
執筆形態	共著(筆頭者)
掲載誌名	2019 12th Asian Control Conference (ASCC) Kitakyusyu, Japan, June 9-12,
掲載区分	国内
出版社・発行元	日本機械学会
巻・号・頁	pp.1048-1053
総ページ数	6
著者・共著者	Naoto Abe, Shinya Fukunaga
概要	This paper presents the experimental results for an inverted pendulum having a flexible arm with artificial time delay. State predictive control requires integral approximation. The approximation error increase depending on the approximation method, as a result it causes an unstable response. However, this problem can be solved using the low-pass approximations reported by L-Mirkin and the convolution approximation by reported by QC-Zhong in 2004. Our experiments have shown that the inverted pendulum with time delay is stabilized under approximating distributed delay control laws with the low-pass approximations and the convolution approximation. Furthermore, we show that the combination method that merged low-pass and convolution approximation from both features is more effective.