イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	日本語
発行・発表の年月	2019/11
形態種別	学術雑誌
査読	査読あり
標題	Explicit Reference Governorを用いた三次元空間における拘束を考慮した制御
執筆形態	共著(筆頭者以外)
掲載誌名	計測自動制御学会論文集
掲載区分	国内
出版社・発行元	計測自動制御学会
巻・号・頁	55(11),762-771頁
総ページ数	10
国際共著	国際共著
著者・共著者	仲野聡史，Tam W. Nguyen, Emanuele Garone, 伊吹竜也，三平満司
概要	This paper investigates a constrained control problem of a rigid body in three dimensions via Explicit Reference Governor (ERG), which suitably modifies the exogenous reference to satisfy the constraints based on invariant sets. In this paper, force/torque input constraints and pose (position and attitude) constraints are considered. The objective of this paper is to propose a control scheme to regulate the rigid body pose to the desired pose while enforcing constraints at all times. To achieve the goal, a pre-stabilizing pose regulation controller is first introduced while ignoring the constraints. The pre-stabilized system is then augmented with the ERG to handle the constraints. All the proposed methods are based only on the special Euclidean group SE(3) elements without any parameterizations. Numerical simulations are finally carried out to show the effectiveness of the proposed methods.