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Abe Naoto
Department Undergraduate School , School of Science and Technology Position Professor |
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| Language | English |
| Publication Date | 2019/06 |
| Type | International conference proceedings |
| Peer Review | Peer reviewed |
| Title | Experimental Comparison of the Integral Approximation for the State Predictive Control - the Stabilization Control of the Inverted Pendulum with Flexible Arm - |
| Contribution Type | Co-authored (first author) |
| Journal | 2019 12th Asian Control Conference (ASCC) Kitakyusyu, Japan, June 9-12, |
| Journal Type | Japan |
| Publisher | 日本機械学会 |
| Volume, Issue, Page | pp.1048-1053 |
| Total page number | 6 |
| Author and coauthor | Naoto Abe, Shinya Fukunaga |
| Details | 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. |