Control of pendulum: from Super Mechano-System to Human Adaptive Mechatronics
Control of pendulum: from Super Mechano-System to Human Adaptive Mechatronics
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DOI：
10.1109/cdc.2003.1272824
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发表时间：
2003-12
期刊：
影响因子：
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通讯作者：
K. Furuta
中科院分区：
文献类型：
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作者：
K. Furuta
超级机械系统是东京工业大学1997年至2002年的研究项目，人类自适应机电一体化(HAM)项目是东京电工大学2003年至2008年新入选的COE研究项目。这两个项目都是由日本文部科学省赞助的。作者在2000年之前一直是短信项目的负责人，S.HiRose教授继任。许多具有适应环境变化的功能的机械系统和相关的基本理论已经发展起来。该项目的控制课题组开发了机构和控制器的并行设计方法。人自适应机电一体化是将人纳入控制回路，根据人的操作技能的提高来改变人机界面的功能和结构的系统。在这次全体讲座中，从不同约束系统的观点讨论了多个摆从悬挂物到直立位置的控制问题。通过非线性控制考虑不稳定非线性系统的可达性，讨论了单摆摆起控制问题。提出了一种分析和设计基于分形的非线性控制器的新方法。结果表明，控制参数与初始条件的映射关系给出了有趣的结果。
The Super Mechano-System was the research project at the Tokyo Institute of Technology from 1997 to 2002 and the Human Adaptive Mechatronics (HAM) Project is the newly selected COE research project at Tokyo Denki University from 2003 to 2008. Both projects are sponsored by the Ministry of Education, Culture, Sports, Science and Technology in Japan. The author was the SMS project leader until 2000 and Prof. S. Hirose succeeded. Many mechanical systems with functions adapting to varying environment and the relating basic theory have been developed. The concurrent design method of the mechanism and controller has been developed by the control research group in the project. Human adaptive mechatronics is a system, which includes the human in the control loop and changes the functions and structure of the man-machine interface according to the improvement of the human operation skill. In this plenary lecture, the control of the multiple pendulums from the pendant to the upright position is discussed from the viewpoint of varying constraint systems. The swing-up control of pendulums is discussed by considering reachability of an unstable nonlinear system by nonlinear control. A new approach to analyse and to design a nonlinear control based on the fractal is presented. The results show that the map of the control parameters and the initial conditions give interesting results.