Title :
Study on control method using automatic differentiation with application to monowheel robot
Author :
Van Dinh, Bui ; Fujimoto, Yasutaka
Author_Institution :
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan
Abstract :
This paper presents a computational method based on automatic differentiation using a given Lagrangian function to construct output regulation of the two-dimentional-model-based nonlinear control of a monowheel robot. Hence, we compare the results of both methods that are automatic differentiation and algebraic calculation. The results that are given in the simulations show that automatic differentiation application in nonlinear control design for the monowheel robot is successful.
Keywords :
differentiation; mobile robots; nonlinear control systems; partial differential equations; wheels; 2D model-based nonlinear control method; Lagrangian function; algebraic calculation; automatic differentiation application; computational method; monowheel robot; nonlinear control design; Computational modeling; Equations; Mathematical model; Mobile robots; Torque; Wheels;
Conference_Titel :
Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on
Conference_Location :
Yokohama
DOI :
10.1109/AMC.2014.6823285
