DocumentCode
146322
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
fYear
2014
fDate
14-16 March 2014
Firstpage
219
Lastpage
224
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on
Conference_Location
Yokohama
Type
conf
DOI
10.1109/AMC.2014.6823285
Filename
6823285
Link To Document