論文

査読有り
2005年

Attitude control of planar space robot based on self-organizing polynomial data mining algorithm

Proceedings of the Eighth IASTED International Conference on Intelligent Systems and Control
  • Y Kim
  • ,
  • T Narikiyo
  • ,
  • JH Kim

開始ページ
303
終了ページ
308
記述言語
英語
掲載種別
研究論文(国際会議プロシーディングス)
出版者・発行元
ACTA PRESS

This paper presents a new method for the attitude control of planar space robots. In order to control highly constrained non-linear system such as a 3D space robot, the analytical formulation for the system with complex dynamics and effective control methodology based on the formulation, are not always obtainable. In the proposed method, correspondingly, a non-analytical but effective self-organizing modeling method for controlling a highly constrained system is proposed based on a polynomial data mining algorithm. In order to control the attitude of a planar space robot, it is well known to require inputs characterized by a special pattern in time series with a non-deterministic length. In order to correspond to this type of control paradigm, we adopt the Model Predictive Control (MPC) scheme where the length of the non-deterministic horizon is determined based on implementation cost and control performance. The optimal solution to finding the size of the input pattern is found by a solving two-stage programming problem.

Web of Science ® 被引用回数 : 1

リンク情報
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000234538500053&DestApp=WOS_CPL

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