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Quantitative measure for nonlinear unstable systems based on the region of attraction and its application to designing parameter optimization – inverted pendulum example
http://hdl.handle.net/2237/00028462
http://hdl.handle.net/2237/00028462e74545ba-b3eb-4d05-9a49-9e36711c21ef
名前 / ファイル | ライセンス | アクション |
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AdvancedRobotics_r2 (688.8 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2018-08-17 | |||||
タイトル | ||||||
タイトル | Quantitative measure for nonlinear unstable systems based on the region of attraction and its application to designing parameter optimization – inverted pendulum example | |||||
言語 | en | |||||
著者 |
Horibe, T.
× Horibe, T.× Zhou, B.× Hara, S.× Tsubakino, D. |
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アクセス権 | ||||||
アクセス権 | open access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
権利 | ||||||
言語 | en | |||||
権利情報 | This is an Accepted Manuscript of an article published by Taylor & Francis Group in Advanced Robotics on 06/04/2018, available online: http://www.tandfonline.com/10.1080/01691864.2018.1457980. | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | design optimization | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | nonlinear systems | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | region of attraction | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | pendubot | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | multi-link | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | inverted pendulum | |||||
抄録 | ||||||
内容記述 | Quantitative stability measures for mechanical systems are highly needed. However, only a few such measures have been proposed for nonlinear systems. In this paper, a quantitative measure of stability for nonlinear systems based on the region of attraction (ROA) is proposed, and the measure is applied to parameter optimization of mechanical systems: multi-link inverted pendulum example. Recently, some techniques for calculating ROAs have been suggested; however, obtaining an accurate estimate of a ROA remains computationally demanding. We illustrate two techniques for efficiently estimating the proposed measure and apply them to the design parameter optimization problem for maximizing the stability measure. A number of simulations show the effectiveness of the proposed method. | |||||
言語 | en | |||||
内容記述タイプ | Abstract | |||||
出版者 | ||||||
言語 | en | |||||
出版者 | Taylor & Francis | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプresource | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
出版タイプ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1080/01691864.2018.1457980 | |||||
ISSN | ||||||
収録物識別子タイプ | PISSN | |||||
収録物識別子 | 0169-1864 | |||||
書誌情報 |
en : Advanced Robotics 巻 32, 号 8, p. 399-410, 発行日 2018-04-06 |
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著者版フラグ | ||||||
値 | author |