2024-03-29T07:53:17Z
https://nagoya.repo.nii.ac.jp/oai
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2023-01-16T04:16:47Z
320:321:322
Quantitative measure for nonlinear unstable systems based on the region of attraction and its application to designing parameter optimization – inverted pendulum example
Horibe, T.
78823
Zhou, B.
78824
Hara, S.
78825
Tsubakino, D.
78826
design optimization
nonlinear systems
region of attraction
pendubot
multi-link
inverted pendulum
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.
journal article
Taylor & Francis
2018-04-06
application/pdf
Advanced Robotics
8
32
399
410
0169-1864
https://nagoya.repo.nii.ac.jp/record/26257/files/AdvancedRobotics_r2.pdf
eng
https://doi.org/10.1080/01691864.2018.1457980
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.