Realization of Giant Swing Motions of a 2-DOF Link Mechanism Using Delayed Feedback Control(Mechanical Systems)
遅延フィードバック制御を用いた2リンク鉄棒ロボットの大車輪運動の実現(機械力学,計測,自動制御)

Dasheng LIU, Hiroshi YAMAURA
2010 TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C  
In this paper , a rnethod of thc giant sw 三 ng mot 正 on of a Z − D ⊂ 〕F Iink horizont . al bar meohanism using Delayed F 巳 edback C ⊂ )ntrol ls diseussed . Firstly , a killd of Poincarcsecti {m to regard the system as a discrete − time system for evaluating its stabili し y is defined , Meanwhile , a way to caiculate numericalTy the transitional error matrix and the inpu亡 colltrol matrix ls shown . Sec〔)ndly , wc investigutc how we can obtaiII the gain of feedback on the basis ofallalysis about
more » ... ofallalysis about thc stabilization of sys むem under the control Qf dc! ayed fcedback, Fina正 ly, a simulation result to show the effectivcness of this n コethod is represe [ lted
doi:10.1299/kikaic.76.1700 fatcat:67xaimhqlvhkpaihbh4mlnyf2q