Tomohiro Henmi

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In this paper, a swing-up control scheme for a serial double inverted pendulum is proposed. The control scheme is to swing up the pendulum in three steps, Step 1: to swing up the first pendulum, Step 2: to swing up the second pendulum while stabilizing the first pendulum at the upright position, and Step 3: to stabilize the two pendulums around the unstable(More)
A Model predictive control (MPC) calculates a control input for tracking the system output to a reference trajectory which is an ideal trajectory for the system output to converge on a desired value. In MPC, the parameters of controlled systems are needed for calculating of the control input, and these parameters are treated as well-known and invariable(More)
Abstract— In this paper, new swing-up controller for a threelink underactuated robot using a technique of horizontal bar gymnast is proposed. This controller is designed based on an equivalent center of mass(ECM) of the gymnast and the robot. The ECM of the gymnasts(ECMG) derived by analyzing a video data and a proposed controller is designed in order to(More)
Abstract— Adaptive Nonlinear Model Predictive Controller (ANMPC) can estimate system’s parameters and detect a fault of actuators based on relationship between past control inputs and states variables of systems, and estimated parameters are need for calculating a control input in next step. In this paper, for applying this ANMPC to real systems,(More)
In this paper, a control method for an underactuated two-link planar manipulator using a partial linearization method, which is a one of the nonlinear control method based on structure theory, is proposed. In proposed method, for controlling of 2nd link, sliding-mode type partial linearization method is used, and for 1st link, the unstable property of(More)
In this paper, the influence on control performance with a changing desired angle ratio are discussed, for a gymnastic based controller of an underactuated robot. An original evaluation function, which uses input torques and an amount of energy change, is applied for a verification of the control performance