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논문 목록
A Constructive Methodology for the IDA-PBC of Underactuated 2-DoF Mechanical Systems with Explicit Solution of PDEs
저자
Pierluigi Arpenti, Fabio Ruggiero, Vincenzo Lippiello
학술지명
International Journal of Control, Automation, and Systems
출판/발행연도
2022
주제
요약
본 논문은 언더액추에이티드 2 자유도 기계 시스템을 위한 패시비티 기반 제어 전략을 제시합니다. 제안하는 방법론(IDA-PBC)은 편미분 방정식 해법 없이 명시적인 해를 제공하며, 일반화된 운동량에 의존하는 특이점을 도입하지 않습니다. TORA 시스템 안정화 및 양족 보행 로봇 보행 생성에 대한 적용 사례를 통해 제안된 전략의 성능을 수치 시뮬레이션을 통해 검증합니다.
학술지 영향력
[International Journal of Control, Automation, and Systems]
- CiteScore
- 5.6
- ES
- 0.00608
- JCI
- 0.55
- JCR
- 2.9
- KCI
- 0.49
- SJR
- 0.547
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