Control system, control method, and computer program
AssigneeSony Corporation
InventorKenichiro Nagasaka
Life of this patent
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Abstract
A control system of a multi-link structure configured by connecting a plurality of rigid bodies together is disclosed. The control system includes: a state equation setting means; a predictive control target value setting means; a stability evaluation function setting means; an optimal control input determining means; an optimal momentum calculating means; and a joint driving method determining means.
Claims17
Acontrolsystem of a multi-link structure configured by connecting a plurality of rigid bodies together, the control system comprising:
- a state equation setting means for setting a state equation which describes the relation between the momentum of a whole system concerning the multi-link structure and a control input;
- a predictive control target value setting means for setting a control target value from a current time to a future time;
- a stability evaluation function setting means for setting a stability evaluation function which evaluates the stability of the multi-link structure on the basis of a difference between the target value of a momentum based on the control target value, and an actual momentum;
- an optimal control input determining means for determining an optimal control input to give a minimum value of the stability evaluation function under constraint conditions configured by the state equation;
- an optimal momentum calculating means for calculating an optimal momentum to be generated by the optimal control input;
- and
- a joint driving method determining means for determining a joint driving method of the multi-link structure for realizing the optimal momentum.
A control method of a multi-link structure configured by connecting a plurality of rigid bodies together, the control method comprising the steps of:
- setting a state equation which describes the relation between the momentum of a whole system concerning the multi-link structure and a control input;
- setting a control target value from a current time to a future time;
- setting a stability evaluation function which evaluates the stability of the multi-link structure on the basis of a difference between the target value of a momentum based on the control target value, and an actual momentum;
- determining an optimal control input to give a minimum value of the stability evaluation function under constraint conditions configured by the state equation;
- calculating an optimal momentum to be generated by the optimal control input;
- and
- determining a joint driving method of the multi-link structure for realizing the optimal momentum.
A computer program described in a computer-readable format so that control processing of a multi-link structure configured by connecting a plurality of rigid bodies together may be executed on a computer system,
- the computer program causing the computer system to execute the steps of:
- setting a state equation which describes the relation between the momentum of a whole system concerning the multi-link structure and a control input;
- setting a control target value from a current time to a future time;
- setting a stability evaluation function which evaluates the stability of the multi-link structure on the basis of a difference between the target value of a momentum based on the control target value, and an actual momentum;
- determining an optimal control input to give a minimum value of the stability evaluation function under constraint conditions configured by the state equation;
- calculating an optimal momentum to be generated by the optimal control input;
- and
- determining a joint driving method of the muiti-link structure for realizing the optimal momentum.
A control system of a multi-link structure configured by connecting a plurality of rigid bodies together, the control system comprising:
- a state equation setting section which sets a state equation which describes the relation between the momentum of a whole system concerning the multi-link structure and a control input;
- a predictive control target value setting section which sets a control target value from a current time to a future time;
- a stability evaluation function setting section which sets a stability evaluation function which evaluates the stability of the multi-link structure on the basis of a difference between the target value of a momentum based on the control target value, and an actual momentum;
- an optimal control input determining section which determines an optimal control input to give a minimum value of the stability evaluation function under constraint conditions configured by the state equation;
- an optimal momentum calculating section which calculates an optimal momentum to be generated by the optimal control input;
- and
- a joint driving method determining section which determines a joint driving method of the multi-link structure for realizing the optimal momentum.
Dependencies are inferred from the claim text.