• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

New Development and Systematization of Nonlinear Control Theory for Underactuated Systems

Research Project

Project/Area Number 22560452
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionOkayama Prefectural University

Principal Investigator

XIN Xin  岡山県立大学, 情報工学部, 教授 (70293040)

Project Period (FY) 2010-04-01 – 2014-03-31
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2010: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Keywords劣駆動システム / ロボット / 非線形制御 / エネルギー制御法 / 振り上げ制御 / 安定性解析 / 運動解析 / 非線形制御劣駆 / 安定な制御器 / 安定化制御 / 安定解析 / エネルギー制御 / 多自由度システム
Research Abstract

This research aims to challenge the following key problems for control design and analysis for underactuated systems: trajectory control for systems with underactuation degree (the difference between the numbers of its control input and degrees of freedom of the system) one, swing-up and stabilizing control for underactuation degree two, strong stabilizing control for underactuated systems. For seven systems with 2 degrees of freedom and five systems with higher degrees of freedom, by using the fundamental physical properties inhibited in these systems, this research presents refined solutions to the above key control problems. The achieved results have been published in 11 authoritative academic journal papers, 1 monograph of Springer, and 21 refereed internal conference papers. This research made an important contribution to new development to the nonlinear control theory for underactuated robotic systems.

Report

(5 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Annual Research Report
  • 2011 Annual Research Report
  • 2010 Annual Research Report
  • Research Products

    (78 results)

All 2014 2013 2012 2011 2010 2009 Other

All Journal Article (24 results) (of which Peer Reviewed: 13 results) Presentation (44 results) Book (6 results) Remarks (4 results)

  • [Journal Article] Trajectory tracking control of variable length pendulum by partial energy shaping2014

    • Author(s)
      X. Xin, Y. Liu
    • Journal Title

      Communications in Nonlinear Science and Numerical Simulation

      Volume: 19(SCI paper) Pages: 1544-1556

    • NAID

      130005025608

    • Related Report
      2013 Final Research Report
  • [Journal Article] Trajectory tracking control of variable length pendulum by partial energy shaping2014

    • Author(s)
      Xin Xin, Yannian Liu
    • Journal Title

      Communications in Nonlinear Science and Numerical Simulation

      Volume: 19 Issue: 5 Pages: 1544-1556

    • DOI

      10.1016/j.cnsns.2013.09.011

    • NAID

      130005025608

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] New analytical results of energy-based swing-up control for the Pendubot2013

    • Author(s)
      X. Xin, S. Tanaka, J.H. She, T. Yamasaki
    • Journal Title

      International Journal of Non-Linear Mechanics 52

      Volume: (SCI paper) Pages: 110-118

    • Related Report
      2013 Final Research Report
  • [Journal Article] On simultaneous control of the energy and actuated variables of underactuated mechanical systems -example of the Acrobot with counterweight-2013

    • Author(s)
      X. Xin
    • Journal Title

      Advanced Robotics

      Volume: 27(SCI paper) Pages: 959-969

    • Related Report
      2013 Final Research Report
  • [Journal Article] Reduced-order stable controllers for two-link underactuated planar robots2013

    • Author(s)
      X. Xin, Y. Liu
    • Journal Title

      Automatica 49

      Volume: (SCI paper) Pages: 2176-2183

    • Related Report
      2013 Final Research Report
  • [Journal Article] A set-point control for a two-link underactuated robot with a flexible elbow joint2013

    • Author(s)
      X. Xin, Y. Liu
    • Journal Title

      Transactions of the ASME -Journal of Dynamic Systems, Measurement, and Control 135

      Volume: (SCI paper) Pages: 10-10

    • Related Report
      2013 Final Research Report
  • [Journal Article] Simultaneous control of the energy and actuated variables of underactuated mechanical systems -example of the acrobot with counterweight-2013

    • Author(s)
      Xin Xin
    • Journal Title

      Advanced Robotics

      Volume: 27 Issue: 12 Pages: 959-969

    • DOI

      10.1080/01691864.2013.797145

    • Related Report
      2013 Annual Research Report 2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Reduced-order stable controllers for two-link underactuated planar robots2013

    • Author(s)
      Xin Xin, Yannian Liu
    • Journal Title

      Automatica

      Volume: 49 Issue: 7 Pages: 2176-2183

    • DOI

      10.1016/j.automatica.2013.03.027

    • Related Report
      2013 Annual Research Report 2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A set-point control for a two-link underactuated robot with a flexible elbow joint2013

    • Author(s)
      Xin Xin, Yannian Liu
    • Journal Title

      Transactions of the ASME-Journal of Journal of Dynamic Systems, Measurement and Control

      Volume: 135

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] New analytical results ofenergy-based swing-up control for the Pendubot2013

    • Author(s)
      Xin X., Tanaka, S., She, J. Yamasaki, T.
    • Journal Title

      International Journal of Non-Linear Mechanics

      Volume: 52 Pages: 110-118

    • DOI

      10.1016/j.ijnonlinmec.2013.02.003

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A set-point control for a two-link underactuated robot with a flexible elbow joint2013

    • Author(s)
      Xin, X., Liu, Y.,
    • Journal Title

      Journal of Dynamic Systems, Measurement and Control

      Volume: 135

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity2012

    • Author(s)
      X. Xin, J.H. She, Y. Liu
    • Journal Title

      Nonlinear Dynamics 67

      Volume: (SCI paper) Pages: 909-923

    • Related Report
      2013 Final Research Report
  • [Journal Article] Energy-based swing-up control for a remotely driven acrobot : Theoretical and experimental results2012

    • Author(s)
      X. Xin, T. Yamasaki
    • Journal Title

      IEEE Transactions on Control Systems Technology 20

      Volume: (SCI paper) Pages: 1048-1056

    • Related Report
      2013 Final Research Report
  • [Journal Article] Energy-based swing-up control for a remotely driven acrobot: Theoretical and experimental results2012

    • Author(s)
      Xin, X., Yamasaki, T.
    • Journal Title

      IEEE Transactions on Control Technology

      Volume: 20 Issue: 4 Pages: 1048-1056

    • DOI

      10.1109/tcst.2011.2159220

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity2012

    • Author(s)
      Xin Xin, Jinhua She, Yannian Liu
    • Journal Title

      Nonlinear Dynamics

      Volume: 67 Issue: 2 Pages: 909-923

    • DOI

      10.1007/s11071-011-0033-3

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Analysis of the energy-based swing-up control for the double pendulum on a cart2011

    • Author(s)
      X. Xin
    • Journal Title

      International Journal of Robust and Nonlinear Control 21

      Volume: (SCI paper) Pages: 387-403

    • Related Report
      2013 Final Research Report
  • [Journal Article] New results of energy-based swing-up control for a rotational pendulum2011

    • Author(s)
      S. Tanaka, X. Xin, T. Yamasaki
    • Journal Title

      SICE Journal of Control, Measurement, and System Integration 4

      Pages: 394-400

    • Related Report
      2013 Final Research Report
  • [Journal Article] Analysis of the energy-based swing-up control for the double pendulum on a cart2011

    • Author(s)
      Xin Xin(忻欣)
    • Journal Title

      International Journal of Robust and Nonlinear Control

      Volume: 21 Issue: 4 Pages: 387-403

    • DOI

      10.1002/rnc.1601

    • Related Report
      2011 Annual Research Report 2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Equivalent-input-disturbance approach---Analysis and application to disturbance rejection in dual-stage feed drive control system2011

    • Author(s)
      Jinhua She, Xin Xin, Yaodong Pan
    • Journal Title

      IEEE/ASME Transactions on Mechatronics

      Volume: 16 Issue: 2 Pages: 330-340

    • DOI

      10.1109/tmech.2010.2043258

    • Related Report
      2011 Annual Research Report 2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Teaching sampled-data Hoo control theory using arm robot experiment system2011

    • Author(s)
      Jinhua She, Xin Xin, Yasuhiro Ohyama
    • Journal Title

      IEEJ Transactions on Electrical and Electronics Engineering

      Volume: 6 Issue: 6 Pages: 585-593

    • DOI

      10.1002/tee.20699

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] New Results of Energy-Based Swing-up Control for a Rotational Pendulum2011

    • Author(s)
      Seiji Tanaka, Xin Xin, Taiga Yamasaki
    • Journal Title

      The SICE Journal of Control, Measurement, and System Integration (SICE JCMSI)

      Volume: 4 Pages: 394-400

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 1つの非駆動関節を有するn自由度ロボットの振り上げ制御:設計と解析2009

    • Author(s)
      忻欣,余錦華,山崎大河
    • Journal Title

      計測自動制御学会論文集45

      Pages: 251-260

    • NAID

      10024758231

    • Related Report
      2013 Final Research Report
  • [Journal Article] Swing-up control based on virtual composite links for n-link underactuated robot with passive first joint2009

    • Author(s)
      X. Xin, J.H. She, T. Yamasaki, Y. Liu
    • Journal Title

      Automatica 45

      Volume: (Regular paper) (SCI paper) Pages: 1986-1994

    • Related Report
      2013 Final Research Report
  • [Journal Article] A Unified Solution to Swing-up Control for n-Link Planar Robot with Single Passive Joint Based on Virtual Composite Links and Passivity

    • Author(s)
      X.Xin, J.She, Y.Liu
    • Journal Title

      Nonlinear Dynamics

      Volume: (採録決定)

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Presentation] On n-Link planar revolute robot : Motion equations and new properties2014

    • Author(s)
      Yannian Liu, Xin Xin, Jinglong Wu
    • Organizer
      Proceedings of the 11th World Congress on Intelligent Control and Automation
    • Place of Presentation
      Shenyang, China
    • Related Report
      2013 Final Research Report
  • [Presentation] Simultaneous control of energy and actuated variable of 3-Link planar robot with underactuation degree two and its application2014

    • Author(s)
      Y. Liu, X. Xin, M. Yamakita
    • Organizer
      Proceedings of the 33rd Chinese Control Conference
    • Place of Presentation
      Nanjing, China
    • Related Report
      2013 Final Research Report
  • [Presentation] D esign and analysis of energy-based controller for 3-Link robots with a single actuator2014

    • Author(s)
      X. Xin, Y. Liu, C. Sun
    • Organizer
      Proceedings of the 19th IFAC World Congress
    • Place of Presentation
      Cape Town, South Africa
    • Related Report
      2013 Final Research Report
  • [Presentation] On n-Link Planar Revolute Robot: Motion Equations and New Properties2014

    • Author(s)
      Yannian Liu, Xin Xin, Jinglong Wu
    • Organizer
      The 11th World Congress on Intelligent Control and Automation
    • Place of Presentation
      Shenyang, China
    • Related Report
      2013 Annual Research Report
  • [Presentation] Simultaneous Control of Energy and Actuated Variable of 3-Link Planar Robot with Underactuation Degree Two and Its Application2014

    • Author(s)
      Yannian Liu, Xin Xin, Masaki Yamakita
    • Organizer
      The 33rd Chinese Control Conference
    • Place of Presentation
      Nanjing, China
    • Related Report
      2013 Annual Research Report
  • [Presentation] Design and Analysis of Energy-Based Controller for 3-Link Robots with a Single Actuator2014

    • Author(s)
      Xin Xin, Yannian Liu, Changyin Sun
    • Organizer
      The 19th IFAC World Congress
    • Place of Presentation
      Cape Town, South Africa
    • Related Report
      2013 Annual Research Report
  • [Presentation] Reduced-order stable stabilizing controllers for remotely driven acrobot : Existence and design method2013

    • Author(s)
      X. Xin, Y. Liu
    • Organizer
      Proceedings of the 2013 10th IEEE International Conference on Control and Automation
    • Place of Presentation
      Hangzhou, China(1627–1632)
    • Related Report
      2013 Final Research Report
  • [Presentation] Global stabilization control for a two-link underactuated robot with a flexible elbow joint2013

    • Author(s)
      X. Xin, Y. Liu, J. Wu
    • Organizer
      Proceedings of the 32nd Chinese Control Conference
    • Place of Presentation
      Xi'an, China(1520-1525)
    • Related Report
      2013 Final Research Report
  • [Presentation] Analysis of the simultaneous control of energy and actuated variable of TORA with pendulum2013

    • Author(s)
      K. Sumida, X. Xin
    • Organizer
      Proceedings of 2013 IEEE International Conference on Mechatronics and Automation
    • Place of Presentation
      Takamatsu, Japan(1267-1272)
    • Related Report
      2013 Final Research Report
  • [Presentation] Studies on stable stabilizing controllers for a rotational pendulum2013

    • Author(s)
      S.Tanaka, X. Xin, T. Yamasaki
    • Organizer
      Proceedings of the 15th IASTED International Conference on Control and Applications
    • Place of Presentation
      Oahu, Hawaii, USA(85-91)
    • Related Report
      2013 Final Research Report
  • [Presentation] Reduced-order stable stabilizing controllers for remotely driven acrobot: Existence and design method2013

    • Author(s)
      Xin Xin, Yannian Liu
    • Organizer
      Proceedings of the 10th IEEE International Conference on Control and Automation
    • Place of Presentation
      Hangzhou, China
    • Related Report
      2013 Annual Research Report
  • [Presentation] Global stabilization control for a two-link underactuated robot with a flexible elbow joint2013

    • Author(s)
      Xin Xin, Yannian Liu, Jinglong Wu
    • Organizer
      The 32nd Chinese Control Conference
    • Place of Presentation
      Xian, China
    • Related Report
      2013 Annual Research Report
  • [Presentation] Analysis of the simultaneous control of energy and actuated variable of TORA with pendulum2013

    • Author(s)
      Kaoru Sumida, Xin Xin, Taiga Yamasaki
    • Organizer
      2013 IEEE International Conference on Mechatronics and Automation
    • Place of Presentation
      Takamatsu, Japan
    • Related Report
      2013 Annual Research Report
  • [Presentation] Studies on stable stabilizing controllers for a rotational pendulum2013

    • Author(s)
      Seiji Tanaka, Xin Xin, Taiga Yamasaki
    • Organizer
      The 15th IASTED International Conference on Control and Applications
    • Place of Presentation
      Honolulu, USA
    • Related Report
      2013 Annual Research Report
  • [Presentation] Existence and design of reduced-order stable stabilizing controllers for remotely driven Acrobot2013

    • Author(s)
      Xin, X., Liu, Y.
    • Organizer
      the 10th IEEE International Conference on Control & Automation
    • Place of Presentation
      Hangzhou, Chian
    • Related Report
      2012 Annual Research Report
  • [Presentation] Global stabilization control for a two-link underactuated robot with a flexible elbow joint at the upright equilibrium point2013

    • Author(s)
      Xin, X., Liu, Y., Wu, J.
    • Organizer
      the 32nd Chinese Control Conference
    • Place of Presentation
      Xian, China
    • Related Report
      2012 Annual Research Report
  • [Presentation] Existence and design of strongly stabilizing controller for the Acrobot2012

    • Author(s)
      X. Xin, K. Juuri
    • Organizer
      Proceedings of the 31st Chinese Control Conference
    • Place of Presentation
      Hefei, China(1446-1451)
    • Related Report
      2013 Final Research Report
  • [Presentation] Experimental verification of energy-based swing-up control for a rotational pendulum2012

    • Author(s)
      S. Tanaka, X. Xin, T. Yamasaki
    • Organizer
      Proceedings of SICE Annul Conference 2012
    • Place of Presentation
      Akita, Japan(534-539)
    • Related Report
      2013 Final Research Report
  • [Presentation] Existence and design of a strongly stabilizing controller for the Pendubot2012

    • Author(s)
      X. Xin, K. Juuri
    • Organizer
      Proceedings of SICE Annul Conference 2012
    • Place of Presentation
      Akita, Japan(1598-1602)
    • Related Report
      2013 Final Research Report
  • [Presentation] Existence and design of reduced-order stable controllers for two-link underactuated planar robots2012

    • Author(s)
      X. Xin, K. Juuri, Y. Liu, C.Y. Sun
    • Organizer
      Proceedings of the 51st IEEE Conference on Decision and Control
    • Place of Presentation
      Maui, USA(4971-4976)
    • Related Report
      2013 Final Research Report
  • [Presentation] Existence and design of strongly stabilizing controller for the Acrobot2012

    • Author(s)
      Xin, X., Jurri, K.
    • Organizer
      the 31st Chinese Control Conference
    • Place of Presentation
      Hefei, China
    • Related Report
      2012 Annual Research Report
  • [Presentation] Experimental verification of energy‐based swing‐up control for a rotational pendulum2012

    • Author(s)
      Tanaka, S., Xin, X., Yamasaki, T.,
    • Organizer
      SICE Annual Conference 2012 (SICE2012)
    • Place of Presentation
      Akita, Japan
    • Related Report
      2012 Annual Research Report
  • [Presentation] Existence and design of a strongly stabilizing controller for the Pendubot2012

    • Author(s)
      Xin, X., Jurri, K.
    • Organizer
      SICE Annual Conference 2012 (SICE2012)
    • Place of Presentation
      Akita, Japan
    • Related Report
      2012 Annual Research Report
  • [Presentation] Existence and design of reduced-order stable controllers for two-link underactuated planar robots2012

    • Author(s)
      Xin, X., Jurri, K., Liu, Y., Sun, C.,
    • Organizer
      the 51st IEEE Conference on Decision and Control
    • Place of Presentation
      Maui, USA
    • Related Report
      2012 Annual Research Report
  • [Presentation] Swing-up control for a two-link underactuated robot with a fiexibie elbow joint : New results beyond the passive elbow joint2011

    • Author(s)
      Xin Xin
    • Organizer
      Proceedings of the 50th IEEE Conference on Decision and Control
    • Place of Presentation
      Orlando, USA
    • Year and Date
      2011-12-13
    • Related Report
      2011 Annual Research Report
  • [Presentation] Acrobotの強安定化器の存在性と設計法2011

    • Author(s)
      重里昂佑, 忻欣, 山崎大河
    • Organizer
      第20回計測自動制御学会中国支部学術講演会論文集
    • Place of Presentation
      岡山市
    • Year and Date
      2011-11-26
    • Related Report
      2011 Annual Research Report
  • [Presentation] 3リンク劣駆動ロボットのエネルギーと駆動関節の同時制御:劣駆動度2の場合2011

    • Author(s)
      小田晋太郎, 忻欣, 山崎大河
    • Organizer
      第20回計測自動制御学会中国支部学術講演会論文集
    • Place of Presentation
      岡山市
    • Year and Date
      2011-11-26
    • Related Report
      2011 Annual Research Report
  • [Presentation] Set-point control for folded posture of 3-link underactuated gymnastic planar robot : Beyond the Swing-up control2011

    • Author(s)
      Xin Xin, Yannian Liu, Jinhua She, Lei Guo
    • Organizer
      Proceedings of the 18th IFAC World Congress
    • Place of Presentation
      Milano, Italy
    • Year and Date
      2011-09-01
    • Related Report
      2011 Annual Research Report
  • [Presentation] Trajectory tracking control of pendulum with variable length by partial energy shaping2011

    • Author(s)
      Xin Xin, Tatsuya Shinji, Taiga Yamasaki
    • Organizer
      Proceedings of the 18th IFAC World Congress
    • Place of Presentation
      Milano, Italy
    • Year and Date
      2011-09-01
    • Related Report
      2011 Annual Research Report
  • [Presentation] New Results of Energy-Based Swing-up Control for a Rotational Pendulum2011

    • Author(s)
      Seiji Tanaka, Xin Xin, Taiga Yamasaki
    • Organizer
      Proceedings of the 18th IFAC World Congress
    • Place of Presentation
      Milano, Italy
    • Year and Date
      2011-09-01
    • Related Report
      2011 Annual Research Report
  • [Presentation] Swing-up and Stabilizing Control for two-link underactuated robot with flexible elbow joint2011

    • Author(s)
      Xin Xin
    • Organizer
      Proceedings of the 30th Chinese Control Conference
    • Place of Presentation
      Yantai, China
    • Year and Date
      2011-07-22
    • Related Report
      2011 Annual Research Report
  • [Presentation] Swing-up and stabilizing control for two-link underactuated robot with flexible elbow joint2011

    • Author(s)
      X. Xin
    • Organizer
      Proceedings of the 30th Chinese Control Conference
    • Place of Presentation
      Yantai, China(6127-6132)
    • Related Report
      2013 Final Research Report
  • [Presentation] New results of energy-based swing-up control for rotational pendulum2011

    • Author(s)
      S. Tanaka, X. Xin, T. Yamasaki
    • Organizer
      Proceedings of the 18th IFAC World Congress
    • Place of Presentation
      Milano, Italy(10673-10678)
    • Related Report
      2013 Final Research Report
  • [Presentation] Trajectory tracking control of pendulum with variable length by partial energy shaping2011

    • Author(s)
      X. Xin, T. Shinji, T. Yamasaki, C.Y. Sun
    • Organizer
      Proceedings of the 18th IFAC World Congress
    • Place of Presentation
      Milano, Italy(10679-10684)
    • Related Report
      2013 Final Research Report
  • [Presentation] Set-point control for folded posture of 3-link underactuated gymnastic planar robot : Beyond the swing-up control2011

    • Author(s)
      X. Xin, Y. Liu, J. H. She, L. Guo
    • Organizer
      Proceedings of the 18th IFAC World Congress
    • Place of Presentation
      Milano, Italy(11875-11880)
    • Related Report
      2013 Final Research Report
  • [Presentation] Swing-up control for a two-link underactuated robot with a flexible elbow joint : New results beyond the passive elbow joint2011

    • Author(s)
      X. Xin
    • Organizer
      Proceedings of 2011 50th IEEE Conference on Decision and Control and European Control Conference
    • Place of Presentation
      Orlando, USA(2481-2486)
    • Related Report
      2013 Final Research Report
  • [Presentation] 回転型アクチュエータを備えた並進振動システムの大域的な安定化制御2010

    • Author(s)
      津田, 忻, 山崎
    • Organizer
      第53回自動制御連合講演会
    • Place of Presentation
      高知
    • Year and Date
      2010-10-04
    • Related Report
      2010 Annual Research Report
  • [Presentation] 部分エネルギー制御による可変長振子の軌道追従制御2010

    • Author(s)
      新治, 忻, 山崎
    • Organizer
      第53回自動制御連合講演会
    • Place of Presentation
      高知
    • Year and Date
      2010-10-04
    • Related Report
      2010 Annual Research Report
  • [Presentation] Revisiting energy-based swing-up control for the Pendubot2010

    • Author(s)
      X.Xin, S.Tanaka, J.She, T.Yamasaki
    • Organizer
      2010 IEEE International Conference on Control Applications
    • Place of Presentation
      Yokohama
    • Year and Date
      2010-09-09
    • Related Report
      2010 Annual Research Report
  • [Presentation] A rewinding approach to motion planning for acrobat based on virtual friction2010

    • Author(s)
      J.H. She, X.Z. Lai, X. Xin, L.L. Guo
    • Organizer
      Proceedings of 2010 IEEE International Conference on Industrial Technology
    • Place of Presentation
      Viña del Mar, Chile(471-476)
    • Related Report
      2013 Final Research Report
  • [Presentation] Revisiting energy-based swing-up control for the Pendubot2010

    • Author(s)
      X. Xin, S. Tanaka, J.H. She, T. Yamasaki
    • Organizer
      Proceedings of 2010 IEEE International Conference on Control Applications
    • Place of Presentation
      Yokohama, Japan(1576-1581)
    • Related Report
      2013 Final Research Report
  • [Presentation] On the energy based control for underactuated mechanical systems2009

    • Author(s)
      X. Xin
    • Organizer
      Proceedings of ICROS-SICE International Joint Conference 2009
    • Place of Presentation
      Fukuoka, Japan(1465-1470)
    • Related Report
      2013 Final Research Report
  • [Presentation] Can the energy and actuated variables of underactuated mechanical systems be controlled?–Example of the Acrobot with counterweight-2009

    • Author(s)
      X. Xin, L. Guo
    • Organizer
      Proceedings of Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
    • Place of Presentation
      Shanghai, China(1962-1967)
    • Related Report
      2013 Final Research Report
  • [Presentation] Swinging up multiple parallel pendulums on a cart via energy control2009

    • Author(s)
      X. Xin
    • Organizer
      Proceedings of Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
    • Place of Presentation
      Shanghai, China(7351-7356)
    • Related Report
      2013 Final Research Report
  • [Book] Control Design and Analysis for Underactuated Robotic Systems2014

    • Author(s)
      X. Xin, Y. Liu
    • Total Pages
      319
    • Publisher
      Springer
    • Related Report
      2013 Final Research Report
  • [Book] Control Design and Analysis for Underactuated Robotic Systems2014

    • Author(s)
      Xin Xin, Yannian Liu
    • Total Pages
      319
    • Publisher
      Springer
    • Related Report
      2013 Annual Research Report
  • [Book] シミュレーション辞典(リアプノフ安定の頁を執筆する)2012

    • Author(s)
      日本シミュレーション学会
    • Total Pages
      415
    • Publisher
      コロナ
    • Related Report
      2011 Annual Research Report
  • [Book] Energy-based control for underactuated mechanical systems, A Chapter in Theory and Applications of Complex Systems and Robust Control (editors by J. Huang, K.Z. Liu, and Y. Ohta)2010

    • Author(s)
      X. Xin
    • Publisher
      Tsinghua University Press
    • Related Report
      2013 Final Research Report
  • [Book] Robot Intelligence : An Advanced Knowledge Processing Approach(L.Guo, X.Y., X.Y.Wen, and X.Xinがその一章Hierarchical composite anti-disturbance control for robotic systems using robust disturbance observer, (pp.235-249)を執筆する)2010

    • Author(s)
      H.Liu, et al.
    • Total Pages
      301
    • Publisher
      Springer
    • Related Report
      2010 Annual Research Report
  • [Book] Theory and Applications of Complex Systems and Robust Control(Xin Xinがその一章Energy-based control for underactuated mechanical Systems (pp.177-190)を執筆する)2010

    • Author(s)
      J.Huang, et al.
    • Total Pages
      285
    • Publisher
      Tsinghua University Press
    • Related Report
      2010 Annual Research Report
  • [Remarks]

    • URL

      http://cosmos.c.oka-pu.ac.jp/~xxin/

    • Related Report
      2013 Final Research Report
  • [Remarks] 研究業績

    • URL

      http://cosmos.c.oka-pu.ac.jp/~xxin/jpublications.html

    • Related Report
      2012 Annual Research Report
  • [Remarks]

    • URL

      http://cosmos.c.oka-pu.ac.jp/~xxin/

    • Related Report
      2011 Annual Research Report
  • [Remarks]

    • URL

      http://cosmos.c.oka-pu.ac.jp/~xxin/

    • Related Report
      2010 Annual Research Report

URL: 

Published: 2010-08-23   Modified: 2019-07-29  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi