Global Controller Design for Time-varying System Defined on Noncontractible Manifolds
Project/Area Number |
26870711
|
Research Category |
Grant-in-Aid for Young Scientists (B)
|
Allocation Type | Multi-year Fund |
Research Field |
Dynamics/Control
Control engineering/System engineering
|
Research Institution | Ritsumeikan University |
Principal Investigator |
Fukui Yoshiro 立命館大学, 情報理工学部, 助教 (30710652)
|
Project Period (FY) |
2014-04-01 – 2018-03-31
|
Project Status |
Completed (Fiscal Year 2017)
|
Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2015: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2014: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
|
Keywords | 時変システム / 多様体 / 制御Lyapunov関数 / 局所半凹関数 / 一般化微分 / 可到達微分 / 非線形制御 |
Outline of Final Research Achievements |
This research considers a controller design problem for nonlinear time-varying/time-invariant systems defined on manifolds. We proposed 1) a design method of a time-varying non-smooth control Lyapunov function(CLF), called the minimum projection method, for time-varying nonlinear systems defined on manifolds, and 2) a design method of a multilayered space which is required by the minimum projection method. Further, we analyzed generalized differentials of a locally semiconcave CLF, and applied the research results to the robot control theory; we proposed an extended passive velocity field control as offshoots of this research.
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Report
(5 results)
Research Products
(33 results)