| Project/Area Number |
15H04022
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Tokyo University of Science |
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Principal Investigator |
Nakamura Hisakazu 東京理科大学, 理工学部電気電子情報工学科, 准教授 (70362837)
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| Co-Investigator(Kenkyū-buntansha) |
石川 将人 大阪大学, 工学研究科, 教授 (20323826)
西村 悠樹 鹿児島大学, 理工学域工学系, 准教授 (20549018)
福井 善朗 立命館大学, 情報理工学部, 助教 (30710652)
山下 裕 北海道大学, 情報科学研究科, 教授 (90210426)
佐藤 康之 東京理科大学, 理工学部電気電子情報工学科, 研究員 (40738803)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥16,770,000 (Direct Cost: ¥12,900,000、Indirect Cost: ¥3,870,000)
Fiscal Year 2017: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2016: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2015: ¥7,800,000 (Direct Cost: ¥6,000,000、Indirect Cost: ¥1,800,000)
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| Keywords | 制御理論 / 非線形制御理論 / トポロジー / リヤプノフ関数 / 制御バリア関数 / 意思決定 / 局所半凹関数 / 制御工学 / 非線形制御 / 幾何学 / ロボット制御 / ヒューマンアシスト制御 / 知能ロボティックス / 省エネルギー |
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| Outline of Final Research Achievements |
This research aims to design a framework of combining decision and control from the view point of topology. The major achievements are as follows. Development of a control strategy that dynamically identifies the desired state by the minimum projection method, development of the local minimum connection method for static control Lyapunov function design, and development of a human safety assist control strategy by using control barrier functions. By the preceding achievements, this research elucidates that a control Lyapunov function and a control barrier function are effective for the combination of decision and control.
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