| Project/Area Number |
15K06141
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Multi-year Fund |
|---|
| Section | 一般 |
|---|
| Research Field |
Control engineering/System engineering
|
|---|
| Research Institution | Nara Institute of Science and Technology |
|---|
Principal Investigator |
Sugimoto Kenji 奈良先端科学技術大学院大学, 情報科学研究科, 教授 (20179154)
|
|---|
| Co-Investigator(Kenkyū-buntansha) |
松原 崇充 奈良先端科学技術大学院大学, 情報科学研究科, 准教授 (20508056)
南 裕樹 奈良先端科学技術大学院大学, 情報科学研究科, 助教 (00548076)
|
|---|
| Project Period (FY) |
2015-04-01 – 2018-03-31
|
| Project Status |
Completed (Fiscal Year 2017)
|
| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2017: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000)
Fiscal Year 2016: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2015: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
|
|---|
| Keywords | 制御理論 / 状態推定 / サンプル値 / フィードフォワード / オンライン同定 / 適応学習制御 / システム同定 / 連続と離散 / 動的システム |
|---|
| Outline of Final Research Achievements |
We conducted two reseach themes related to discretization of continuous quantity in control system design theory, namely a) developing a model-based state estimation mehotd by irregular rate sampling; and b) real time system identification of filter-bank interpolation type in feedforward learning control. As for a), we suceeded in developing design methods via switched Lyapunov function, which generalizes a common Lyapunov function approach by our past research. We further verified effectiveness of the methods experimentally by hovering flight of multi-copter (drone). As for b), on the other hand, we have developed various feedforward control design methods, but have not yet progressed so mcuh in filter-bank interpolation because of computational load issues.
|
