| Budget Amount *help |
¥16,510,000 (Direct Cost: ¥12,700,000、Indirect Cost: ¥3,810,000)
Fiscal Year 2019: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2018: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2017: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2016: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
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| Outline of Final Research Achievements |
The objective of this project is to develop new control techniques for underactuated systems under gravity field based on controllability and motion performance analysis. This project mainly tackled the following two topics: (1) structural optimization of a multirotor unmanned aerial vehicle and its control based on controllability analysis; and (2) development of new optimal control methods and performance analysis based on bilinear system representation. Especially, we achieved many novel results on topic (1), which were published in international/domestic journals and proceedings of international conferences. Moreover, we performed the effectiveness of our proposed methods/analysis by developing new experimental testbeds and providing experimental verification.
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