Practical Adaptive Control by Peal-Time Optimization and Instantaneous Re-Design of Robust Control Systems
| Project/Area Number |
16H04385
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (B)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Control engineering/System engineering
|
|---|
| Research Institution | Kanazawa University |
|---|
Principal Investigator |
|
|---|
| Co-Investigator(Kenkyū-buntansha) |
奥 宏史 大阪工業大学, 工学部, 准教授 (20351455)
牛田 俊 大阪工業大学, 工学部, 教授 (30343114)
得竹 浩 金沢大学, フロンティア工学系, 教授 (80295716)
|
|---|
| Project Period (FY) |
2016-04-01 – 2020-03-31
|
| Project Status |
Completed (Fiscal Year 2019)
|
| Budget Amount *help |
¥16,380,000 (Direct Cost: ¥12,600,000、Indirect Cost: ¥3,780,000)
Fiscal Year 2019: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2018: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2017: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2016: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
|
|---|
| Keywords | 制御工学 / 制御系設計 / ロバスト制御 / 適応制御 |
|---|
| Outline of Final Research Achievements |
The purpose of this research is to develop a method to keep the feedback control system in the desired condition at any time when the environment or the control object itself changes. We have developed a method to automatically adjust the controller from available measurement data in the feedback control system and a method to enable real-time optimization of the feedback control system. We also developed a method of identification to obtain an appropriate model of the control object. These results were validated by experiments using a permanent magnet synchronous motor and a small four-rotor helicopter.
|
| Academic Significance and Societal Importance of the Research Achievements |
システム制御における恒久のテーマである適応制御・ロバスト制御によって，産業界で期待されているモデル取得・制御系設計・保守の高信頼化・省力化に関連する研究テーマである．本課題の研究成果は，生産・製造現場の制御系だけでなく，IoTの普及で広く社会浸透するであろう制御系への応用が期待できる
|
Report
(5 results)
Research Products
(49 results)
-
[Journal Article] Recent R&D Technologies and Future Prospective of Flying Robot in Tough Robotics Challenge2019
Author(s)
Kenzo Nonami, Kotaro Hoshiba, Kazuhiro Nakadai, Makoto Kumon, Hiroshi G Okuno, Yasutada Tanabe, Koichi Yonezawa, Hiroshi Tokutake, Satoshi Suzuki, Kohei Yamaguchi, Shigeru Sunada, Toshiyuki Nakata, Ryusuke Noda, Hao Liu
-
Journal Title
Disaster Robotics, Springer
Volume: 128
Pages: 77-142
DOI
ISBN
9783030053208, 9783030053215
Related Report
Peer Reviewed
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
