| Budget Amount *help |
¥16,410,000 (Direct Cost: ¥15,300,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2007: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2006: ¥4,200,000 (Direct Cost: ¥4,200,000)
Fiscal Year 2005: ¥7,400,000 (Direct Cost: ¥7,400,000)
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| Research Abstract |
Recently in the control community, much attention has been paid on research topics on hybrid systems, which are composed of continuous dynamics and discrete dynamics, and many results have been obtained so far toward to developments on systematic design methods for some kind of intelligent control systems. However, there are few practical applications because several crucial issues are still open. Thus in this research project, four topics on modeling, efficient analysis, real-time optimization, and applications have been studied. First, a new modeling on discrete dynamics has been developed, which allows us to solve the optimal control problem in an efficient way. Next, a probabilistic controllability analysis of hybrid systems has been proposed, which can be applied to a large-scale class of systems. Third, an efficient solver to mixed logical programming problems has been developed based on the precalculation. Finally, an application to walking robot has been executed to verify the efficiency of the proposed algorithm.
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