| Project/Area Number |
18360114
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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 |
Dynamics/Control
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| Research Institution | Keio University |
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Principal Investigator |
YOSHIDA Kazuo Keio University, Faculty of Science and Technology, Professor (80101997)
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| Co-Investigator(Kenkyū-buntansha) |
NISHIMURA Hidekazu Keio University, Graduate School of System Design and Management, Professor (70228229)
WATANABE Toru Nihon Unversity, Faculty of Science and Engineering, Associate Professor (80265933)
TAKAHASHI Masaki Keio University, Faculty of Science and Technology, Assistant Professor (10398638)
TANIWAKI Shigemune Ehime University, Department of Science and Engineering, Associate Professor (40358734)
OTSUKI Masatsugu Japan Aerospace Exploration Agency, Institute of Space and Astronautical Science, Assistant Professor (50348827)
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| Project Period (FY) |
2006 – 2007
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| Project Status |
Completed (Fiscal Year 2007)
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| Budget Amount *help |
¥16,190,000 (Direct Cost: ¥14,300,000、Indirect Cost: ¥1,890,000)
Fiscal Year 2007: ¥8,190,000 (Direct Cost: ¥6,300,000、Indirect Cost: ¥1,890,000)
Fiscal Year 2006: ¥8,000,000 (Direct Cost: ¥8,000,000)
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| Keywords | Safety / Evaluation of Error in Observer / Evaluation of Response in Observer / Moving Obstacle Avoidance / Robust Image Processing / Nonstationary Robust Control |
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| Research Abstract |
This project aims at establishing a systematic safety technology that unifies the control technology and the diagnostic technique to assure safety in the control of an advanced mechanical system. In addition, we propose the architecture and the design method of the intelligent safe control system based on evaluation of response and error in observer. Moreover, the computer simulations and experiments are carried out to verify the usefulness of the proposed method theoretically and experimentally from the following three approaches.
A) Extension of existing, linear control system design techniques such as robust control, gain scheduled control and so on.
B) Extension of nonlinear control system design method such as sliding-mode control and so on.
C) Advanced use of technique of artificial intelligence and soft computing and construction of intelligent control system architecture
In the project, it handled for the control problem of elevator, plant and robot and the vibration control problem of the machine and the aerospace structure, the architecture design and the design method of the control method based on the concept were examined from respect of the linear control approach, the nonlinear control approach, and the soft computing approach respectively. Moreover, the usefulness of the proposed method was verified by several computation simulations and experiments. In an existing control system design, it additionally diagnoses it by the loop of the outside of the control system. And, when some abnormalities are inferred, it interrupts the control and deals with the situation. On the other hand, because it connects to evaluate the control to the positive in the control loop and to secure safety positively in the proposed control technique, it is thought that it in the present study with improving the safety of an advanced mechanical system rapidly.
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