Study on dynamics based control and swarm intelligence for redundant mechanical systems with switching functions
Project/Area Number |
20360107
|
Research Category |
Grant-in-Aid for Scientific Research (B)
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Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Dynamics/Control
|
Research Institution | The University of Electro-Communications |
Principal Investigator |
MATSUNO Fumitoshi The University of Electro-Communications, 大学院・工学研究科, 教授 (00190489)
|
Project Period (FY) |
2008 – 2010
|
Project Status |
Completed (Fiscal Year 2010)
|
Budget Amount *help |
¥19,760,000 (Direct Cost: ¥15,200,000、Indirect Cost: ¥4,560,000)
Fiscal Year 2010: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2009: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2008: ¥10,400,000 (Direct Cost: ¥8,000,000、Indirect Cost: ¥2,400,000)
|
Keywords | 可変拘束 / 可変構造 / 冗長機械系 / 制御 / 群知能 / 可変拘束システム / 可変構造システム / 運動知能 / ダイナミクスベースト / 制御・インテリジェンス |
Research Abstract |
In this study we consider dynamics based control for redundant mechanical systems with switching functions and expand the concept to swarm behavior. We construct motion controller considering dynamics and behavior algorithm for swarm intelligence. To demonstrate effectiveness of proposed methods simulations and experiments are carried out.
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Report
(4 results)
Research Products
(95 results)