| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2010: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2009: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2008: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
|
|---|
| Research Abstract |
This study considers the output feedback control synthesis problem for linear time invariant servosystems with actuator saturation. The problem can be recast as a convex optimization problem based on linear matrix inequalities and linear matrix equations. Then, the study develops a systematic design method for the servosystems. As a result, a dynamic model of power assistive machinery with high strength-amplification is derived as the basis of controlling the robot for an application of the design method. It is confirmed that a robust PID control of the robot using the dynamic model is helpful.
|
