Learning control for constrained systems and its application
Project/Area Number |
20560417
|
Research Category |
Grant-in-Aid for Scientific Research (C)
|
Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Control engineering
|
Research Institution | Osaka University |
Principal Investigator |
KIYAMA Tsuyoshi Osaka University, 大学院・工学研究科, 特任准教授 (80362656)
|
Co-Investigator(Renkei-kenkyūsha) |
OKU Hiroshi 大阪工業大学, 工学部, 准教授 (20351455)
|
Project Period (FY) |
2008 – 2010
|
Project Status |
Completed (Fiscal Year 2010)
|
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)
|
Keywords | 飽和 / 出力フィードバック制御 / アンチワインドアップ制御 / 線形行列不等式サーボ系 / 積分2次性能 / L2 / 指数安定性能 / 低次コントローラ / パワーアシスト / 線形行列不等式 / サーボ系 |
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.
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Report
(4 results)
Research Products
(23 results)