| Budget Amount *help |
¥17,940,000 (Direct Cost: ¥13,800,000、Indirect Cost: ¥4,140,000)
Fiscal Year 2012: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2011: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
Fiscal Year 2010: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2009: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
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| Research Abstract |
Super-resolution control based on quantized input/output and softly specifiedcontrol problems are considered to establish a fundamental control framework based on low-resolution signals. As for quantized input control, dynamic quantizers are extended to multi-rate systems, and a design method of optimal dynamic quantizers is proposed with its optimal performance. Also, it isextended to a class of nonlinear dynamical systems. An analytical solution is obtained for input affine systems. Furthermore, a new type of quantizers which utilize dither signals are discussed, and its performance is analyzed. As for quantized output control, a noise tolerant system identification method is proposed based on signal projection. A few methods have been developed to reconstruct the system state based on the system models and the quantized output. As for softly specified control, a mathematical framework is given to describe the stabilization problem in term of bounded finite invariant sets. For systems with periodic input, a method to produce relevant inputs to keep the system trajectory in an invariant set. Furthermore, a method is proposed to achieve soft tracking via practical stabilization techniques, and its effectiveness is validated through some experiments using mobile robots.
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