Development of Nonlinear Control Theory for Discrete Structure based on Discrete Mechanics
| Project/Area Number |
21760332
|
|---|
| Research Category |
Grant-in-Aid for Young Scientists (B)
|
| Allocation Type | Single-year Grants |
|---|
| Research Field |
Control engineering
|
|---|
| Research Institution | Kyushu University (2010-2011)
Osaka University (2009) |
|---|
Principal Investigator |
TATSUYA Kai 九州大学, システム情報科学研究院, 助教 (60419471)
|
|---|
| Project Period (FY) |
2009 – 2011
|
| Project Status |
Completed (Fiscal Year 2011)
|
| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2011: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2010: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
|
|---|
| Keywords | 非線形制御理論 / 力学システム / ロボット / 離散時間力学 / 離散構造 / 非線形システム / 数値計算法 / ロボット工学 / 微分・差分幾何学 |
|---|
| Research Abstract |
This research project aims at application of discrete mechanics, which is one of the discretizing methods for nonlinear mechanical systems and has various advantages, to control engineering, and development of control strategies that have high compatibility with computers. As a result, I have proposed analysis and synthesis methods based on discrete mechanics, which are totally different from existing ones, and the effectiveness of them has been shown via numerical simulations and experiments. Moreover, I can raise a new problem“nonlinear control theory based on discrete structure,"which has not been given much thought to so far.
|
Report
(4 results)
Research Products
(67 results)
