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Development of Nonlinear Control Theory for Discrete Structure based on Discrete Mechanics

Research Project

Project/Area Number 21760332
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Control engineering
Research InstitutionKyushu 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)
  • 2011 Annual Research Report   Final Research Report ( PDF )
  • 2010 Annual Research Report
  • 2009 Annual Research Report
  • Research Products

    (67 results)

All 2012 2011 2010 2009 Other

All Journal Article (25 results) (of which Peer Reviewed: 25 results) Presentation (39 results) Remarks (3 results)

  • [Journal Article] Limit Cycle Synthesis of Multi-Modal and 2-Dimensional Piecewise Affine Systems2012

    • Author(s)
      Tatsuya Kai and Ryo Masuda
    • Journal Title

      Mathematical and Computer Modelling

      Volume: Vol.55 Pages: 505-516

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Control of the Cart-Pendulum System based on Discrete Mechanics-Part I : Theoretical Analysis and Stabilization Control-, IEICE Transactions on Fundamentals of Electronics2012

    • Author(s)
      Tatsuya Kai
    • Journal Title

      Communications and Computer Sciences

      Volume: Vol.E95-A, No.2 Pages: 525-533

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Kensuke Bito, and Takeshi Shintani : Control of the Cart-Pendulum System based on Discrete Mechanics-Part II : Transformation to Continuous-time Inputs and Experimental Verification-, IEICE Transactions on Fundamentals of Electronics2012

    • Author(s)
      Tatsuya Kai
    • Journal Title

      Communications and Computer Sciences

      Volume: Vol.E95-A, No.2 Pages: 534-541

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Limit Cycle Synthesis of Multi-Modal and 2-Dimensional Piecewise Affine Systems2012

    • Author(s)
      Tatsuya Kai, Ryo Masuda
    • Journal Title

      Mathematical and Computer Modelling

      Volume: 55 Issue: 3-4 Pages: 505-516

    • DOI

      10.1016/j.mcm.2011.08.028

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Control of the Cart-Pendulum System Based on Discrete Mechanics - Part I: Theoretical Analysis and Stabilization Control -2012

    • Author(s)
      Tatsuya Kai, Ryo Masuda
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E95-A Issue: 2 Pages: 525-533

    • DOI

      10.1587/transfun.E95.A.525

    • NAID

      10030607717

    • ISSN
      0916-8508, 1745-1337
    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Control of the Cart-Pendulum System Based on Discrete Mechanics - Part II: Transformation to Continuous-Time Inputs and Experimental Verification -2012

    • Author(s)
      Tatsuya Kai, Kensuke Bito, Takeshi Shintani
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E95-A Issue: 2 Pages: 534-541

    • DOI

      10.1587/transfun.E95.A.534

    • NAID

      10030607735

    • ISSN
      0916-8508, 1745-1337
    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Integrating Algorithms for Integrable Affine Constraints, IEICE Transactions on Fundamentals of Electronics2011

    • Author(s)
      Tatsuya Kai
    • Journal Title

      Communications and Computer Sciences

      Volume: Vol.E94-A, No.1 Pages: 464-467

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] アファイン拘束を受ける非ホロノミック動力学システムのモデリングと解析2011

    • Author(s)
      甲斐健也, 原辰次
    • Journal Title

      システム制御情報学会論文誌

      Volume: Vol.24, No.1 Pages: 9-15

    • NAID

      10028208799

    • Related Report
      2011 Final Research Report 2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Transformation and Chained Structure for a Class of Nonlinear Affine Control Systems, IEICE Transactions on Fundamentals of Electronics2011

    • Author(s)
      Tatsuya Kai
    • Journal Title

      Communications and Computer Sciences

      Volume: Vol.E94-A, No.6 Pages: 1468-1472

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] A Near-Optimal Control Approach to 3D Ball-in-Socket Joint Space Robot Models with Initial Angular Momenta2011

    • Author(s)
      Tatsuya Kai and Kazuho Tamaki
    • Journal Title

      Acta Astronautica

      Volume: Vol.68 Pages: 1702-1711

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] A Discrete Mechanics Approach to Gait Generation for the Compass-Type Biped Robot2011

    • Author(s)
      Tatsuya Kai and Takeshi Shintani
    • Journal Title

      Nonlinear Theory and Its Applications, IEICE

      Volume: Vol.2, No.4 Pages: 533-547

    • NAID

      130001225022

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Transformation and Chained Structure for a Class of Nonlinear Affine Control Systems2011

    • Author(s)
      Tatsuya Kai
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E94-A Issue: 6 Pages: 1468-1472

    • DOI

      10.1587/transfun.E94.A.1468

    • NAID

      10029802731

    • ISSN
      0916-8508, 1745-1337
    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Near-Optimal Control Approach to 3D Ball-in-Socket Joint Space Robot Models with Initial Angular Momenta2011

    • Author(s)
      Tatsuya Kai, Kazuho Tamaki
    • Journal Title

      Acta Astronautica

      Volume: 68 Issue: 11-12 Pages: 1702-1711

    • DOI

      10.1016/j.actaastro.2010.11.007

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A discrete mechanics approach to gait generation for the compass-type biped robot2011

    • Author(s)
      Tatsuya Kai, Takeshi Shintani
    • Journal Title

      Nonlinear Theory and Its Applications, IEICE

      Volume: 2 Issue: 4 Pages: 533-547

    • DOI

      10.1587/nolta.2.533

    • NAID

      130001225022

    • ISSN
      2185-4106
    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Integrating Algorithms for Integrable Affine Constraints2011

    • Author(s)
      Tatsuya Kai
    • Journal Title

      TEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E94-A-1 Pages: 464-467

    • NAID

      10027987348

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 時変アファイン拘束を受ける非ホロノミックハミルトニアンシステムについて2010

    • Author(s)
      甲斐健也
    • Journal Title

      システム制御情報学会論文誌

      Volume: Vol.23, No.5 Pages: 111-113

    • NAID

      10026691266

    • Related Report
      2011 Final Research Report 2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] モデル予測制御を用いた初期角運動量をもつ3次元2剛体宇宙ロボットに対する軌道追従制御2010

    • Author(s)
      甲斐健也
    • Journal Title

      システム制御情報学会論文誌

      Volume: Vol.23, No.6 Pages: 136-138

    • NAID

      10027615179

    • Related Report
      2011 Final Research Report 2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 初期角運動量をもつ2剛体宇宙ロボットに対する3次元姿勢モデル予測制御とロバスト性の検証2010

    • Author(s)
      甲斐健也, 近藤克則
    • Journal Title

      計測自動制御学会論文集

      Volume: Vol.46, No.7 Pages: 415-417

    • NAID

      10026797834

    • Related Report
      2011 Final Research Report 2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] アファイン拘束を受ける非ホロノミックハミルトニアンシステムに対する一般化正準変換と受動性に基づく制御2010

    • Author(s)
      甲斐健也
    • Journal Title

      システム制御情報学会論文誌

      Volume: Vol.23, No.9 Pages: 207-214

    • NAID

      10027615321

    • Related Report
      2011 Final Research Report 2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] アファイン拘束を受ける非ホロノミック運動学システムに対する非線形制御論的解析2010

    • Author(s)
      甲斐健也, 原辰次
    • Journal Title

      計測自動制御学会論文集

      Volume: Vol.46, No.12 Pages: 759-764

    • NAID

      130004549445

    • Related Report
      2011 Final Research Report 2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 時変アファイン拘束を受ける非ホロノミックハミルトニアンシステムについて2010

    • Author(s)
      甲斐健也
    • Journal Title

      システム制御情報学会論文集 24(印刷中)

    • NAID

      10026691266

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 初期角運動量をもつ2剛体宇宙ロボットに対する3次元姿勢準最適制御2009

    • Author(s)
      甲斐健也, 環一穂
    • Journal Title

      計測自動制御学会論文集

      Volume: Vol.45, No.6 Pages: 320-326

    • NAID

      10025090256

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] アファイン拘束を受ける非ホロノミックハミルトニアンシステムのモデリングと受動性解析2009

    • Author(s)
      甲斐健也
    • Journal Title

      システム制御情報学会論文誌

      Volume: Vol.22, No.9 Pages: 331-338

    • NAID

      10026193930

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] 初期角運動量をもつ2剛体宇宙ロボットに対する3次元姿勢準最適制御2009

    • Author(s)
      甲斐健也、環一穂
    • Journal Title

      計測自動制御学会論文集 45

      Pages: 320-326

    • NAID

      10025090256

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] アファイン拘束を受ける非ホロノミックハミルトニアンシステムのモデリングと受動性解析2009

    • Author(s)
      甲斐健也
    • Journal Title

      システム制御情報学会論文集 23

      Pages: 331-338

    • NAID

      10026193930

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Presentation] Swing-up Control of the Cart-Pendulum System based on Discrete Mechanics2012

    • Author(s)
      Tatsuya Kai, Kensuke Bito
    • Organizer
      SICE Annual Conference 2011
    • Place of Presentation
      Waseda University, (Tokyo,Japan)(招待講演)
    • Year and Date
      2012-09-16
    • Related Report
      2011 Annual Research Report
  • [Presentation] A Limit Cycle Synthesis Method of Multi-Modal and 2-Dimensional Piecewise Affine Systems2011

    • Author(s)
      Tatsuya Kai and Ryo Masuda
    • Organizer
      50th IEEE Conference on Decision and Control and European Control Conference
    • Place of Presentation
      Orlando(USA)
    • Year and Date
      2011-12-14
    • Related Report
      2011 Final Research Report
  • [Presentation] A Limit Cycle Synthesis Method of Multi-Modal and 2-Dimensional Piecewise Affine Systems2011

    • Author(s)
      Tatsuya Kai, Ryo Masuda
    • Organizer
      50th IEEE Conference on Decision and Control and European Control Conference
    • Place of Presentation
      Hilton Orlando Bonnet Creek (Orlando, USA)(招待講演)
    • Year and Date
      2011-12-14
    • Related Report
      2011 Annual Research Report
  • [Presentation] A Model Predictive Control Approach to Attitude Stabilization and Trajectory Tracking Control of a 3D Universal Joint Space Robot with an Initial Angular Momentum2011

    • Author(s)
      Tatsuya Kai
    • Organizer
      50th IEEE Conference on Decision and Control and European Control Conference
    • Place of Presentation
      Orlando(USA)
    • Year and Date
      2011-12-13
    • Related Report
      2011 Final Research Report
  • [Presentation] A Model Predictive Control Approach to Attitude Stabilization and Trajectory Tracking Control of a 3D Universal Joint Space Robot with an Initial Angular Momentum2011

    • Author(s)
      Tatsuya Kai
    • Organizer
      50th IEEE Conference on Decision and Control and European Control Conference
    • Place of Presentation
      Hilton Orlando Bonnet Creek (Orlando, USA)(招待講演)
    • Year and Date
      2011-12-13
    • Related Report
      2011 Annual Research Report
  • [Presentation] A Gait Generation Method for the Compass-type Biped Robot on Slopes via Discrete Mechanics2011

    • Author(s)
      Tatsuya Kai and Takeshi Shintani
    • Organizer
      50th IEEE Conference on Decision and Control and European Control Conference
    • Place of Presentation
      Orlando(USA)
    • Year and Date
      2011-12-12
    • Related Report
      2011 Final Research Report
  • [Presentation] A Gait Generation Method for the Compass-type Biped Robot on Slopes via Discrete Mechanics2011

    • Author(s)
      Tatsuya Kai, Takeshi Shintani
    • Organizer
      50th IEEE Conference on Decision and Controland European Control Conference
    • Place of Presentation
      Hilton Orlando Bonnet Creek (Orlando, USA)(招待講演)
    • Year and Date
      2011-12-12
    • Related Report
      2011 Annual Research Report
  • [Presentation] レオノーマスアファイン拘束を受ける非ホロノミックハミルトニアンシステムについて,計測自動制御学会2011

    • Author(s)
      甲斐健也
    • Organizer
      第40回制御理論シンポジウム
    • Place of Presentation
      大阪
    • Year and Date
      2011-09-26
    • Related Report
      2011 Final Research Report
  • [Presentation] レオノーマスアファイン拘束を受ける非ホロノミックハミルトニアンシステムについて2011

    • Author(s)
      甲斐健也
    • Organizer
      計測自動制御学会第40回制御理論シンポジウム
    • Place of Presentation
      ホテルコスモスクエア国際交流センター(大阪府)(招待講演)
    • Year and Date
      2011-09-26
    • Related Report
      2011 Annual Research Report
  • [Presentation] Swing-up Control of the Cart-Pendulum System based on Discrete Mechanics2011

    • Author(s)
      Tatsuya Kai and Kensuke Bito
    • Organizer
      SICE Annual Conference 2011
    • Place of Presentation
      Tokyo(Japan)
    • Year and Date
      2011-09-16
    • Related Report
      2011 Final Research Report
  • [Presentation] Modeling and Passivity Analysis of Nonholonomic Hamiltonian Systems with Time-varying Affine Constraints2011

    • Author(s)
      Tatsuya Kai
    • Organizer
      18th IFAC World Congress
    • Place of Presentation
      Milano(Italy)
    • Year and Date
      2011-09-02
    • Related Report
      2011 Final Research Report
  • [Presentation] Modeling and Passivity Analysis of Nonholonomic Hamiltonian Systems with Time-varying Affine Constraints2011

    • Author(s)
      Tatsuya Kai, Takeshi Shintani
    • Organizer
      18th IFAC World Congress
    • Place of Presentation
      University Cattolica del Sacro Cuore (Milano, Italy)(招待講演)
    • Year and Date
      2011-09-02
    • Related Report
      2011 Annual Research Report
  • [Presentation] Discrete Mechanics Approach to Gait Generation for the Compass-type Biped Robot2011

    • Author(s)
      Tatsuya Kai and Takeshi Shintani
    • Organizer
      18th IFAC World Congress
    • Place of Presentation
      Milano(Italy)
    • Year and Date
      2011-08-31
    • Related Report
      2011 Final Research Report
  • [Presentation] Discrete Mechanics Approach to Gait Generation for the Compass-type Biped Robot2011

    • Author(s)
      Tatsuya Kai, Takeshi Shintani
    • Organizer
      18th IFAC World Congress
    • Place of Presentation
      Universita Cattolica del Sacro Cuore (Milano, Italy)(招待講演)
    • Year and Date
      2011-08-31
    • Related Report
      2011 Annual Research Report
  • [Presentation] 離散時間力学に基づいたコンパス型2足歩行ロボットに対する坂道での歩容生成法,計測自動制御学会2011

    • Author(s)
      甲斐健也,新谷勇志
    • Organizer
      第11回制御部門大会
    • Place of Presentation
      沖縄
    • Year and Date
      2011-03-16
    • Related Report
      2011 Final Research Report
  • [Presentation] 離散時間力学に基づいたコンパス型2足歩行ロボットに対する坂道での歩容生成法2011

    • Author(s)
      甲斐健也, 新谷勇志
    • Organizer
      計測自動制御学会 第11回制御部門大会
    • Place of Presentation
      琉球大学(沖縄県)
    • Year and Date
      2011-03-16
    • Related Report
      2010 Annual Research Report
  • [Presentation] 所望のリミットサイクルを発生する2次元区分的アファインシステムの一設計法,電子情報通信学会2010

    • Author(s)
      甲斐健也,増田亮
    • Organizer
      非線形問題研究会
    • Place of Presentation
      大阪
    • Year and Date
      2010-10-29
    • Related Report
      2011 Final Research Report
  • [Presentation] 所望のリミットサイクルを発生する2次元区分的アファインシステムの一設計法2010

    • Author(s)
      甲斐健也, 増田亮
    • Organizer
      電子情報通信学会 非線形問題研究会
    • Place of Presentation
      大阪大学(大阪府)
    • Year and Date
      2010-10-29
    • Related Report
      2010 Annual Research Report
  • [Presentation] 離散時間力学に基づいたコンパス型2足歩行ロボットに対する歩容生成法,計測自動制御学会2010

    • Author(s)
      甲斐健也,新谷勇志
    • Organizer
      第39回制御理論シンポジウム
    • Place of Presentation
      大阪
    • Year and Date
      2010-09-27
    • Related Report
      2011 Final Research Report
  • [Presentation] 離散時間力学に基づいたコンパス型2足歩行ロボットに対する歩容生成法2010

    • Author(s)
      甲斐健也, 新谷勇志
    • Organizer
      計測白動制御学会 第39回制御理論シンポジウム
    • Place of Presentation
      ホテルコスモスクエア国際交流センター(大阪府)
    • Year and Date
      2010-09-27
    • Related Report
      2010 Annual Research Report
  • [Presentation] Discrete Gait Generation for the Compass-Type Biped Robot Modeled by Discrete Mechanics2010

    • Author(s)
      Tatsuya Kai and Takeshi Shintani
    • Organizer
      International Symposium of Nonlinear Theory and Its Application
    • Place of Presentation
      Krakow(Poland)
    • Year and Date
      2010-09-07
    • Related Report
      2011 Final Research Report
  • [Presentation] Attitude Stabilization Control of 3D Space Robot Model with Initial Angular Momentum via Model Predictive Control2010

    • Author(s)
      Tatsuya Kai and Kazunori Kondoh
    • Organizer
      International Symposium of Nonlinear Theory and Its Application
    • Place of Presentation
      Krakow(Poland)
    • Year and Date
      2010-09-07
    • Related Report
      2011 Final Research Report
  • [Presentation] Discrete Gait Generation for the Compass-Type Biped Robot Modeled by Discrete Mechanics2010

    • Author(s)
      Tatsuya Kai, Takeshi Shintani
    • Organizer
      International Symposium of Nonlinear Theory and Its Application 2010
    • Place of Presentation
      International Cultural Center (Krakow, Poland)
    • Year and Date
      2010-09-07
    • Related Report
      2010 Annual Research Report
  • [Presentation] Attitude Stabilization Control of 3D Space Robot Model with Initial Angular Momentum via Model Predictive Control2010

    • Author(s)
      Tatsuya Kai, Katsunori Kondoh
    • Organizer
      International Symposium of Nonlinear Theory and Its Application 2010
    • Place of Presentation
      International Cultural Center (Krakow, Poland)
    • Year and Date
      2010-09-07
    • Related Report
      2010 Annual Research Report
  • [Presentation] Control of a 3D Ball-in-Socket Joint Space Robot Model with Initial Angular Momentum based on the Near-Optimal Control Algorithm2010

    • Author(s)
      Tatsuya Kai and Kazuho Tamaki
    • Organizer
      8th IFAC Symposium on Nonlinear Control Systems
    • Place of Presentation
      Bologna(Italy)
    • Year and Date
      2010-09-02
    • Related Report
      2011 Final Research Report
  • [Presentation] Control of a 3D Ball-in-Socket Joint Space Robot Model with Initial Angular Momentum based on the Near-Optimal Control Algorithm2010

    • Author(s)
      Tatsuya Kai, Kazuho Tamaki
    • Organizer
      8th IFAC Symposium on Nonlinear Control Systems
    • Place of Presentation
      University of Bologna (Bologna, Italy)
    • Year and Date
      2010-09-02
    • Related Report
      2010 Annual Research Report
  • [Presentation] 離散時間力学モデリングされたコンパス型2足歩行ロボットに対する離散時間歩容生成2010

    • Author(s)
      甲斐健也,新谷勇志
    • Organizer
      第54回システム情報制御学会研究発表講演会
    • Place of Presentation
      京都
    • Year and Date
      2010-05-20
    • Related Report
      2011 Final Research Report
  • [Presentation] 離散時間力学モデリングされたコンパス型2足歩行ロボットに対する離散時間歩容生成2010

    • Author(s)
      甲斐健也, 新谷勇志
    • Organizer
      第54回システム情報制御学会研究発表講演会
    • Place of Presentation
      京都リサーチパーク(京都府)
    • Year and Date
      2010-05-20
    • Related Report
      2010 Annual Research Report
  • [Presentation] 初期角運動量を持つ2剛体宇宙ロボットに対する3次元姿勢モデル予測制御,初期角運動量を持つ2剛体宇宙ロボットに対する3次元姿勢モデル予測制御,計測自動制御学会2010

    • Author(s)
      甲斐健也,近藤克則
    • Organizer
      第10回制御部門大会
    • Place of Presentation
      熊本
    • Year and Date
      2010-03-18
    • Related Report
      2011 Final Research Report
  • [Presentation] 初期角運動量を持つ2剛体宇宙ロボットに対する3次元姿勢モデル予測制御2010

    • Author(s)
      甲斐健也、近藤克則
    • Organizer
      計測自動制御学会 第10回制御部門大会
    • Place of Presentation
      熊本
    • Year and Date
      2010-03-18
    • Related Report
      2009 Annual Research Report
  • [Presentation] 3D Attitude Near-Optimal Control of a Universal Joint Space Robot Model with Initial Angular Momentum, The Seventh IEEE International Conference on Control and Automation2009

    • Author(s)
      Tatsuya Kai and Kazuho Tamaki
    • Organizer
      Christchurch
    • Place of Presentation
      New Zealand
    • Year and Date
      2009-12-11
    • Related Report
      2011 Final Research Report
  • [Presentation] 3D Attitude Near-Optimal Control of a Universal Joint Space Robot Model with Initial Angular Momentum2009

    • Author(s)
      Tatsuya Kai, Kazuho Tamaki
    • Organizer
      The Seventh IEEE International Conference on Control and Automation
    • Place of Presentation
      Christchurch, New Zealand
    • Year and Date
      2009-12-11
    • Related Report
      2009 Annual Research Report
  • [Presentation] Stabilization Control and Experiments of the Cart-Pendulum based on Discrete Mechanics, International Symposium of Nonlinear Theory and Its Application2009

    • Author(s)
      Tatsuya Kai and Takeshi Shintani
    • Organizer
      Sapporo(Japan)
    • Place of Presentation
      Sapporo(Japan)
    • Year and Date
      2009-10-19
    • Related Report
      2011 Final Research Report
  • [Presentation] Limit Cycle Control for 2-Dimensional Discrete-time Nonlinear Control Systems and Its Application to Chaos Systems2009

    • Author(s)
      Tatsuya Kai and Masato Katsuta
    • Organizer
      International Symposium of Nonlinear Theory and Its Application
    • Place of Presentation
      Sapporo(Japan)
    • Year and Date
      2009-10-19
    • Related Report
      2011 Final Research Report
  • [Presentation] Stabilization Control and Experiments of the Cart-Pendulum based on Discrete Mechanics2009

    • Author(s)
      Tatsuya Kai, Takeshi Shintani
    • Organizer
      International Symposium of Nonlinear Theory and Iis Application 2008
    • Place of Presentation
      札幌
    • Year and Date
      2009-10-17
    • Related Report
      2009 Annual Research Report
  • [Presentation] Limit Cycle Control for 2-Dimensional Discrete-time Nonlinear Control Systems and Its Application to Chaos Systems2009

    • Author(s)
      Tatsuya Kai, Masato Katsuta
    • Organizer
      International Symposium of Nonlinear Theory and Iis Application 2008
    • Place of Presentation
      札幌
    • Year and Date
      2009-10-17
    • Related Report
      2009 Annual Research Report
  • [Presentation] 離散時間力学モデリングされた台車型倒立振子に対する振り上げ制御則の一構成法,計測自動制御学会2009

    • Author(s)
      甲斐健也,尾藤健介
    • Organizer
      第38回制御理論シンポジウム
    • Place of Presentation
      大阪
    • Year and Date
      2009-09-14
    • Related Report
      2011 Final Research Report
  • [Presentation] 2次元離散時間非線形システムに対するリミットサイクル制御とカオス制御への応用2009

    • Author(s)
      甲斐健也,勝田真登
    • Organizer
      第53回システム情報制御学会研究発表講演会
    • Place of Presentation
      神戸
    • Year and Date
      2009-05-21
    • Related Report
      2011 Final Research Report 2009 Annual Research Report
  • [Presentation] 離散時間力学モデリングされた台車型倒立振子に対する振り上げ制御則の一構成法2009

    • Author(s)
      甲斐健也、尾藤健介
    • Organizer
      計測自動制御学会 第38回制御理論シンポジウム
    • Place of Presentation
      大阪
    • Year and Date
      2009-05-20
    • Related Report
      2009 Annual Research Report
  • [Remarks]

    • URL

      http://hyoka.ofc.kyushu-u.ac.jp/search/details/K003790/index.html

    • Related Report
      2011 Annual Research Report
  • [Remarks]

    • URL

      http://hyoka.ofc.kyushu-u.ac.jp/search/details/K003790/index.html

    • Related Report
      2010 Annual Research Report
  • [Remarks]

    • URL

      http://www-watt.mech.eng.osaka-u.ac.jp/~kai/

    • Related Report
      2009 Annual Research Report

URL: 

Published: 2009-04-01   Modified: 2016-04-21  

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