| Project/Area Number |
21760333
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering
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| Research Institution | Nara Institute of Science and Technology |
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Principal Investigator |
NAKAMURA Hisakazu Nara Institute of Science and Technology, 情報科学研究科, 助教 (70362837)
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| Project Period (FY) |
2009 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2010: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2009: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Keywords | 非線形制御 / 多様体 / 制御Lyapunov関数 / トポロジー / 制御工学 / 制御理論 / 同次関数 |
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| Research Abstract |
In this research project, we have developed two control methods "the minimum projection method" and "the locally homogeneous control" based on control systems reconfiguration on different topological spaces from original manifolds that control problems are defined. As a result, we have successfully developed many control strategies: the multilayer minimum projection method, the multilayer minimum projection method with infinite layers, the singular point assignment method, the search control method and locally homogeneous adaptive control method. Furthermore, the effectiveness of the proposed control methods are confirmed by experiments.
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