Study on the nonlinear control using transformation to state-jump system
| Project/Area Number |
22360167
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Hokkaido University |
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Principal Investigator |
YAMASHITA Yuh 北海道大学, 大学院・情報科学研究科, 教授 (90210426)
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| Co-Investigator(Kenkyū-buntansha) |
NAKAMURA Hisakazu 東京理科大学, 理工学部, 講師 (70362837)
NISHIDA Gou 京都大学, 大学院・情報学研究科, 研究員 (80435669)
NISHIMURA Yuki 鹿児島大学, 大学院・理工学研究科, 准教授 (20549018)
TSUZUKI Takayuki 島根大学, 総合理工学部, 助教 (90452549)
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| Project Period (FY) |
2010 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥16,770,000 (Direct Cost: ¥12,900,000、Indirect Cost: ¥3,870,000)
Fiscal Year 2012: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2011: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2010: ¥7,930,000 (Direct Cost: ¥6,100,000、Indirect Cost: ¥1,830,000)
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| Keywords | 制御理論 / 機械力学・制御 / 数理工学 / 非線形制御 / 状態ジャンプ系 / 制御リアプノフ関数 / 切り替え制御 / フォーメーション制御 / 障害物回避 / 状熊ジャンプ / 制御工学 / 最小射影法 / 移動体制御 / 安定化制御 / 状態ジャンプ / 移動体の制御 |
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| Research Abstract |
his study proposes a framework of control system design methodologies bywhich the state space of a dynamical controlled object is extended by adding new continuous or discretecoordinates and a desired closed-loop is designed on the augmented space allowing state-jumps on thenew coordinates. Furthermore, methods of the degeneracy of the extended space for obtaining adiscontinuous static feedback law or a control law with discrete states are given. By introducingstate-jumps, we can construct a controller mathematically even for decision-making problems of thedynamical systems.
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Report
(4 results)
Research Products
(102 results)
