| Project/Area Number |
22560220
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Daido University |
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Principal Investigator |
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| Co-Investigator(Renkei-kenkyūsha) |
NARIKIYO Tatsuo 豊田工業大学, 大学院・工学研究科, 教授 (70231496)
OOBA Tatsushi 名古屋工業大学, 大学院・工学研究科, 助教 (90233254)
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| Project Period (FY) |
2010 – 2012
|
| Project Status |
Completed (Fiscal Year 2012)
|
| Budget Amount *help |
¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2012: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2011: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2010: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Keywords | 動的設計 / 制御系設計 / データ欠損 / 空間分割 / 零点配置 / 外乱抑制 / 振動抑制 / 遠隔制御系 |
|---|
| Research Abstract |
The adoption of remote control technology is indispensablefor us to use robots in harsh environments including aerospace or deep-sea where human activity is extremely restricted. It is very important for the purpose to set reliable control specifications, since a single break in the network cables will cause serious damage to the system control. In this work we discuss a feedback method of synthesizing fault-tolerant control systems, and it is revealed that the feedback control scheme can be implemented if control system descriptions are translated into upper-triangular forms by using the freedom of control inputs. An algorithm is proposed for applying this approach, and its usefulness is experimentally verified in this work.
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