New model for nonlinear control: series expansion based on principle of holonomy
Project/Area Number |
22560445
|
Research Category |
Grant-in-Aid for Scientific Research (C)
|
Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Control engineering
|
Research Institution | Osaka University |
Principal Investigator |
ISHIKAWA Masato 大阪大学, 大学院・工学研究科, 准教授 (20323826)
|
Project Period (FY) |
2010 – 2012
|
Project Status |
Completed (Fiscal Year 2012)
|
Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
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: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
|
Keywords | 非線形制御 / ホロノミーの原理 / 非線形可制御性 / 周波数応答 / 級数展開 / 可制御性 |
Research Abstract |
In this study, we proposed an input-output model for nonlinear control systems focusing on the principle of holonomy which relates displacement of state variables to the applied periodic control inputs, associated with a method for analysis and synthesis of periodic controllers. We also examined this approach with experimental systems including casterboard mobile robot, cylindrical rolling robot and so on.
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Report
(4 results)
Research Products
(33 results)
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[Presentation] ○○○に関する研究2012
Author(s)
沖賢太郎、石川将人、大須賀公一
Organizer
第12回計測自動制御学会制御部門大会
Place of Presentation
奈良県文化会館
Year and Date
2012-03-14
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