| 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)
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| 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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