| Project/Area Number |
22560450
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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 |
Control engineering
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| Research Institution | Oita University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
HOSHINO Osamu 茨城大学, 工学部, 教授 (00303016)
SUEMITSU Haruo 大分大学, 工学部, 助教 (50162839)
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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 |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2012: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2011: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2010: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | 微分推定 / オブザーバ / パラメータ推定 / ソフトセンサ / 姿勢方位基準装置 / 適応オブザーバ / 厳密微分器 / 速度推定 / 加速度推定 / 適応制御理論 / 入力推定器 |
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| Research Abstract |
We have proposed the adaptive velocity, acceleration, and frequency estimators based on the adaptive control theory. Especially, in, we presented two types of adaptive differentiators to estimate the first and second order derivatives of an output signal. In the case of the output signal with unknown dynamic structure, a velocity estimator was proposed based on the gradient-type adaptive update law. Then, a non-passifiable adaptive scheme was proposed using the high-gain input observer in order to design an acceleration estimator. Moreover, we compared the estimation performance of the dynamic nonlinear adaptive gain with the static nonlinear adaptive gain. Finally , we performed the experimental validation of proposed estimators with the Crossbow NAV440 that is a registered trademark of MEMSIC,Inc
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