| Budget Amount *help |
¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2012: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2011: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Research Abstract |
In this rsesearch project, we have constructed a new type of robust adaptive control system composed of a robustifying mechanism, a disturbance estimation mechanism and an adaptive mechanism. And we have analyzed rigorously the control system properties such as the boundedness and transient performance of the signals. Then we have proposed a distributed adaptive robust control system of the robot with an adaptive mechanism robust mechanism, and disturbance estimation mechanism. Furthermore, we have propose a distributed robust control method for synchronised tracking of networked Euler-Lagrange systems (robots), where the time-varying reference trajectory is sent to only a subset of the agents.
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