Development and application of adaptive robust control systems.
| Project/Area Number |
23560520
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Ibaraki University |
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Principal Investigator |
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| Project Period (FY) |
2011 – 2013
|
| Project Status |
Completed (Fiscal Year 2013)
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| 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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| Keywords | 制御理論 / 適応学習 / Adaptive robust control / synchronization tracking / multi agent control / Distributed control / Adaptive control |
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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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Report
(4 results)
Research Products
(20 results)
