| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2012: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2011: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Research Abstract |
We have defined Lagrange stability and input-to-state stability for nonlinear systems on manifolds. Furthermore, we have presented necessary and sufficient conditions for stability by using continuous positive definite proper functions. We have designed an ISS-control Lyapunov function and an input-to-state stabilizing controller for an obstacle avoidance problem of a mobile robot. Then, we have confirmed the effectiveness of the proposed controller by computer simulation. We have proposed a sample input-to-state stabilizing controller for general nonlinear systems on manifolds.
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