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Underactuated Systems Analysis and Unstabilized Motion Generation

Research Project

Project/Area Number 25289128
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypePartial Multi-year Fund
Section一般
Research Field Control engineering/System engineering
Research InstitutionTokyo Institute of Technology

Principal Investigator

Sampei Mitsuji  東京工業大学, 理工学研究科, 教授 (00196338)

Co-Investigator(Kenkyū-buntansha) NAKAURA Shigeki  佐世保工業高等専門学校, その他部局等, 准教授 (20323793)
IBUKI Tatsuya  東京工業大学, 大学院理工学研究科, 助教 (30725023)
SEKIGUCHI Kazuma  東京都市大学, 工学部, 講師 (80593558)
Project Period (FY) 2013-04-01 – 2016-03-31
Project Status Completed (Fiscal Year 2015)
Budget Amount *help
¥13,000,000 (Direct Cost: ¥10,000,000、Indirect Cost: ¥3,000,000)
Fiscal Year 2015: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2014: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2013: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Keywords制御工学 / 機械力学・制御 / 劣駆動系 / 非安定化 / 劣駆動システム / 非線形システム制御 / 非線形システム解析
Outline of Final Research Achievements

In this work, we have investigated control theory for nonlinear systems, especially for underactuated systems. The goal is to design control schemes to achieve dynamic motion which cannot be yielded by simple stabilization techniques. The achievement of desired motion with small energy consumption is also the goal of this work. We have first considered three kinds of characteristic motion of underactuated systems: (1) quick motion generated by unstabilized motion, (2) motion with small energy consumption, and (3) motion effectively utilizing the gravity effect. Then, we have dealt with actual mechanical systems for these kinds of motion and proposed control laws based on the investigation of the motion characteristics. Moreover, we have given convergence/performance analysis and demonstrated the validity of the present schemes via numerical simulations and experiments.

Report

(4 results)
  • 2015 Annual Research Report   Final Research Report ( PDF )
  • 2014 Annual Research Report
  • 2013 Annual Research Report
  • Research Products

    (39 results)

All 2016 2015 2014 2013

All Journal Article (4 results) (of which Peer Reviewed: 4 results) Presentation (35 results) (of which Int'l Joint Research: 6 results)

  • [Journal Article] <b>Attitude Control of a 2-wheel Satellite by Using a Time-State Control Form</b>2014

    • Author(s)
      勝山裕輝, 関口和真, 三平満司
    • Journal Title

      Transactions of the Institute of Systems, Control and Information Engineers

      Volume: 27 Issue: 5 Pages: 193-199

    • DOI

      10.5687/iscie.27.193

    • NAID

      130004680164

    • ISSN
      1342-5668, 2185-811X
    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Throwing Motion Control of the Springed Pendubot2013

    • Author(s)
      Takuya Shoji, Shunsuke Katsumata, Shigeki Nakaura, Mitsuji Sampei
    • Journal Title

      IEEE Transactions on Control Systems Technology

      Volume: 21 Issue: 3 Pages: 950-957

    • DOI

      10.1109/tcst.2012.2192121

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Nonlinear Feedback Controller Design Based on a Geometric Consideration in the Phase Plane Behavior for Single Input Nonlinear System2013

    • Author(s)
      鈴木 洋志,関口 和真,三平 満司
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 49 Issue: 10 Pages: 944-951

    • DOI

      10.9746/sicetr.49.944

    • NAID

      130004549701

    • ISSN
      0453-4654, 1883-8189
    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Transition of Partial Feedback Linearization Based Controller2013

    • Author(s)
      関口和真,三平満司
    • Journal Title

      Transactions of the Institute of Systems, Control and Information Engineers

      Volume: 26 Issue: 7 Pages: 232-242

    • DOI

      10.5687/iscie.26.232

    • NAID

      130003388016

    • ISSN
      1342-5668, 2185-811X
    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Presentation] 対象運動モデルを用いた二輪車両移動ロボットの視覚フィードバック型位置・姿勢制御2016

    • Author(s)
      仲野聡史,伊吹竜也,三平満司
    • Organizer
      第3回制御部門マルチシンポジウム
    • Place of Presentation
      南山大学(愛知)
    • Year and Date
      2016-03-07
    • Related Report
      2015 Annual Research Report
  • [Presentation] 簡易モデルによるローリングバランスの運動解析と安定化2016

    • Author(s)
      前田貴也,杉野峻生,中浦茂樹
    • Organizer
      第3回制御部門マルチシンポジウム
    • Place of Presentation
      南山大学(愛知)
    • Year and Date
      2016-03-07
    • Related Report
      2015 Annual Research Report
  • [Presentation] L1正則化項を用いた最適化計算による2ホイールスペースクラフトのモデル誤差を考慮した姿勢制御2016

    • Author(s)
      渡部建人,深石智大,関口和真,野中謙一郎
    • Organizer
      第3回制御部門マルチシンポジウム
    • Place of Presentation
      南山大学(愛知)
    • Year and Date
      2016-03-07
    • Related Report
      2015 Annual Research Report
  • [Presentation] 非ホロノミックシステムに対するシステム蘇生変換の自由度2016

    • Author(s)
      木村駿介,中村文一,伊吹竜也,三平満司
    • Organizer
      第3回制御部門マルチシンポジウム
    • Place of Presentation
      南山大学(愛知)
    • Year and Date
      2016-03-07
    • Related Report
      2015 Annual Research Report
  • [Presentation] Stabilization of Three-link Acrobot via Hierarchical Linearization2015

    • Author(s)
      Kazuma Sekiguchi
    • Organizer
      54th IEEE Conference on Decision and Control
    • Place of Presentation
      大阪国際会議場(大阪)
    • Year and Date
      2015-12-15
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Input Transformation with Coordinate Transformation for Nonlinear Systems subject to State Constraints2015

    • Author(s)
      Shunsuke Kimura, Hisakazu Nakamura, Tatsuya Ibuki and Mitsuji Sampei
    • Organizer
      54th IEEE Conference on Decision and Control
    • Place of Presentation
      大阪国際会議場(大阪)
    • Year and Date
      2015-12-15
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Attitude Controllability Analysis of an Underactuated Satellite with 2 Reaction Wheels and Its Control2015

    • Author(s)
      Yuki Katsuyama, Tatsuya Ibuki and Mitsuji Sampei
    • Organizer
      54th IEEE Conference on Decision and Control
    • Place of Presentation
      大阪国際会議場(大阪)
    • Year and Date
      2015-12-15
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Chained systemへの変換の自由度に着目した半凹制御Lyapunov関数による2輪車両型移動体の制御2015

    • Author(s)
      木村駿介,中村文一,伊吹竜也,三平満司
    • Organizer
      第58回自動制御連合講演会
    • Place of Presentation
      神戸大学(兵庫)
    • Year and Date
      2015-11-14
    • Related Report
      2015 Annual Research Report
  • [Presentation] MPCを用いて階層型線形化における特異点を考慮した2ホイールスペースクラフトの姿勢制御2015

    • Author(s)
      深石智大,渡部建人,関口和真,野中謙一郎
    • Organizer
      第58回自動制御連合講演会
    • Place of Presentation
      神戸大学(兵庫)
    • Year and Date
      2015-11-14
    • Related Report
      2015 Annual Research Report
  • [Presentation] Structural Optimization of Hexrotors Based on Dynamic Manipulability and the Maximum Translational Acceleration2015

    • Author(s)
      Katsuyuki Kiso, Tatsuya Ibuki, Masahiro Yasuda and Mitsuji Sampei
    • Organizer
      2015 IEEE Multi-Conference on Systems and Control
    • Place of Presentation
      Novotel Manly Pacific Hotel, Manly Beach(オーストラリア)
    • Year and Date
      2015-09-21
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 3D Inverted Pendulum Stabilization on a Quadrotor via Bilinear System Approximations2015

    • Author(s)
      Tatsuya Ibuki, Yuichi Tadokoro, Yuki Fujita and Mitsuji Sampei
    • Organizer
      2015 IEEE Multi-Conference on Systems and Control
    • Place of Presentation
      Novotel Manly Pacific Hotel, Manly Beach(オーストラリア)
    • Year and Date
      2015-09-21
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Squat Jumping Motion Control for 4-link Robots by Trajectory Planning of the Center of Mass2015

    • Author(s)
      Tatsuya Ibuki, Naoki Endo and Mitsuji Sampei
    • Organizer
      34th Chinese Control Conference & SICE Annual Conference 2015
    • Place of Presentation
      InterContinental Hangzhou Hotel(中国)
    • Year and Date
      2015-07-28
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 重心軌道計画を用いた4リンク3アクチュエータロボットの跳躍制御2015

    • Author(s)
      遠藤直輝,伊吹竜也,三平満司
    • Organizer
      第14回「運動と振動の制御」シンポジウム
    • Place of Presentation
      栃木県総合文化センター(栃木)
    • Year and Date
      2015-06-22 – 2015-06-24
    • Related Report
      2014 Annual Research Report
  • [Presentation] ZMPを考慮した4リンクロボット着地手法の検討2015

    • Author(s)
      伊庭達哉,伊吹竜也,三平満司
    • Organizer
      第14回「運動と振動の制御」シンポジウム
    • Place of Presentation
      栃木県総合文化センター(栃木)
    • Year and Date
      2015-06-22 – 2015-06-24
    • Related Report
      2014 Annual Research Report
  • [Presentation] Jumping Motion Control for 4-link Robot Based on Virtual Constraint on Underactuated Joint2015

    • Author(s)
      Tatsuya Ibuki, Atsuto Ishikawa, Shigeki Nakaura and Mitsuji Sampei
    • Organizer
      10th Asian Control Conference
    • Place of Presentation
      Sutera Harbour Resort(マレーシア)
    • Year and Date
      2015-05-31 – 2015-06-03
    • Related Report
      2014 Annual Research Report
  • [Presentation] 誘導電動機の階層型線形化を用いた制御2015

    • Author(s)
      関口和真
    • Organizer
      第59回システム制御情報学会研究発表講演会
    • Place of Presentation
      中央電気倶楽部(大阪)
    • Year and Date
      2015-05-20
    • Related Report
      2015 Annual Research Report
  • [Presentation] 動的可操作度と最大並進加速度を考慮したヘキサロータの構造最適化2015

    • Author(s)
      木曽勝之,伊吹竜也,三平満司
    • Organizer
      第2回制御部門マルチシンポジウム
    • Place of Presentation
      東京電機大学(東京)
    • Year and Date
      2015-03-04 – 2015-03-07
    • Related Report
      2014 Annual Research Report
  • [Presentation] 縦横の自由度を有する倒立振子の安定化-階層的線形化2015

    • Author(s)
      関口和真
    • Organizer
      第2回制御部門マルチシンポジウム
    • Place of Presentation
      東京電機大学(東京)
    • Year and Date
      2015-03-04 – 2015-03-07
    • Related Report
      2014 Annual Research Report
  • [Presentation] 後屈運動を取り入れたDenguribotの転がり運動制御2015

    • Author(s)
      村上尚人,伊吹竜也,三平満司
    • Organizer
      第2回制御部門マルチシンポジウム
    • Place of Presentation
      東京電機大学(東京)
    • Year and Date
      2015-03-04 – 2015-03-07
    • Related Report
      2014 Annual Research Report
  • [Presentation] クアッドロータモデルを用いた3次元倒立振子の安定化制御2015

    • Author(s)
      田所祐一,伊吹竜也,三平満司
    • Organizer
      第2回制御部門マルチシンポジウム
    • Place of Presentation
      東京電機大学(東京)
    • Year and Date
      2015-03-04 – 2015-03-07
    • Related Report
      2014 Annual Research Report
  • [Presentation] 2基のリアクションホイールによるスペースクラフトの姿勢制御におけるモデル化誤差の影響抑制2014

    • Author(s)
      渡部建人,深石智大,関口和真,野中謙一郎
    • Organizer
      第15回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      東京ビッグサイト(東京)
    • Year and Date
      2014-12-15 – 2014-12-17
    • Related Report
      2014 Annual Research Report
  • [Presentation] Bilinear System Approximation-based Inverted Pendulum Stabilization in Three Dimensions2014

    • Author(s)
      Yuki Fujita, Tatsuya Ibuki and Mitsuji Sampei
    • Organizer
      SICE Annual Conference 2014
    • Place of Presentation
      北海道大学(北海道)
    • Year and Date
      2014-09-09 – 2014-09-12
    • Related Report
      2014 Annual Research Report
  • [Presentation] 角運動量と同期する出力関数構造を用いた4-link Robotの着地制御2014

    • Author(s)
      石川 温人,伊吹 竜也,三平 満司
    • Organizer
      第1回計測自動制御学会制御部門マルチシンポジウム
    • Place of Presentation
      電気通信大学(東京都調布市)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 非駆動関節拘束によるゼロダイナミクスを用いた4-link Robotの跳躍制御2014

    • Author(s)
      石川 温人,伊吹 竜也,三平 満司
    • Organizer
      第1回計測自動制御学会制御部門マルチシンポジウム
    • Place of Presentation
      電気通信大学(東京都調布市)
    • Related Report
      2013 Annual Research Report
  • [Presentation] Controllability Measure for Nonlinear Systems in Complex Region2013

    • Author(s)
      Daichi Kato, Kazuma Sekiguchi, Mitsuji Sampei
    • Organizer
      52nd IEEE Conference on Decision and Control
    • Place of Presentation
      Palazzo dei Congressi, Florence, Italy
    • Related Report
      2013 Annual Research Report
  • [Presentation] Circle Motion Control of Trirotor UAV via Discrete Output Zeroing2013

    • Author(s)
      Yasuyuki Kataoka, Kazuma Sekiguchi, Mitsuji Sampei
    • Organizer
      52nd IEEE Conference on Decision and Control
    • Place of Presentation
      Palazzo dei Congressi, Florence, Italy
    • Related Report
      2013 Annual Research Report
  • [Presentation] A Control Experiment of Vertical Jumping and Landing Motion with 4links Robot2013

    • Author(s)
      Takamitsu Shimizu, Kazuma Sekiguchi, Mitsuji Sampei
    • Organizer
      SICE Annual Conference 2013
    • Place of Presentation
      Nagoya University, Nagoya, Japan
    • Related Report
      2013 Annual Research Report
  • [Presentation] Spacecraft Attitude Control by 2 Wheels with Initial Angular Momentum2013

    • Author(s)
      Yuki Katsuyama, Kazuma Sekiguchi, Mitsuji Sampei
    • Organizer
      SICE Annual Conference 2013
    • Place of Presentation
      Nagoya University, Nagoya, Japan
    • Related Report
      2013 Annual Research Report
  • [Presentation] Controllability Analysis and Periodical Antenna Pointing Attitude Control of a Single Rotor Spacecraft2013

    • Author(s)
      Kohei Tahara, Kazuma Sekiguchi, Mitsuji Sampei
    • Organizer
      SICE Annual Conference 2013
    • Place of Presentation
      Nagoya University, Nagoya, Japan
    • Related Report
      2013 Annual Research Report
  • [Presentation] On Multi Time-scale Form of Nonlinear Systems2013

    • Author(s)
      Kazuma Sekiguchi, Mitsuji Sampei
    • Organizer
      9th IFAC Symposium on Nonlinear Control Systems
    • Place of Presentation
      INP-ENSEEIHT, Toulouse, France
    • Related Report
      2013 Annual Research Report
  • [Presentation] Multi-step Procedure for Orbital Feedback Linearization of Multi-input Control Affine Systems2013

    • Author(s)
      Kazuma Sekiguchi, Mitsuji Sampei
    • Organizer
      2013 American Control Conference
    • Place of Presentation
      2013 American Control Conference
    • Related Report
      2013 Annual Research Report
  • [Presentation] 時間軸変換による厳密な線形化を用いたAcrobotシステムの安定化制御実験2013

    • Author(s)
      西村 至人,関口 和真,三平 満司
    • Organizer
      第13回「運動と振動の制御」シンポジウム
    • Place of Presentation
      九州産業大学(福岡県福岡市)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 初期角運動量を有する宇宙機のホイール故障時における劣駆動姿勢制御2013

    • Author(s)
      勝山 裕輝,関口 和真,三平 満司
    • Organizer
      第13回「運動と振動の制御」シンポジウム
    • Place of Presentation
      九州産業大学(福岡県福岡市)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 複素座標変換に基づいた非線形システムに対する可制御度に関する研究2013

    • Author(s)
      加藤 大地,関口 和真,三平 満司
    • Organizer
      第57回システム制御情報学会研究発表講演会
    • Place of Presentation
      兵庫県民会館(兵庫県神戸市)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 時間軸状態制御形を用いた2ホイール衛星の姿勢制御2013

    • Author(s)
      勝山 裕輝,関口 和真,三平 満司
    • Organizer
      第57回システム制御情報学会研究発表講演会
    • Place of Presentation
      兵庫県民会館(兵庫県神戸市)
    • Related Report
      2013 Annual Research Report

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Published: 2013-05-21   Modified: 2019-07-29  

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