| Budget Amount *help |
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2014: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
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| Outline of Final Research Achievements |
This research aims to construct a table-lookup control design method for systems including nonlinear elements such as saturation, quantization and dead-zone. We first investigate formation control of mechanical systems whose actuators have saturation driving. The proposed controller has a switching structure. Secondly we consider invariant set analysis of nonlinear polynomial systems with input quantization. Since the quantization error we are considering is bounded, invariant sets with bounded disturbances are introduced to investigate the system. Finally, we apply quantization input for dead-zone nonlinearity in mechanical systems. We obtained a perspective to treat dead-zone nonlinearity in model predictive control.
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