| Project/Area Number |
26420431
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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/System engineering
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| Research Institution | Osaka Institute of Technology |
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Principal Investigator |
Ushida Shun 大阪工業大学, 工学部, 准教授 (30343114)
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
Fiscal Year 2014: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
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| Keywords | ゆらぎ / 見かけの制御 / メカニカルシステム / ロボットアーム / 倒立振子 |
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| Outline of Final Research Achievements |
In human motor control mechanism, there is remarkable property, the existence of random fluctuations. In this study, we focus on practical application of the property and investigate the effects of the fluctuation to a stability and a behavior of a stochastic linear systems. In our previous work, the control performance improvements due to fluctuation were shown from both aspects of numerical simulations and its theoretical analyses. Our results in this paper suggest that an appropriate fluctuation in control systems can achieve the better control performances. Actually, we constructed such a control system for robot arm with the inverted pendulum and a camera-projector appearance control system. We investigated some problems for the implementation of fluctuation to the real systems, which shall be useful for further developments of our stochastic control system.
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