Establishment of a holonomy-based control method for an underactuated system with dynamical nonholonomic constraints

• Project/Area Number: 26820169
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Control engineering/System engineering
• Research Institution: Aichi Prefectural University
• Principal Investigator: Ito Masahide 愛知県立大学, 情報科学部, 講師 (60459237)
• Project Period (FY): 2014-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2016: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2015: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000); Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
• Keywords: 制御工学 / 機械力学・制御 / 知能ロボティックス / 劣駆動システム / 非ホロノミック拘束 / 動力学的拘束 / ホロノミー

Outline of Final Research Achievements

An underactuated system such as an underactuated manipulator and a vertical takeoff and landing aircraft are subject to dynamical nonholonomic constraints---second-order differential equations which is nonintegrable. This study established a holonomy-based control method for such a system. Holonomy results from a kind of motion that traverses a closed path in a reduced configuration space of the system. The established method is on the basis of an analytic result that appropriate periodic control inputs consisted of sinusoidal functions give holonomy. Also, it demonstrated to be easily applied to motion planning.

Research Products

• [Int'l Joint Research] University of Groningen(オランダ)
• [Presentation] Holonomy-based control of a three-joint underactuated manipulator (2017)
  • Author(s): Masahide Ito
  • Organizer: Proceedings of 11th International Workshop on Robot Motion and Control (RoMoCo'17)
  • Int'l Joint Research
• [Presentation] A holonomy-based motion planning approach for a second-order nonholonomic system (2016)
  • Author(s): Masahide Ito
  • Organizer: Proceedings of 2nd IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON'16)
  • Place of Presentation: Seikei University, Tokyo, Japan
  • Year and Date: 2016-03-08
  • Int'l Joint Research
• [Presentation] Holonomy-based motion planning of a second-order chained form system by using sinusoidal functions (2015)
  • Author(s): Masahide Ito
  • Organizer: Proceedings of 10th International Workshop on Robot Motion and Control (RoMoCo'15)
  • Place of Presentation: Poznan University of Technology, Poznan, Poland
  • Year and Date: 2015-07-08
  • Int'l Joint Research
• [Presentation] 動力学的非ホロノミック拘束を有す劣駆動マニピュレータのホロノミー抽出 (2015)
  • Author(s): 伊藤 正英
  • Organizer: 第2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: 東京電機大学 東京千住キャンパス（東京都足立区千住旭町5番）
  • Year and Date: 2015-03-06
• [Remarks] researchmap
  • URL: http://researchmap.jp/itomasa/
• [Remarks] ResearchGate
  • URL: https://www.researchgate.net/profile/Masahide_ITO