| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2015: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2014: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
|
|---|
| Outline of Final Research Achievements |
This research considers a controller design problem for nonlinear time-varying/time-invariant systems defined on manifolds. We proposed 1) a design method of a time-varying non-smooth control Lyapunov function(CLF), called the minimum projection method, for time-varying nonlinear systems defined on manifolds, and 2) a design method of a multilayered space which is required by the minimum projection method. Further, we analyzed generalized differentials of a locally semiconcave CLF, and applied the research results to the robot control theory; we proposed an extended passive velocity field control
as offshoots of this research.
|
