| Project/Area Number |
60550180
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
機械力学・制御工学
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| Research Institution | Kyushu Institute of Technology |
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Principal Investigator |
KOBAYASHI TOSHIHIRO Faculty of Engineering, Associate Professor, 工学部, 助教授 (20039142)
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| Co-Investigator(Kenkyū-buntansha) |
宮浦 すが 九州工業大学, 工学部, 講師
MIYAURA SUGA Faculty of Engineering, Lecturer
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| Project Period (FY) |
1985 – 1986
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| Project Status |
Completed (Fiscal Year 1986)
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| Budget Amount *help |
¥1,400,000 (Direct Cost: ¥1,400,000)
Fiscal Year 1986: ¥400,000 (Direct Cost: ¥400,000)
Fiscal Year 1985: ¥1,000,000 (Direct Cost: ¥1,000,000)
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| Keywords | Adaptive control / Distributed parameter systems / 弾性振動系 / フレキシブルアーム / 入出力表現 |
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| Research Abstract |
The purpose of the project is to construct the theory of model reference adaptive control for distributed parameter systems and to show the effectiveness of the theory by applying to a flexible arm system. When only input and output measurements are available, the model reference adaptive control is designed both in a continuous-time form and in a discrete-time form. The main results in the research are following.
1. We formulated the distributed parameter systems as the spectral systems which include a flexible arm system. For the spectral systems we investigated controllability, observability and stabilization.
2. For the distributed parameter systems we presented input-output representations, using filtered values generated from the inputs and the outputs. The input-output representations were very useful to construct the adaptive control systems.
3. Using the input-output representations, we designed the continuous-time and the discrete-time model reference adaptive control systems and analyzed the stability of the systems using Liapunov theory.
4. We showed that we can construct finite-dimensional adaptive control systems for distributed parameter systems.
5. We applied the presented theory to a flexible arm system and an inverted flexible pendulum system and made clear the effectiveness of the theory. The distributed parameter plant models gave natural responses from a practical point of view.
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