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1990 Fiscal Year Final Research Report Summary

Design of Robust Nonlinear Control System and Applications to Robot Multi-Link Mechanism Control

Research Project

Project/Area Number 01550195
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionYamagata University

Principal Investigator

OKUBO Shigenori  Institution, Department, Faculty of Engineering, Yamagata University, 工学部, 教授 (60134467)

Project Period (FY) 1989 – 1990
KeywordsNonlinear control system / Robust control / Robot manipulator / Parameter error / Coriolis force / Model following control system / Nonlinear compensator / Nominal value
Research Abstract

At the present linear control theory has reached the complete level, on the other hand the developing speed of nonlinear control field is very low. All of actual physical system are nonlinear. For example tokamak type nuclear fusion system, mechtoronics system of robot manipulator, chemical plant of margarine production and so on are nonlinear systems. The conventional control methods for these systems are PID control or linear regulator system by using linearization around driving points. However the control law must be changed when the driving points or initial conditions are changed, so the function as control system are not enough. At this research project we developed a design method of model following control systems for general nonlinear systems and we could obtain robust stability conditions of which output errors converge zero and all of internal states become bounded. We applied above mentioned methods to the design for robot manipulators, and could get effective results. Sta … More te equations of robot systems can be obtained generally by using Lagrangian functions. Robot manipulators systems contain centrifugal force and Coriolis force which are complex nonlinear terms. These nonlinear systems can be described as an inner product of deterministic known functions and parameter vectors which contains observation errors. Control inputs can be constructed based on nominal values which can be got from observed parameters. This control scheme is a nonlinear compensator. The obtained systems are multi-dimention second degree systems which contain weak nonlinear terms, and have no zero point. This structure is proper on robot systems. For the characteristic performance of control system can be developed remarkably by model following control method.
Arbitrary pole assignment can be possible by the construction of linear model following control system to multi-dimention second degree systems to ignore the effect of weak nonlinear terms. Robust stability conditions can be obtained by solving a integral inequality for parameter errors with using Gronwall method. Also output errors can be reduced arbitrary small by sufficiently stable pole assignment of linear systems. We can get well results even if parameter errors are 50 percent by numerical simulations. Less

  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] 大久保 重範: "大域的に安定な多入出力非線形系のMRACS" 計測自動制御学会論文集. 26. 46-53 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] EITAKU NOBUYAMA, SEIICHI SHIN, SHIGENORI OKUBO and TOSHIYUKI KITAMORI: "Bezout identities and common minor zeros of ZーD polynomial matrice,and applications to timeーdelay systems" International Journal of Control. 52. 1311-1326 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] SHIGENORI OKUBO: "Robust Control of Multi Link Robot Manipulators Based on Model Following Control Method" Proceedings of the First International Symposium on Measurement and Control in Robotics, Houston,USA. 2. G2.1.1-G2.1.7 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] SHIGENORI OKUBO: "A Control of MultiーLink Robot Manipulators and the Robust Stability Analysis" Proceedings of the 29th SICE Annual Conference. 2. 861-864 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] SHIGENORI OKUBO: "A Control Design of Three Dimensional MultiーLink Robot Manipulators and the Robust Stability Condition" Preprints of The 33rd Japan Joint Automatic Control Conference. 1. 271-272 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] SHIGENORI OKUBO: "A Design of Nonlinear Model Reference Adaptive Control and the Application to the Link Mechanism" Preprints of IFAC International Symposium on Intelligent Tuning and Adaptive Control (ITAC' 91) Singapore. 3. 101-106 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Shigenori Okubo: "Globally Stable MRACS for Multi-Input and Multi-Output Nonlinear Systems" Transactions of the Society of Instrument and Control Engineers. Vol. 26. 46-53 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Eitaku Nobuyama, Seiichi Shin, Shigenori Okubo and Toshiyuki Kitamori :"Bezout Identities and Common Minor Zeros of 2-D Polynomial Matrices, and Applications to Time-Delay Systems" International Journal of Control. Vol. 52. 1311-1326 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Shigenori Okubo: "Robust Control of Multi Link Robot Manipulators Based on Model Following Control Method" Proceedings of the First International Symposium on Measurement and Control in Robotics, Houston, USA. Vol. 2. G2.1.1-G2.1.7, (1990)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Shigenori Okubo: "A Control of Multi-Link Robot Manipulators and the Robust Stability Analysis" Proceedings of the 29th SICE Annual Conference. Vol. 2. 861-864 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Shigenori Okubo: "A Control Design of Three Dimentional Multi-Link Robot Manipulators and the Robust Stability Conditions" Preprints of the 33rd Japan Joint Automatic Control Conference. Vol. 1. 271-272 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Shigenori Okubo: "A Design of Nonlinear Model Reference Adaptive Control and the Application to the Link Mechanism" Preprints of IFAC International Symposium on Intelligent Tuning and Adaptive Control (ITAC' 91) Singapore. Vol. 3. 101-106 (1991)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1993-08-12  

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