2009 Fiscal Year Final Research Report
Establishment of nonlinear control theory taking into account global structure of manifold
| Project/Area Number |
19560435
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Hokkaido University |
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Principal Investigator |
YAMASHITA Yuh Hokkaido University, 大学院・情報科学研究科, 教授 (90210426)
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| Co-Investigator(Kenkyū-buntansha) |
NAKAMURA Hisakazu 奈良先端科学技術大学院大学, 情報科学研究科, 助教 (70362837)
NISHIDA Gou 独立行政法人理化学研究所, 基幹研究所, 基幹研究所研究員 (80435669)
NISHIMURA Yuki 山口大学, 大学院・理工研究科, 助教 (20549018)
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| Project Period (FY) |
2007 – 2009
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| Keywords | 非線形制御理論 / 多様体 / 漸近安定化 / 制御リアプノフ関数 |
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| Research Abstract |
This study presents a general framework for controlling nonlinear systems on general manifolds including non-Euclidean spaces which precedent control theories cannot handle. Global attitude control of satellites, obstacle avoidance of vehicles, and control of acrobots are examples of our problem. This framework provides design procedures generating control laws automatically with discontinuity, logic, or randomness, of which properties are necessary to stabilize such systems on non-Euclidean spaces.
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