2021 Fiscal Year Final Research Report
Adaptive allocator design for the high-efficiency control in input redundant systems
| Project/Area Number |
19K15015
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | University of Hyogo |
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Principal Investigator |
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| Project Period (FY) |
2019-04-01 – 2022-03-31
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| Keywords | 入力冗長系 / 適応制御 / 零空間補償制御 / 故障診断 |
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| Outline of Final Research Achievements |
In this research project, we proposed "null-space compensation control" for dynamic systems with redundant input channels, aiming to realize a high-performance and high-efficiency control system design method that takes advantage of such redundancy. An adaptive allocator is newly introduced to adaptively reduce the canceled control inputs within the controlled plant. The proposed method automatically reduces the canceled control forces in the redundant system even when the parameters of the control target are unknown. This can contribute to the realization of highly efficient and high-performance redundant control systems.
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| Free Research Field |
制御工学
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| Academic Significance and Societal Importance of the Research Achievements |
本研究課題では，ハイブリッド・電気自動車や6つ以上のロータを備えたドローンなどの入力冗長系を対象として，高効率な制御を実現するための制御法を開発した．入力冗長系では，複数の駆動源が発揮する力が互いに打ち消しあい，余分なエネルギー消費や機器摩耗を引き起こす可能性がある．本研究では，こうした系の駆動に寄与しない制御入力成分をオンラインで自動的に削減しながら制御目標を達成する「零空間補償制御」を提案し，その設計法を開発した．この成果により，入力冗長系における余分なエネルギー消費や機器摩耗の極めて少ない高効率な制御システムの実現が期待できる．
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