2010 Fiscal Year Final Research Report
Learning control for constrained systems and its application
| Project/Area Number |
20560417
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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 | Osaka University |
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Principal Investigator |
KIYAMA Tsuyoshi Osaka University, 大学院・工学研究科, 特任准教授 (80362656)
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| Co-Investigator(Renkei-kenkyūsha) |
OKU Hiroshi 大阪工業大学, 工学部, 准教授 (20351455)
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| Project Period (FY) |
2008 – 2010
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| Keywords | 飽和 / 出力フィードバック制御 / アンチワインドアップ制御 / 線形行列不等式サーボ系 / 積分2次性能 / L2 / 指数安定性能 / 低次コントローラ / パワーアシスト |
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| Research Abstract |
This study considers the output feedback control synthesis problem for linear time invariant servosystems with actuator saturation. The problem can be recast as a convex optimization problem based on linear matrix inequalities and linear matrix equations. Then, the study develops a systematic design method for the servosystems. As a result, a dynamic model of power assistive machinery with high strength-amplification is derived as the basis of controlling the robot for an application of the design method. It is confirmed that a robust PID control of the robot using the dynamic model is helpful.
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