2010 Fiscal Year Final Research Report
Direct Design of Human Skill and Its Implementation on Robot Using Model-free Controller Synthesis
| Project/Area Number |
21760196
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Mie University |
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Principal Investigator |
YUBAI Kazuhiro Mie University, 大学院・工学研究科, 准教授 (10324542)
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| Project Period (FY) |
2009 – 2010
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| Keywords | モデルフリー制御器設計法 / 安定性 / 入出力データ / スペクトル解析法 |
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| Research Abstract |
This research proposed the controller tuning method from human operation data without constructing any mathematical model. Since the mathematical model is not constructed, we have no idea in advance of the controller implementation whether the designed controller actually stabilizes the controlled plant or not. Firstly, as a basic study, the evaluation method of the closed-loop stability from the input/output data of the controlled plant was proposed, and it was incorporated into the nonlinear and the linear optimization problem for the controller tuning. Moreover, in the case of the linear optimization problem, the controller parameter tuning method guaranteeing the closed-loop stability was proposed.
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