2012 Fiscal Year Final Research Report
New model for nonlinear control: series expansion based on principle of holonomy
| Project/Area Number |
22560445
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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 |
ISHIKAWA Masato 大阪大学, 大学院・工学研究科, 准教授 (20323826)
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| Project Period (FY) |
2010 – 2012
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| Keywords | 非線形制御 / ホロノミーの原理 / 非線形可制御性 / 周波数応答 / 級数展開 |
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| Research Abstract |
In this study, we proposed an input-output model for nonlinear control systems focusing on the principle of holonomy which relates displacement of state variables to the applied periodic control inputs, associated with a method for analysis and synthesis of periodic controllers. We also examined this approach with experimental systems including casterboard mobile robot, cylindrical rolling robot and so on.
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