Construction of JIT adaptive internal model control by unraveling the triplet structure of the model, control, and performance

2014 Fiscal Year Final Research Report

• Project/Area Number: 23360183
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Kanazawa University
• Principal Investigator: YAMAMOTO Shigeru 金沢大学, 電子情報学系, 教授 (70220465)
• Co-Investigator(Kenkyū-buntansha): KANEKO Osamu 金沢大学, 電子情報学系, 准教授 (00314394) ; OKU Hiroshi 大阪工業大学, 工学部, 准教授 (20351455) ; USHIDA Shun 大阪工業大学, 工学部, 准教授 (30343114)
• Project Period (FY): 2011-04-01 – 2015-03-31
• Keywords: 制御理論 / 制御系設計 / 内部モデル制御 / Just-in-time (JIT) モデリング

Outline of Final Research Achievements

We have investigated a method which enables us to real-time optimize feedback controllers obtaining appropriate control performance. In particular, we have developed a design methodology for an internal model control system which gives us a mathematical model of a control objective simultaneously, just-in-time control utilizing data in feedback systems, and closed loop identification. We also evaluated the effectiveness of the developed methods by experiments for the pneumatic artificial muscles, a small-sized unmanned helicopter, and camera-projector image processing together with numerical simulations.

Free Research Field

制御工学