2013 Fiscal Year Final Research Report
Nonlinear control theory based on generalized semiconcave functions
| Project/Area Number |
23360185
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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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 | Tokyo University of Science |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
YAMASHITA Yuh 北海道大学, 大学院・情報科学研究科, 教授 (90210426)
ITO Hiroshi 九州工業大学, 大学院・情報工学研究院, 准教授 (70274561)
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| Co-Investigator(Renkei-kenkyūsha) |
ENOMOTO Ryuji 鳥羽商船高等専門学校, 制御情報工学科, 教授 (90203645)
FUKUI Yoshiro 立命館大学, 情報理工学部, 研究員 (30710652)
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| Project Period (FY) |
2011-04-01 – 2014-03-31
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| Keywords | 非線形制御 / ロボット制御 / ハイブリッド制御 / 位相幾何学 / 代数幾何学 |
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| Research Abstract |
We proposed feed back controller design method by using disassembled differential. Moreover, we confirmed that our proposed method is available for input constrained control systems.
We proved that Jurdjevic-Quinn type controllers permit local Caratheodory solutions of closed-loop systems.
We analyzed desingularization phenomena on our proposed minimum projection method, and proposed a singular point assignment method for nonsmooth control Lyapunov function design. Moreover, we proposed static control Lyapunov function and static controller design methods based on dynamic extention and the minimum projection method.
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