2013 Fiscal Year Final Research Report
Development and application of adaptive robust control systems.
| Project/Area Number |
23560520
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Multi-year Fund |
|---|
| Section | 一般 |
|---|
| Research Field |
Control engineering
|
|---|
| Research Institution | Ibaraki University |
|---|
Principal Investigator |
|
|---|
| Project Period (FY) |
2011 – 2013
|
| Keywords | 制御理論 / 適応学習 |
|---|
| Research Abstract |
In this rsesearch project, we have constructed a new type of robust adaptive control system composed of a robustifying mechanism, a disturbance estimation mechanism and an adaptive mechanism. And we have analyzed rigorously the control system properties such as the boundedness and transient performance of the signals. Then we have proposed a distributed adaptive robust control system of the robot with an adaptive mechanism robust mechanism, and disturbance estimation mechanism. Furthermore, we have propose a distributed robust control method for synchronised tracking of networked Euler-Lagrange systems (robots), where the time-varying reference trajectory is sent to only a subset of the agents.
|
