Underactuated Systems Analysis and Unstabilized Motion Generation

2015 Fiscal Year Final Research Report

• Project/Area Number: 25289128
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: Sampei Mitsuji 東京工業大学, 理工学研究科, 教授 (00196338)
• Co-Investigator(Kenkyū-buntansha): NAKAURA Shigeki 佐世保工業高等専門学校, その他部局等, 准教授 (20323793) ; IBUKI Tatsuya 東京工業大学, 大学院理工学研究科, 助教 (30725023) ; SEKIGUCHI Kazuma 東京都市大学, 工学部, 講師 (80593558)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: 制御工学 / 機械力学・制御 / 劣駆動系 / 非安定化

Outline of Final Research Achievements

In this work, we have investigated control theory for nonlinear systems, especially for underactuated systems. The goal is to design control schemes to achieve dynamic motion which cannot be yielded by simple stabilization techniques. The achievement of desired motion with small energy consumption is also the goal of this work. We have first considered three kinds of characteristic motion of underactuated systems: (1) quick motion generated by unstabilized motion, (2) motion with small energy consumption, and (3) motion effectively utilizing the gravity effect. Then, we have dealt with actual mechanical systems for these kinds of motion and proposed control laws based on the investigation of the motion characteristics. Moreover, we have given convergence/performance analysis and demonstrated the validity of the present schemes via numerical simulations and experiments.

Free Research Field

工学