2015 Fiscal Year Final Research Report
Development of Passivity-based Robust Controllers for Nonlinear Sampled-data Systems
| Project/Area Number |
25420434
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Shizuoka University |
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Principal Investigator |
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Keywords | 制御システム / 非線形サンプル値制御 / 受動性 / 低次元オブザーバ |
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| Outline of Final Research Achievements |
For nonlinear sampled-data strict-feedback systems, the design of reduced-order observers that estimate unmeasured state of the system is proposed. Their robustness and the design of proposed reduced-order observer-based output feedback semiglobally practically uniformly asymptotic stabilizing controllers is also considered under natural assumptions. The designed observers and controllers are also applied to the control problems of underactuated ships and their efficiency is illustrated by numerical simulations and experimental results. For some class of nonlinear sampled-data strict-feedback systems, the design of observer gains of the proposed reduced-order observers is also discussed by passivity of the sampled-data systems.
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| Free Research Field |
工学
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