Table Look-Up Switching Control Design Based on Numerical Optimization

2016 Fiscal Year Final Research Report

• Project/Area Number: 26420429
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Meiji University
• Principal Investigator: Ichihara Hiroyuki 明治大学, 理工学部, 専任准教授 (70312072)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 数値最適化 / 量子化 / 飽和 / 不感帯

Outline of Final Research Achievements

This research aims to construct a table-lookup control design method for systems including nonlinear elements such as saturation, quantization and dead-zone. We first investigate formation control of mechanical systems whose actuators have saturation driving. The proposed controller has a switching structure. Secondly we consider invariant set analysis of nonlinear polynomial systems with input quantization. Since the quantization error we are considering is bounded, invariant sets with bounded disturbances are introduced to investigate the system. Finally, we apply quantization input for dead-zone nonlinearity in mechanical systems. We obtained a perspective to treat dead-zone nonlinearity in model predictive control.

Free Research Field

制御工学