Establishment of a holonomy-based control method for an underactuated system with dynamical nonholonomic constraints

2017 Fiscal Year Final Research Report

• Project/Area Number: 26820169
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Control engineering/System engineering
• Research Institution: Aichi Prefectural University
• Principal Investigator: Ito Masahide 愛知県立大学, 情報科学部, 講師 (60459237)
• Project Period (FY): 2014-04-01 – 2018-03-31
• Keywords: 制御工学 / 機械力学・制御 / 知能ロボティックス / 劣駆動システム / 非ホロノミック拘束 / 動力学的拘束 / ホロノミー

Outline of Final Research Achievements

An underactuated system such as an underactuated manipulator and a vertical takeoff and landing aircraft are subject to dynamical nonholonomic constraints---second-order differential equations which is nonintegrable. This study established a holonomy-based control method for such a system. Holonomy results from a kind of motion that traverses a closed path in a reduced configuration space of the system. The established method is on the basis of an analytic result that appropriate periodic control inputs consisted of sinusoidal functions give holonomy. Also, it demonstrated to be easily applied to motion planning.

Free Research Field

ロボット制御