Global Controller Design for Time-varying System Defined on Noncontractible Manifolds

2017 Fiscal Year Final Research Report

• Project/Area Number: 26870711
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Dynamics/Control; Control engineering/System engineering
• Research Institution: Ritsumeikan University
• Principal Investigator: Fukui Yoshiro 立命館大学, 情報理工学部, 助教 (30710652)
• Project Period (FY): 2014-04-01 – 2018-03-31
• Keywords: 時変システム / 多様体 / 制御Lyapunov関数

Outline of Final Research Achievements

This research considers a controller design problem for nonlinear time-varying/time-invariant systems defined on manifolds. We proposed 1) a design method of a time-varying non-smooth control Lyapunov function(CLF), called the minimum projection method, for time-varying nonlinear systems defined on manifolds, and 2) a design method of a multilayered space which is required by the minimum projection method. Further, we analyzed generalized differentials of a locally semiconcave CLF, and applied the research results to the robot control theory; we proposed an extended passive velocity field control
as offshoots of this research.

Free Research Field

非線形制御