|Budget Amount *help
¥2,200,000 (Direct Cost : ¥2,200,000)
Fiscal Year 1997 : ¥400,000 (Direct Cost : ¥400,000)
Fiscal Year 1996 : ¥1,500,000 (Direct Cost : ¥1,500,000)
Fiscal Year 1995 : ¥300,000 (Direct Cost : ¥300,000)
In the large context of developing a unique manipulator for the fishing and oceanic industry use, in this research term, the control problem considering the dynamics of submerged objects has been considered : we call this manipulator "a fishing robot". In particular, the nonlinear property in such dynamics was focused on, and then the systematic approach to the nonlinear control system synthesis was investigated.
As a nonlinear control approach, the combination of the exact linearization via nonlinear state feedback and linear robust control technique was adopted. When some model is extracted from the real physical plant, there must be some gaps between the model and the real plant such as unmodeled dynamics, parameter errors, and so on. So linearization process must be disturbed by these gaps or the sensor noise. Hence, we assume the incompletely linearized plant to be some linear plant subject to the structured uncertainties, and then, apply the linear robust control technique to it.
Considering the structured uncertainties, the scaled H^* control approach was adopted. In this control problem framework, we has proposed the following approaches,
1) explicit representation of sensor noise as the structured uncertainties,
2) reduction of the structured uncertainty dimension with the consideration of non-correlation among the uncertainties,
3) nonlinear feedback gains with the consideration of the sign of real parameter uncertainties.
To evaluate these approaches, a series of simulations were conducted considering the simple SISO system where polynomial nonlinear terms exist. In these trials, these approach were successful respectively.