A Hierarchical Construction of Adaptive Robust Nonlinear Positioning Controller and its application to mechatronics systems
| Project/Area Number |
16560388
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | KYUSHU UNIVERSITY |
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Principal Investigator |
WADA Kiyoshi (2005) KYUSHU UNIVERSITY, Graduate School of Information Science and Electrical Engineering, Professor, システム情報科学研究院, 教授 (60125127)
楊 子江 (2004) 九州大学, システム情報科学研究院, 助教授 (30243984)
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| Co-Investigator(Kenkyū-buntansha) |
KANAE Shunshoku KYUSHU UNIVERSITY, Graduate School of Information Science and Electrical Engineering, Research Associate, システム情報科学研究院, 助手 (90274555)
和田 清 九州大学, システム情報科学研究院, 教授 (60125127)
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| Project Period (FY) |
2004 – 2005
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| Project Status |
Completed (Fiscal Year 2005)
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| Budget Amount *help |
¥2,400,000 (Direct Cost: ¥2,400,000)
Fiscal Year 2005: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 2004: ¥1,300,000 (Direct Cost: ¥1,300,000)
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| Keywords | positioning control / adaptive control / transient performance / robust control / servo system / nonlinear control |
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| Research Abstract |
In this research project, a practical and general adaptive robust nonlinear controller is proposed for positioning control of a nonlinear mechanical system. To overcome the main obstacles that prevent the adaptive control techniques from coming into wide use in the industrial side, our attention is focused on the guaranteed transient performance and theoretical transparency of the control system. The controller is designed in a backstepping manner. At the first step, a PI controller is designed to stabilize the position error. Then at the second step, an adaptive robust nonlinear controller is designed to stabilize the velocity error, where the input-to-state stability (ISS) property which guarantees the transient performance is achieved by the nonlinear damping terms. And the adaptive laws are added to achieve a small ultimate error. It is commented that the complicated looking adaptive robust nonlinear controller can be explained as hierarchical modifications of the conventional PI positioning controller with minor-loop. Therefore it is believed that the proposed controller may gain wide acceptance of the engineers. Finally, numerical and experimental examples are included to verify the theoretical results.
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Report
(3 results)
Research Products
(9 results)
