| Project/Area Number |
16K06412
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Shizuoka University |
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Principal Investigator |
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| Project Period (FY) |
2016-04-01 – 2019-03-31
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| Project Status |
Completed (Fiscal Year 2018)
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| Budget Amount *help |
¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Fiscal Year 2018: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2017: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2016: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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| Keywords | オブザーバ / 加速度センサー / 非線形サンプル値制御 / 状態変換 / 機械力学・制御 / 状態推定 |
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| Outline of Final Research Achievements |
In this research project, we have tried to design observers that estimate position and velocity for sampled-data strict-feedback systems with acceleration measurement. Unfortunately, we have not found good ways to use the sampled acceleration measurement for the purpose of the observer design. We still try to design observers by applying the high-gain observer design method.
We also consider the design of reduced-order observers for sampled-data strict-feedback systems with position measurement, constant disturbances, and stable actuator dynamics. Furthermore, we have designed robust observers, high gain observers, and performance recovery of high-gain observer-based output feedback controllers for sampled-data strict-feedback systems with position measurement and model uncertainties.
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| Academic Significance and Societal Importance of the Research Achievements |
オブザーバ設計が可能となる非線形サンプル値系のクラスを拡大できると共に、小型の加速度センサーによる移動体の横方向の速度推定が可能になり、安価な移動体の高性能制御系設計が可能になる。また、GPSやレーダーセンサーなどの従来センサーとの融合から、より安全かつ高性能な移動体の自動操縦システムを実現できる。
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