Development of modeling technique for dynamic variable structure system and application to flight control of biology-inspired flapping robot
| Project/Area Number |
19760151
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Dynamics/Control
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| Research Institution | The University of Electro-Communications |
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Principal Investigator |
OHTAKE Hiroshi The University of Electro-Communications, 電気通信学部, 助教 (60377017)
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| Project Period (FY) |
2007 – 2009
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| Project Status |
Completed (Fiscal Year 2009)
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| Budget Amount *help |
¥3,860,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2008: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2007: ¥1,000,000 (Direct Cost: ¥1,000,000)
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| Keywords | 動的可変構造システム / sector nonlinearity / 羽ばたき飛行ロボット / 非線形追従制御 |
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| Research Abstract |
In this research, modeling technique for dynamic variable structure system such as the flapping motion of a bird was developed. The mathematical model of the flapping motion was identified by using the technique and the controller was designed based on the identified model. Finally, the proto-type flapping robot was developed and the flight experiment was performed. The validity of the identified model and designed controller were demonstrated.
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Report
(4 results)
Research Products
(15 results)
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[Journal Article]2008
Author(s)
Hiroshi Ohtake
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Journal Title
Proceedings of the 17th IFAC World Congress accepted
Related Report
Peer Reviewed
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