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Development of modeling technique for dynamic variable structure system and application to flight control of biology-inspired flapping robot

Research Project

Project/Area Number 19760151
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Dynamics/Control
Research InstitutionThe University of Electro-Communications

Principal Investigator

OHTAKE Hiroshi  The University of Electro-Communications, 電気通信学部, 助教 (60377017)

Project Period (FY) 2007 – 2009
Project Status Completed (Fiscal Year 2009)
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)
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
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.

Report

(4 results)
  • 2009 Annual Research Report   Final Research Report ( PDF )
  • 2008 Annual Research Report
  • 2007 Annual Research Report
  • Research Products

    (15 results)

All 2010 2009 2008

All Journal Article (10 results) (of which Peer Reviewed: 10 results) Presentation (5 results)

  • [Journal Article] Fuzzy Model-based Servo Control with Constraints on both of Inputs and States2010

    • Author(s)
      Hirsohi Ohtake, K.Tanaka, H.O.Wang
    • Journal Title

      Proceedings of the 24th IEEE International Symposium on Intelligent Control (採択確定)

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Fuzzy Model-Based Servo and Model Following Control for Nonlinear Systems2009

    • Author(s)
      Hiroshi Ohtake, K. Tanaka, H.O. Wang
    • Journal Title

      IEEE Transactions on Systems, Man, and Cybernetics Part B Vol.39,No.6

      Pages: 1634-1639

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Switching Fuzzy Model Construction based on Optimal Dividing Planes2009

    • Author(s)
      Hiroshi Ohtake, K. Tanaka. H.O. Wang
    • Journal Title

      Proceedings of the IEEE International Conference on Fuzzy Systems 2009

      Pages: 808-813

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Fuzzy Model-Based Servo and Model Following Control for Nonlinear Systems2009

    • Author(s)
      Hiroshi Ohtake, K.Tanaka, H.O.Wang
    • Journal Title

      IEEE Transactions on Systems, Man, and Cybernetics Part B 39

      Pages: 1634-1639

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Switching Fuzzy Model Construction based on Optimal Dividing Planes2009

    • Author(s)
      Hiroshi Ohtake, K. Tanaka. H. Wang
    • Journal Title

      Proceedings of the IEEE International Conferenceon Fuzzy Systems 2009 (accepted)(未定)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Improved Controller Design for Switching Fuzzy Model-based Control2009

    • Author(s)
      Hiroshi Ohtake, K. Tanaka. H. Wang
    • Journal Title

      Proceedings of the 2009 American Control Conference (accepted)(未定)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Fuzzy Model-based Servo Control for Nonlinear Systems with Input Constraint2009

    • Author(s)
      Hiroshi Ohtake, K. Tanaka. H. Wang
    • Journal Title

      Proceedings of the 24th IEEE International Symposium on Intelligent Control (accepted)(未定)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Switching Fuzzy Model based Model Following Control for Discrete-time Systems2008

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      Proceedings of the IEEE International Conferenceon Fuzzy Systems 2008 accepted

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Fuzzy Model-based Servo Control for Discrete-time Nonlinear Systems2008

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      Proceedings of the 2008 American Control Conference accepted

    • NAID

      130004730180

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article]2008

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      Proceedings of the 17th IFAC World Congress accepted

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Presentation] Switching Fuzzy Model Construction based on Optimal Dividing Planes2009

    • Author(s)
      Hirsohi Ohtake
    • Organizer
      IEEE International Conference on Fuzzy Systems 2009
    • Place of Presentation
      International Convention Center Jeju(Jeju Island, Korea)
    • Year and Date
      2009-08-23
    • Related Report
      2009 Annual Research Report
  • [Presentation] Improved Controller Design for Switching Fuzzy Model-based Control2009

    • Author(s)
      Hirsohi Ohtake
    • Organizer
      2009 American Control Conference
    • Place of Presentation
      Hyatt Regency St.Louis Riverfront(St.Louis, USA)
    • Year and Date
      2009-06-19
    • Related Report
      2009 Annual Research Report
  • [Presentation] (1)大竹博, 田中一男, ファジィモデルに基づく非線形モデル追従制御系設計2008

    • Author(s)
      大竹博, 田中一男
    • Organizer
      ファジィシステムシンポジウム2008
    • Place of Presentation
      阪南大学(大阪府)
    • Year and Date
      2008-09-05
    • Related Report
      2009 Final Research Report
  • [Presentation] GPSによる羽ばたき飛行ロボットの自律飛行に関する研究2008

    • Author(s)
      上野弘傑, 大竹博, 田中一男
    • Organizer
      ロボティクス・メカトロニクス講演会2008
    • Place of Presentation
      ビッグハット(長野県)
    • Year and Date
      2008-06-06
    • Related Report
      2009 Final Research Report
  • [Presentation] 鳥の羽ばたき運動を規範とした可変構造翼機構の開発2008

    • Author(s)
      横山拓, 田中一男, 大竹博
    • Organizer
      ロボティクス・メカトロニクス講演会2008
    • Place of Presentation
      ビッグハット(長野県)
    • Year and Date
      2008-06-06
    • Related Report
      2009 Final Research Report 2008 Annual Research Report

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Published: 2007-04-01   Modified: 2016-04-21  

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