| Budget Amount *help |
¥3,860,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2009: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2008: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2007: ¥1,000,000 (Direct Cost: ¥1,000,000)
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| Research Abstract |
In this work, we proposed a controller design approach for nonlinear systems which takes the system's controllability structure into account, based on mathematical analysis of the plant and the control objective. In particular, we presented a practical controller design for left-invariant systems on Lie groups and principal fiber bundles. We also developed experimental systems of snake-like robots and a hemispherical mobile robot, and examined the validity of the proposed approach.
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