Nonlinear Control based on Controllability Structure-Towards behavior from equilibrium
Project/Area Number |
19760285
|
Research Category |
Grant-in-Aid for Young Scientists (B)
|
Allocation Type | Single-year Grants |
Research Field |
Control engineering
|
Research Institution | Kyoto University |
Principal Investigator |
ISHIKAWA Masato Kyoto University, 情報学研究科, 講師 (20323826)
|
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: ¥1,560,000 (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)
|
Keywords | 非線形制御 / 非ホロノミック系 / 可制御性 / 周期運動 / 移動ロボット / 非線に制御 |
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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Report
(4 results)
Research Products
(25 results)