| Project/Area Number |
21560258
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Electro-Communications |
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Principal Investigator |
TANAKA Kazuo 電気通信大学, 大学院・情報理工学研究科, 教授 (00227125)
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| Co-Investigator(Kenkyū-buntansha) |
大竹 博 電気通信大学, 大学院・情報理工学研究科, 助教 (60377017)
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| Co-Investigator(Renkei-kenkyūsha) |
OHTAKE Hiroshi 九州工業大学, 大学院・情報工学研究院, 准教授 (60377017)
WANG Hua Boston大学, 工学部, 准教授
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| Project Period (FY) |
2009 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2011: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2010: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2009: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Keywords | 統一的非線形制御アプローチ / Sum of Squares(SOS) / 飛行ロボット / メカトロニクス / ロボット / 非線形制御 |
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| Research Abstract |
We develop a unified nonlinear control approach to aerial-vehicles/flying robots as an example of robots with multiple dynamic motions. We succeed in constructing an algorithm of transforming an original nonlinear system(motion of equations for aerial-vehicles/flying robots) to a polynomial system representation and developing a sum-of-squares based nonlinear controller design method for the transformed polynomial system. We demonstrate the utility of our approach through hovering and trajectory tracking control experiments of a flying robot.
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