Analysis and Control of Underactuated Systems based on RelativeDegree Structure
Project/Area Number |
22360169
|
Research Category |
Grant-in-Aid for Scientific Research (B)
|
Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Control engineering
|
Research Institution | Tokyo Institute of Technology |
Principal Investigator |
SAMPEI Mitsuji 東京工業大学, 大学院・理工学研究科, 教授 (00196338)
|
Co-Investigator(Kenkyū-buntansha) |
SEKIGUCHI Kazuma 東京工業大学, 理工学研究科, 助教 (80593558)
|
Project Period (FY) |
2010 – 2012
|
Project Status |
Completed (Fiscal Year 2012)
|
Budget Amount *help |
¥13,910,000 (Direct Cost: ¥10,700,000、Indirect Cost: ¥3,210,000)
Fiscal Year 2012: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2011: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2010: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
|
Keywords | 制御理論 / 機械力学・制御 / 制御工学 / 数理工学 / 劣駆動システム / 非線形システム解析 / 非線形システム制御 / 制御実験 / 相対次数構造 / 劣駆動 / 可制御構造 / 国際情報交換 / スウェーデン |
Research Abstract |
In this project, we have investigated characteristic motions of underactuated mechanical systems on the basis of the theory introduced in our previous work, and discussed a controller design to realize the characteristic motions. We have categorized the control problems of underactuated systems into three problems: (1) generating quick motion caused by divergent, (2) generating limit cycles, and (3) effective control of an underactuated system that has singularity of controllability at the origin. We have showed that the motions of (1) and (2) have been achieved by the controller designed based on the analysis using our previous work. In terms of (3), we have presented the conditions for designing a well-defined controller even at the singular point.
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Report
(4 results)
Research Products
(61 results)