Design integration for nonlinear control systems via invariant manifold theory and the development of computational platform
| Project/Area Number |
26289128
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (B)
|
| Allocation Type | Partial Multi-year Fund |
|---|
| Section | 一般 |
|---|
| Research Field |
Control engineering/System engineering
|
|---|
| Research Institution | Nanzan University (2015-2018)
Nagoya University (2014) |
|---|
Principal Investigator |
|
|---|
| Project Period (FY) |
2014-04-01 – 2019-03-31
|
| Project Status |
Completed (Fiscal Year 2018)
|
| Budget Amount *help |
¥11,440,000 (Direct Cost: ¥8,800,000、Indirect Cost: ¥2,640,000)
Fiscal Year 2017: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2016: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2015: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2014: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
|
|---|
| Keywords | 非線形制御 / 最適制御 / 計算プラットフォーム / 安定多様体法 / メカニカル系制御 / アクロボット / 不変多様体 / ハミルトン・ヤコビ方程式 / 非線形最適制御 / 状態観測器 / 安定多様体 / 非線形メカニカル系 / 中心多様体 / 三体問題 / 軌道設計 / 非線形オブザーバ |
|---|
| Outline of Final Research Achievements |
Throughout this research project, an approach has been taken such that concrete applications rather than abstract theories are investigated. Those examples include servo control design for lock-up clutch for automatic transmissions, optimal control for control moment gyros, stability augmentation for unmanned VTOL aircraft, gimbals control for a small-size rocket, swing up and stabilization for inverted pendulum, swing up and stabilization for flexible inverted pendulum, and swing up and stabilization for the Acrobot. Some of these experiments include the results that had never been reported. The success of these experimental results shows that the development of computational platform has been effectively achieved.
|
| Academic Significance and Societal Importance of the Research Achievements |
倒立振子振上げ実験，柔軟倒立振子振上げ実験，およびアクロボット振上げ実験は，これまで非線形制御では不可能だった制御性能が達成された．これは，本研究の学術的意義の高さを示していると言える．また，このような性能が可能となった背景には，計算プラットフォーム開発が十分に行われたことがある．このような計算プラットフォームを社会に還元することによって，基盤的工学の高度化が可能となるであろう．
|
Report
(6 results)
Research Products
(46 results)
