2009 Fiscal Year Final Research Report
Nonlinear Control based on Controllability Structure-Towards behavior from equilibrium
| Project/Area Number |
19760285
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering
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| Research Institution | Kyoto University |
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Principal Investigator |
ISHIKAWA Masato Kyoto University, 情報学研究科, 講師 (20323826)
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| Project Period (FY) |
2007 – 2009
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| 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 |
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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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