2010 Fiscal Year Final Research Report
Study on dynamics based control and swarm intelligence for redundant mechanical systems with switching functions
| Project/Area Number |
20360107
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | The University of Electro-Communications |
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Principal Investigator |
MATSUNO Fumitoshi The University of Electro-Communications, 大学院・工学研究科, 教授 (00190489)
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| Project Period (FY) |
2008 – 2010
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| Keywords | 可変拘束 / 可変構造 / 冗長機械系 / 制御 / 群知能 |
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| Research Abstract |
In this study we consider dynamics based control for redundant mechanical systems with switching functions and expand the concept to swarm behavior. We construct motion controller considering dynamics and behavior algorithm for swarm intelligence. To demonstrate effectiveness of proposed methods simulations and experiments are carried out.
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