2013 Fiscal Year Final Research Report
Stability Analysis of Dynamical Systems on Topological Spaces
| Project/Area Number |
23760391
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering
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| Research Institution | Tokyo University of Science |
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Principal Investigator |
NAKAMURA Nami 東京理科大学, 理工学部, 研究員 (30452527)
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| Co-Investigator(Renkei-kenkyūsha) |
YAMASHITA Yuh 北海道大学, 情報科学研究科, 教授 (90210426)
NAKAMURA Hisakazu 東京理科大学, 理工学部, 講師 (70362837)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 位相空間 / 非線形システム / 安定性解析 |
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| Research Abstract |
We have defined Lagrange stability and input-to-state stability for nonlinear systems on manifolds. Furthermore, we have presented necessary and sufficient conditions for stability by using continuous positive definite proper functions. We have designed an ISS-control Lyapunov function and an input-to-state stabilizing controller for an obstacle avoidance problem of a mobile robot. Then, we have confirmed the effectiveness of the proposed controller by computer simulation. We have proposed a sample input-to-state stabilizing controller for general nonlinear systems on manifolds.
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Research Products
(11 results)
