Control of Variable Structure Mechanical Systems and Its Application to a Biological Inspired Robot

变结构机械系统控制及其在仿生机器人中的应用

• 批准号: 15560217
• 负责人: TANAKA Kazuo
• 金额: $ 2.37万
• 依托单位: The University of Electro-Communications
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2003
• 资助国家: 日本
• 起止时间: 2003 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15560217/
• 关键词: Variable Structure Mechanical Systems; Sector Nonlinearity; Biological Inspired Robot; Linear Matrix Inequality; Stabilization of Lift Force; Nonlinear Model; Nonlinear System; 飛行実験; 生物型ロボット; 視覚情報; Sector nonlinearity; 非線形システム; リアプノフ関数

(1)Development of Variable Structure Mechanical SystemsA class of variable structure mechanical systems is defined by using the concept of sector nonlinearity. A key feature of the systems is to switch different nonlinear dynamics using fuzzy logic.(2)Control of Variable Structure Mechanical SystemsWe consider two kinds of the variable structure mechanical systems. Several design conditions for stabilizing them are derived in terms of linear matrix inequalities.(3)Development of a Flapping RobotA flapping robot with membrane wing is developed. We also construct a calculation model of aerodynamic forces for flapping movements for the robot. The optimal aspect ratio for the flapping robot is designed through the calculation model that considers not only aerodynamic forces but also the load of a motor and the mechanical structure. The simulation results show that the flapping efficiency for membrane wing is better than that for rigid wing. The experimental results agree well with the simulation results based on the proposed calculation model of aerodynamic forces.(4)Improvement of Variable Structure Mechanical Systems ControlWe improve the variable structure mechanical systems control developed in (2). In the improvement, switching conditions and conservation laws play an important role of designing a (stabilizing) switching controller for the variable structure mechanical systems. Simulation results show the utility of this control approach.(5)Stabilization of Lift Force of Flapping RobotA dynamic model for the lift force of the flapping robot is identified using subspace method. A reference model that realizes an efficient flying is generated. We design a stabilizing controller to control the lift force of the flapping robot. Experimental results demonstrate the utility of our approach.

(1)变结构机械系统的发展利用扇形非线性的概念定义了一类变结构机械系统。该系统的一个重要特点是利用模糊逻辑来切换不同的非线性动力学。(2)变结构机械系统的控制我们考虑两种变结构机械系统。利用线性矩阵不等式导出了稳定它们的几个设计条件。(3)扑动机器人的研制研制了一种膜翼扑动机器人。建立了机器人扑翼运动的气动力计算模型。通过既考虑气动力又考虑电机载荷和机械结构的计算模型，设计了扑翼机器人的最佳展弦比。仿真结果表明，膜翼的扑动效率优于刚性翼。基于所建立的气动力计算模型，实验结果与仿真结果吻合较好。(4)变结构机械系统控制的改进改进了(2)中提出的变结构机械系统控制。在改进过程中，切换条件和守恒律对变结构机械系统切换控制器的设计起着重要的作用。仿真结果表明了该控制方法的有效性。(5)扑翼机器人升力的稳定利用子空间方法对扑翼机器人升力的动力学模型进行了辨识。生成了实现高效飞行的参考模型。设计了稳定控制器来控制扑翼机器人的升力。实验结果证明了该方法的有效性。

项目成果

Stable Control for Polar Coordinage Fuzzy Systems

极坐标模糊系统的稳定控制

• 发表时间: 2003
• 期刊: 2003 IEEE International Conference on Systems, Man & Cybernetics
• 作者: Hiroshi Ohtake;川畑 章司;Hiroshi Ohtake;Hiroshi Ohtake;Hiroshi Ohtake;Kazuo Tanaka;Hiroshi Ohtake
• 通讯作者: Hiroshi Ohtake

長谷 拓也: "可変迎角機構をもつ飛行ロボットの提案"第21回ロボット学会学術講演会. (in CD). 3B-22 (2003)

Takuy​​a Hase：“具有可变攻击角度机构的飞行机器人的提案”，日本机器人学会第 21 届年会（CD）。

Fuzzy Model-based Control for Dynamic Variable Structure Systems

基于模糊模型的动态变结构系统控制

• 发表时间: 2005
• 期刊: Proceedings of the 2005 American Control Conference
• 作者: H.Ohtake;K.Tanaka;H.Wang;Takayuki Shiose;Hiroshi Ohtake
• 通讯作者: Hiroshi Ohtake

Piecewise nonlinear control

• DOI: 10.1109/cdc.2003.1272326
• 发表时间: 2003-12
• 期刊: 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)
• 作者: H. Ohtake;Kazuo Tanaka;Hong Wang

サイクロジャイロ型飛行ロボットの飛行性能実験

旋翼式飞行机器人飞行性能实验

• 发表时间: 2004
• 期刊: 第22回ロボット学会学術講演会 (CD)
• 作者: Hidetsugu Suto;Yukari Sato;Akihito Kagaya;鈴木 良平;鈴木 良平
• 通讯作者: 鈴木 良平