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Volume 15, Issue 5
Displaying 1-7 of 7 articles from this issue
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Supachai VORAPOJPISUT, Shinji HARA2002 Volume 15 Issue 5 Pages 223-231
Published: May 15, 2002
Released on J-STAGE: October 13, 2011
JOURNAL FREE ACCESSA general framework for hybrid dynamical systems is proposed for the modeling of certain classes of dynamical systems consisting of mixed continuous-time/logical dynamics and autonomous discontinuities. Separating different dynamics into two subsystems connected through interfaces, our proposed hybrid model offers generality and also high level of compatibility with existing approaches. The main theoretical result in the paper concerns the well-posedness property (existence and uniqueness of solutions) of the system. We derive a sufficient condition of the well-posedness property which proves that nondeterminism and livelock phenomenon do not exist in the system dynamics.View full abstractDownload PDF (1600K) -
Stability Condition via Eigenvalues and Dwell TimesDaisuke FUJISAWA, Eiichi MURAMATSU2002 Volume 15 Issue 5 Pages 232-237
Published: May 15, 2002
Released on J-STAGE: October 13, 2011
JOURNAL FREE ACCESSWe consider stability of a switched system which consists of multiple linear time-invariant subsystems. It is assumed that the state coefficient matrices of the subsystems belong to a certain class and the subsystems are switched according to their dwell times. We present a necessary and sufficient condition for stability of the switched system in terms of eigenvalues of the coefficient matrices and the dwell times of the subsystems.View full abstractDownload PDF (864K) -
Well-posednes Analysis and its Application to SwitchedControl of a Nonholonomic SystemYasushi IWATANI, Masato ISHIKAWA, Shinji HARA2002 Volume 15 Issue 5 Pages 238-245
Published: May 15, 2002
Released on J-STAGE: October 13, 2011
JOURNAL FREE ACCESSThis paper is concerned with well-posedness (existence and uniqueness of solutions) problem of hybrid feedback systems and its application. We first consider feedback interconnections of complementarity systems and derive a sufficient condition for the closed loop systems to be well-posed. We then apply the result to design of a switching controller which belongs to complementarity systems for a driftless nonholonomic system, where the well-posedness of the feedback system is guaranteed and the norm of steady-state error is less than each given value.View full abstractDownload PDF (1221K) -
Keigo KOBAYASHI, Yugo SHIBATA, Toshimitsu USHIO2002 Volume 15 Issue 5 Pages 246-252
Published: May 15, 2002
Released on J-STAGE: October 13, 2011
JOURNAL FREE ACCESSIn this paper, we propose a control method for nonholonomic chained systems. We transform the systems into time-invariant linear systems using a hybrid time-state control form and solve an optimal control problem to get an optimal trajectory with a switching point. The optimal input is derived as a feedback controller for the system. We apply the proposed method to a 4-wheeled vehicle and give numerical simulation results to show its effectiveness.View full abstractDownload PDF (917K) -
Eiji KONAKA, Tatsuya SUZUKI, Shigeru OKUMA2002 Volume 15 Issue 5 Pages 253-261
Published: May 15, 2002
Released on J-STAGE: October 13, 2011
JOURNAL FREE ACCESSHybrid Dynamical Systems (HDS), which contain both discrete symbol and continuous signal, are attracting great attention in the field of system control. In this paper, a new symbol based control strategy for a line following control of a two wheeled vehicle is proposed. The vehicle is supposed to have a low-resolution sensor and actuator. The control requirement, however, is specified so as to keep the vehicle as close as possible to the center of the line. The controllability and observability issues are investigated, and a concrete control policy based on the continuous state estimation is proposed. Some experimental results are shown to demonstrate the usefulness of our idea.View full abstractDownload PDF (1334K) -
Izumi MASUBUCHI2002 Volume 15 Issue 5 Pages 262-269
Published: May 15, 2002
Released on J-STAGE: October 13, 2011
JOURNAL FREE ACCESSThis paper is concerned with stability analysis of switched systems and its application for synthesis problems. For a class of switched systems, we propose a discontinuous Lyapunov-like function to derive a condition that guarantees exponential stability of switched systems. This condition is stated with LMIs for switched systems that have linear continuous dynamics and an output feedback switch-scheduled control design method is presented in terms of LMIs. These results are applied to control design of a class of nonholonomic systems in the time-state control form.View full abstractDownload PDF (1056K) -
Yutaka SAITOU, Masato ISHIKAWA, Shinji HARA, Takashi SEKI2002 Volume 15 Issue 5 Pages 270-277
Published: May 15, 2002
Released on J-STAGE: October 13, 2011
JOURNAL FREE ACCESSIn this paper, we propose an optimal high jump control strategy for a jumping robot system, based on complementarity modeling approach. The jumping robot system is composed of a simple jumper part, an environment (trampoline) part and some hooks to limit the robot length. It is essentially a hybrid system, due to variable mechanical constraints, such as collision with trampoline, and length limitations. At first, we provide an efficient model of the system as a complementarity-slackness, which enables us to handle discontinuous phenomena of hybrid systems, i.e., discontinuous change of dynamics and leap of solution, in a unified and mathematically sound framework. Then we formulate the high jump problem as a maximizing problem of the peak height of the robot's center of gravity in a given time interval. The optimal control is derived numerically by performing a dynamic programming algorithm, and its validity is verified with computer simulations. The advantage of this modeling approach is that we need not to deal with the awkward variable constraints when we formulate control problem, since they are all considered in the model itself.View full abstractDownload PDF (1364K)
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