In this paper, we discuss about consensus control of dual-rate multi-agent systems, where the communication period is expressed as an integer multiple of the update period. In consensus control, each agent exchanges its state with neighbor agents and determines control input. In single-rate control, communication with adjacent agents and update of control input are simultaneous since all periods are unified. Therefore, if the control input can be updated more frequently than the communication period, as in a dual-rate system, the update period must be as long as the communication period in order to design a single-rate system. In mobile systems, communication consumes power, so its frequency should be reduced as much as possible, while frequent input updates can improve performance. Therefore, we study stability, consensus achievements, and graph structure in dual-rate multi-agent systems is studied in a dual-rate multi-agent system where the communication period is longer than the updated period. Finally, to demonstrate the significance of this study, numerical examples comparing dual-rate control and single-rate control are presented.

FRIT and VRFT are widely applied as representatives of Data-driven control, but the actual closed-loop response cannot be predicted. Recently, Data-driven prediction methods including V-Tiger that predict the actual closed-loop response have been proposed, but assume that there is no noise in one-shot experimental data. Because the actual experimental data contains noise, we do not know how much the predicted response will deviate from the true response. This is a serious problem from a practical standpoint. Therefore, to obtain a Confidence interval for the closed-loop response predicted by V-Tiger, we consider using High-order ARX identification, which does not require accurate information such as model order. The objectives of this paper are (1) to propose a metric for obtaining good Confidence interval, (2) to estimate the Confidence interval of the open-/closed-loop noisy response, and (3) to improve the prediction accuracy of the closed-loop response.

This paper deals with high-speed and high-precision transfer control of silicon wafers by a belt-driven robot. We propose a target trajectory design while we only can change the trajectory due to the industry’s strict development limitations. The proposed trajectory design has a piecewise linear type velocity profile. Gradients of each segment in the piecewise profile, that is acceleration, are designed with a consideration of two factors: The effects of belt elasticity and kinematics between the amount of belt elongation and the amount of tracking error. To reduce the amount of tracking error effectively, we also propose a design indicator which combines the two factors for designing the profile. An experiment with the belt-driven type wafer transfer robot UTM-R3700F, currently in use in industry, illustrates that the proposed trajectory design with the proposed indicator reduces tracking error compared to the conventional trajectory design.