This paper investigates controllability and observability of linear time-invariant uncertain systems. For a certain class of linear uncertain systems, it has been shown that a system is controllability and observability invariant if and only if the system has a particular structure called a complete generalized antisymmetric stepwise configuration (CGASC). In this paper, a new class of systems is introduced in order to investigate the dual property between controllability and observability.
This paper investigates the stabilization problem of delayed systems on Banch Lattice. This problem is formulated by the Abstract Cauchy Problem. The properties of non-negative semigroups are utilized to construct a stabilizing controller for delayed systems.
In this study, a collision avoidance method with model predictive control is proposed for a nonlinear model of a four-wheeled vehicle. The C/GMRES algorithm is used for solving the nonlinear model predictive control problem within a short sampling period. A nonlinear tire model is employed to represent the behavior of a realistic vehicle. The vehicle is controlled not only to avoid an obstacle but also not to deviate from the road. Control responses are investigated through numerical simulations.
Recently, many types of flexible manipulators have been investigated to realize light weight bodies and high speed operations. It is well known that the control problems of flexible manipulators are difficult to solve because of low rigidity and mechanical flexibility of their bodies. In this paper, modeling of a parallel-structured two-link flexible manipulator rotating in the horizontal plane is considered. The features of the proposed manipulator are that the flexible arm holds the mechanical flexibility in the horizontal plane and the sufficient rigidity along the vertical direction. This paper presents the dynamics of the manipulator derived via the Hamilton's principle for the simplified structure model of the parallel-structured two-link flexible one.
連続時間システムに対して，サンプラとホールダを用いて得られるサンプル値システムを考える．定係数線形システムについては，厳密なサンプル値モデルが得られる．しかし，非線形システムについては，定係数線形システムのような厳密なサンプル値モデルを得ることはできない．そこで，精度の高い近似モデルが望まれる．近似モデルとして最もよく知られているのはEulerモデルであるが，このEulerモデルは近似精度が低いため期待する制御性能を得ることが難しい．最近，Yuz and Goodwinは，モデルの出力と真のシステムの出力との誤差の大きさに関して，Eulerモデルより近似精度が高いモデルを提案している．Yuz and Goodwinのモデルでは，サンプリングによって新たなゼロダイナミクスが生じ，それが不安定となる場合がある．そこで，Yuz and Goodwinのモデリング手法を参考に，非線形系に対して分数次ホールドを用いた離散時間モデルを導出するとともに，そのモデルのサンプリングゼロダイナミクスを求めて，安定性がYuz and Goodwinのモデルより改善されることを示す．
This paper aims to propose a new model to dynamicallyestimate speeds and relative distances of platoonedvehicles. State equations that describe time-dependentrelationship of vehicles’ speed and relative distance in theplatoon are modeled based on general conservation equations,whereas measurement equation consists of a conventionalcar-following model, computing acceleration rate fromrelative speed and spacing. A numerical analysis attemptedto estimate the speed and spacing of each vehicle in theplatoon indirectly from observation data such asacceleration rate of some of the platooned vehicles.Estimation precision and the model applicability werefinally discussed based on the results of numerical analysis.