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Volume 42, Issue 5
Displaying 1-15 of 15 articles from this issue
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Tatsuya FUNAKI, Kenji KAWASHIMA, Toshiharu KAGAWA2006 Volume 42 Issue 5 Pages 461-466
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we proposed and developed an unsteady flow controller for gases which could generate the unsteady flow continuously. This controller consists of an isothermal chamber and two spool type servo valves. The principle of the controller was shown. Then, the specification and the control method were explained. We confirmed that the flow controller could generate continuously the unsteady flow over 30 minutes. Moreover, the controller could control the oscillatory flow up to 30[Hz] within uncertainty of 5[%]. Therefore, this flow controller is effective for the dynamic characteristics measurement of gaseous flow meters.View full abstractDownload PDF (3491K) -
Naoki HASEGAWA, Tokuji OKADA, Toshimi SHIMIZU2006 Volume 42 Issue 5 Pages 467-474
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA method of measuring not only distance but also surface-normal of an object at several meters away with a single light source has been proposed so far. The method uses a pair of wedge-prisms for the purpose of collecting three or more distance data within a small surface of the object. To make the light shift a little bit from the original laser beam axis, a driving mechanism to rotate the pair of wedge-prisms is attached. Since experimental resultss showed that measuring errors of surface-normal are greater at a longer distance, it is important to analyze errors caused by misalignment of the mechanism. This paper supposes that several factors are found in machining and assembly processes related to the wedge-prisms in position and angle, under such condition that optical connection error between range sensor and cylindrical tube housing the prisms can be made small. Then we clarify that two optical prisms are required to be assembled exact in geometrical configuration for a long distance surface-normal measurement. Specifically, we show that the distortion of the fixation of two prisms from parallel alignment and the gap between two prisms have big influences to make measurement accuracy high.View full abstractDownload PDF (2584K) -
Ichiro JIKUYA, Ichijo HODAKA2006 Volume 42 Issue 5 Pages 475-482
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe authors introduced in the previous paper a stabilizing feedback control law for a class of linear periodic systems, called feedback control by raising frequency, which exploits the conventional averaging method for stability analysis. In the present paper, the averaging method is rearranged with some new insight in the first place. It includes quantitative evaluation in approximation of solutions even for unstable linear periodic systems. This leads to the proof that feedback control by raising frequency assigns asymptotically characteristic multipliers arbitrarily prescribed, with a quantitative bound of approximation.View full abstractDownload PDF (1612K) -
Hiroaki MUKAIDANI, Hidetoshi OYA, Hua XU2006 Volume 42 Issue 5 Pages 483-492
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, the guaranteed cost static output feedback control problem for singularly perturbed systems (SPS) with uncertainties is investigated. In order to solve this problem, we must solve a set of cross-coupled algebraic Lyapunov equations and algebraic Riccati equations (CALRE). In this paper, a new computation algorithm that is based on Newton's method for solving the CALRE is provided. The local quadratic convergence of the algorithm is proved. A numerical example is solved to show a reduction of the average CPU time compared with the existing result. Moreover, the existing static output feedback control problem for nominal SPS is also considered.View full abstractDownload PDF (1937K) -
Chiaki KOJIMA, Kiyotsugu TAKABA2006 Volume 42 Issue 5 Pages 493-502
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we consider the generalized Lyapunov stability analysis for a discrete-time system described by a high order difference-algebraic equation. In the behavioral approach, a Lyapunov function is characterized in terms of a quadratic difference form. As a main result, we derive a generalized Lyapunov stability theorem that the asymptotic stability of a behavior is equivalent to the solvability of the two-variable polynomial Lyapunov equation (TVPLE) whose solution induces the Lyapunov function. Moreover, we derive another asymptotic stability condition by using a polynomial matrix solution of the one-variable dipolynomial Lyapunov equation which is reduced from the TVPLE.View full abstractDownload PDF (2270K) -
Rui WANG, Keiji WATANABE, Eiichi MURAMATSU, Yuichi ARIGA, Sigeru ENDO2006 Volume 42 Issue 5 Pages 503-509
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a new design method of dynamical feedback for stable decoupling of Invertible systems with unstable zeros. The necessary and sufficient condition for stable decoupling is presented. The design of dynamical feedback consists of two parts. One of them is to present the dynamical feedback which yields a decoupling system with arbitrary poles. The other one is to stabilize the system by using two Riccati equations.View full abstractDownload PDF (1694K) -
Robust Analysis Including State Feedback Control for Decoupling d- and q-axis SubsystemsHiroshi TAKAMI, Tarou TSUJINO2006 Volume 42 Issue 5 Pages 510-519
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA permanent magnet synchronous motor (PMSM) is a non-linear system in which the d- and q-axis systems interact with one another. Generally a state feedback control law which allows the systems to be simultaneouly decoupled and liniearised has been adopted. This paper describes a quantitative evaluation for robust stability and robust performance of an ILQ optimal current-control system including the state feedback control law for PMSMs via μ-analysis method. The μ-analysis is carried out by introducing a unique cost-function for robust performance and formulating a general servo-system which enables us to treat both ILQ and PI servo-systems evenly. By comparing with conventional PI control, it is quantitatively confirmed that the ILQ control is excellent in both robust stability and robust performance for variations of the motor parameters. The results give an extension for the robust analysis in the linearised system of the PMSM, which we had already reported.View full abstractDownload PDF (2012K) -
Masato ISHIKAWA2006 Volume 42 Issue 5 Pages 520-528
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with a novel kind of wheeled mobile robot, called the trident snake robot. From a viewpoint of nonlinear control theory, this robot is classified as a nonholonomic system with two generators and higher order Lie brackets, whose controllability structure is extremely complicated in comparison to conventional nonholonomic systems. Based on differential geometric analysis of the controllability Lie algebra, we clarify its locomotion principle through constructing periodic motion control for pure rotation and translation. The proposed approach is examined with numerical simulations.View full abstractDownload PDF (1784K) -
Atsushi NAKAJIMA, Koji TSUMURA2006 Volume 42 Issue 5 Pages 529-537
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we deal with congestion control of one bottleneck type for TCP/AQM network systems. We represent the dynamics of the congestion window size at source nodes and the queue length at the bottleneck link by discrete time systems in order to derive the parametrization of stabilizing controllers for the perturbation systems from equilibrium states. We prove the stability of the plant and give the Youla parametrization of the stabilizing controllers. With this result, a control performance problem of the queue length at the bottleneck link is considered and H2 optimization problem under a condition of the throughput at the bottleneck link is solved. We show that there exists a nonzero optimal queue length for this problem.View full abstractDownload PDF (1807K) -
Mitsuyuki SAITO, Kazuo YAMANAKA, Naoya KAWASAKI2006 Volume 42 Issue 5 Pages 538-542
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe consider a particular type of LQ control problem, in which the control power is excluded from the cost function and state-observation noise is assumed. Our goal is a state feedback law that minimizes the state covariance matrix. A necessary and sufficient condition is found for a static feedback law to be optimal among all the dynamic state feedback laws. The condition is stated in terms of an algebraic Riccati equation, which is different from that appearing in the usual LQ control.View full abstractDownload PDF (989K) -
Fumitoshi SAKAI, Toshiharu SUGIE2006 Volume 42 Issue 5 Pages 543-550
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe paper is concerned with identification of continuous-time systems based on iterative learning control (ILC) in the presence of measurement noise. First, we propose a new ILC method which achieves tracking for uncertain plants by iteration of trials. The distinguished feature of this method is that (i) we do not need any time derivative of I/O signals and (ii) it takes account of noise reduction explicitly by using I/O data of all past trials. Second, it is shown how to estimate parameters of a class of linear continuous-time systems based on the proposed ILC method in noisy circumstances. Its effectiveness is demonstrated through numerical examples.View full abstractDownload PDF (1571K) -
Ichijo HODAKA, Ichiro JIKUYA2006 Volume 42 Issue 5 Pages 551-558
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper addresses an assignment problem of characteristic multipliers for continuous-time linear periodic systems by linear periodic state feedback. The authors have proposed a, feedback control law by a method of raising frequency which enables to approximate the solution to a closed-loop system to the solution to a prescribed linear time-invariant system. This suggests that the feedback control by raising frequency may also approximately assign characteristic multipliers to a prescribed set of complex numbers. This paper shows that the suggestion is indeed the case in the sense of precise assignment, by modifying the feedback control by raising frequency.View full abstractDownload PDF (1619K) -
Yoshihiro IZUMI, Kotaro HIRASAWA, Jinglu HU2006 Volume 42 Issue 5 Pages 559-566
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new evolutionary method named “Genetic Network Programming, GNP” has been proposed. GNP represents its solutions as directed graph structures which have some useful features inherently. For example, GNP has the implicit memory function which memorizes the past action sequences of agents, and GNP can re-use nodes repeatedly in the network flow, so very compact graph structures can be made. In this paper, the stock price prediction and buying/selling model which searches for the optimal combination of various indices in the technical analysis has been proposed using GNP with IMX and its effectiveness is comfirmed by simulations.View full abstractDownload PDF (2014K) -
An Estimation of Walk-Mate in Post-operation Rehabilitation of Hip-joint DiseaseTetsuhei KOBAYASHI, Yoshihiro MIYAKE, Yoshiaki WADA, Masaaki MATSUBARA2006 Volume 42 Issue 5 Pages 567-576
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this study, we propose a system for measuring gait trajectory using a three-dimensional acceleration sensor attached to the waist of a subject. This measurement has been enabled, in particular by the development of a new calculation method in which accumulation of offset errors during the calculation of trajectory can be reduced. In addition, we have created indices for evaluating walking motion by numerically expressing characteristics obtainable from the trajectory and comparing them with clinical walking analysis. These indices have been proved effective to understand gait disturbance when applied to comparison between normal persons and hip joint disease patients. It also has beenn clear that changes over time in walking motion during post-operation rehabilitation with Walk-Mate system can be measured to evaluate remedial effects and the transition of recovery amount. We have in this way shown the system's measurability and the effectiveness of kinematic analysis of the gait trajectory.View full abstractDownload PDF (4417K) -
Minoru ITO, Masahiro TANAKA2006 Volume 42 Issue 5 Pages 577-579
Published: May 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSParticle Swarm Optimization (PSO) is one of new optimization methods. PSO is a powerful method to find the minimum of a numerical function on a continuous definition domain. However, it has been pointed out that the performance of PSO on large-scale problems is not always satisfactory. In this paper, we study a new computational model to improve the performance on large-scale optimization problems.View full abstractDownload PDF (521K)
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