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Volume 43, Issue 6
Displaying 1-12 of 12 articles from this issue
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Kei KAMIYA, Kenko UCHIDA2007 Volume 43 Issue 6 Pages 439-446
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSIn this paper we focus on control of affine systems with discrete inputs, which is a class of hybrid systems. An example of those systems is a DC- DC converter controlled by transistor switches. We propose a design method of switching conditions, which transfers state of systems to a neighborhood of a specified state and keeps it there, using sliding mode with hysteresis layer. Finally effectiveness of this method is shown by simulation and experimental result.View full abstractDownload PDF (14082K) -
Gou NAKURA2007 Volume 43 Issue 6 Pages 447-456
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSIn this paper we study H∞tracking problems with preview by output feedback for linear jump systems on the finite time interval. We mainly consider the problem that the reference signals are previewed in a fixed time interval and present feedback control laws for three types of H∞tracking problems including two other extreme cases. Numerical examples demonstrate that increasing the preview length improves the tracking error. Our theory is an extension of the H∞tracking theory with preview for linear continuous-and discrete-time systems to linear jump systems. Our theory can be applied into the sampled-control system with the control input realized through a zero-order hold and the sampled-observation.View full abstractDownload PDF (4472K) -
Application to PLC-based ControlSystemsEiji KONAKA2007 Volume 43 Issue 6 Pages 457-464
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSProgrammable Logic Controllers (PLCs) have been widely used in industry. This class of systems is characterized by its use of low-resolution (typically ON/OFF) sensors and actuators. In PLC-based control systems, the design of sensor parameters is crucial since the sensor parameters as well as the outputs of the plant determine the sensors ON/OFF states, with the parameters finally affecting overall control performance.
In this paper, first, a method for transforming PLC-based control systems into hybrid automata is presented. Here, the sensor parameter design problem can be formulated as the optimal design of guard conditions in hybrid automata. Secondly, the optimal method for designing of guard conditions is proposed. This method is basically based on a graph search method, and can be applied to nonlinear plants. Finally, the usefulness of the proposed method is demonstrated through a numerical example.View full abstractDownload PDF (8206K) -
Takayuki WADA, Yasumasa FUJISAKI2007 Volume 43 Issue 6 Pages 465-471
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSSynthesis of stabilizing state-dependent switching rules is considered for multi-modal systems. The synthesis is recast as a problem which is to find a multiple-Lyapunov function, through the problem is not convex in general. In order to cope with this difficulty, a randomized algorithm is proposed, which is based on the stochastic ellipsoid method and a branching. The algorithm always stops in a finite number of iterations. Then, it gives a probabilistic solution with a prescribed confidence or says that the solution set is too small to be found in a deterministic sense. Although computational complexity of the algorithm is an exponential function of the problem size due to branching, numerical examples show that the algorithm solves several problems with moderate size.View full abstractDownload PDF (4021K) -
Masayuki SATO, Dimitri PEAUCELLE2007 Volume 43 Issue 6 Pages 472-481
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSThis paper addresses robust stability,H2 performance, and H∞ performance analysis for Linear Time-Invariant Parameter-Dependent (LTIPD) systems using Parameter-Dependent Lyapunov Functions (PDLFs). The statespace matrices of the LTIPD systems are set to be parameter-dependent in negative as well as positive power series with respect to the parameters, and PDLFs are also set to be parameter-dependent in negative as well as positive power series with respect to the parameters. Our results are derived using“slack variables” and restricting them to be parameter-independent, therefore, they are only sufficient conditions for the original analysis problems. However, we demonstrate the effectiveness of our results with randomly generated numerical examples and several numerical examples which are borrowed from existing papers.View full abstractDownload PDF (7600K) -
Masayuki SATO, Dimitri PEAUCELLE2007 Volume 43 Issue 6 Pages 482-489
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSThis paper addresses robust stability,H2 performance, and H∞ performance analysis for Linear Time-Invariant Parameter-Dependent (LTIPD) systems using Parameter-Dependent Lyapunov Functions (PDLFs). The statespace matrices of the LTIPD systems are set to be polytopically parameter-dependent, and PDLFs are set to be polynomially parameter-dependent with respect to parameters which represent vertices of the polytope. Our results are derived using “slack variables” and restricting them to be parameter-independent, therefore, they are only sufficient conditions for the original analysis problems. To compare our methods with existing methods, we introduce many examples borrowed from existing papers and demonstrate the effectiveness of our results compared with them.View full abstractDownload PDF (8323K) -
Katsuhiko FUWA, Tatsuo NARIKIYO, Hisashi KANDOH2007 Volume 43 Issue 6 Pages 490-499
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSIn the controller design of the multi-input systems, it is well known that the feedback gain matrices to achieve a desired pole assignment are uniquely underdetermined and contain some redundant elements. Form the viewpoint of theory and application, it is very interesting to investigate the class of parameter matrices which include these redundant elements. In this paper, we clarify the class of parameter matrices of the feedback gain matrices which assign the desired poles and propose a design method of the feedback gain matrices. Finally, on the basis of these studies, we consider not only the problem of pole assignment but also the problem of zero assignment.View full abstractDownload PDF (1886K) -
Yuichi TAZAKI, Jun-ichi IMURA2007 Volume 43 Issue 6 Pages 500-505
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSThis paper deals with model predictive control of continuous-time piecewise affine (CTPWA) systems. First, the finite-horizon optimal control problem of CTPWA systems is reduced, with certain suboptimality, to the optimization problem of mode sequences and intermediate state sequences. Next, an implementation method based on a precomputation technique is proposed. In the offline phase, this method computes, for every mode sequence, the set of feasible initial states and a lower bound of the cost function associated with it. Then at each sampling time in the online phase, the controller determines the optimal mode sequence and the optimal intermediate state sequence over a prediction horizon, taking advantage of the precomputed information. By effectively distributing the computation over the offline phase and the online phase, real-time control is achieved, striking a good balance between the amount of precomputed data and the online computation time. The effectiveness of the proposed method has been evaluated with a simple exapmle of CTPWA systems by numerical simulations.View full abstractDownload PDF (9833K) -
Hisakazu NAKAMURA, Kenichi KATO, Nami NAKAMURA, Hirokazu NISHITANI2007 Volume 43 Issue 6 Pages 506-513
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSActual systems have input constraints due to the performances of actuators and the protections of control systems. For input constrained nonlinear systems, several controllers based on control Lyapunov functions are proposed. In this paper, we introduce Kidane's controller to discontinuous nonlinear systems with input contraints and prove that the asymptotic stability and the inverse optimality of controlled systems are guaranteed. We propose a combined controller which achieves both the maximum domain of attraction and the inverse optimality under the input constraint. Finally, we apply the controller to a single-link robot arm and confirm the effectiveness of the proposed method by computer simulation and experiments.View full abstractDownload PDF (14510K) -
Makoto OHGA, Nan BU, Toshiaki SUGIYAMA, Toshio TSUJI2007 Volume 43 Issue 6 Pages 514-521
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSThis paper proposes a novel motion discrimination method for human interface equipments. Using crosstalk electromyography (EMG), which is defined as difference between EMG signals acquired from two different muscles, motions can be discriminated with fewer electrodes than the standard bipolar electrode configuration. In this method, even a single channel of the crosstalk EMG signal acquired from a pair of muscles can provide information from multiple muscles. In order to achieve accurate discrimination, frequency features of the crosstalk EMG signals extracted by a set of filter bank and stochastic characteristics of the features are effectively utilized using a probabilistic neural network (PNN). Experimental results show that eight motions of the forearm can be discriminated with the proposed method using the crosstalk EMG acquired from three electrodes. Comparing with a traditional method, which is based on bipolar electrode configurations, it is found that the proposed method can achieve considerably higher discrimination ability using only half of electrodes.View full abstractDownload PDF (22721K) -
Takao SATO, Koichi KAMEOKA2007 Volume 43 Issue 6 Pages 522-524
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSIn this paper, a weigh feeder is controlled by using a self-tuning controller. To make a plant output follow a ramp-type reference input without a steady-state error, we propose a new design method for generalized minimum variance control with a pre-compensator. In order to confirm the effectiveness of the proposed method, experimental results are shown.View full abstractDownload PDF (505K) -
Nagahisa KOGAWA, Masanao OBAYASHI, Kunikazu KOBAYASHI, Takashi KUREMOT ...2007 Volume 43 Issue 6 Pages 525-527
Published: June 30, 2007
Released on J-STAGE: February 25, 2013
JOURNAL FREE ACCESSIn this paper, we focus on the immune system and propose a reinforcement learning method based on immune network which has features of the immune system. Then we reveal that the proposed method has the capability of dealing with a maze problem which usually needs the action value function to solve.View full abstractDownload PDF (7348K)
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