巻号一覧
44 巻, 5 号
選択された号の論文の10件中1～10を表示しています
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清水 年美, 佐々木 実, 岡田 徳次2008 年 44 巻 5 号 p. 389-395
発行日: 2008/05/31
公開日: 2013/02/25
ジャーナル フリーThe objective of this paper is to develop a novel tip position control scheme for a two link flexible manipulator with all joints revolute. We assume that the manipulator moves in the horizontal plane and each link of the manipulator is a uniform Euler-Bernoulli beam with Kelvin-Voigt damping. An exact model of the manipulator that is described by a set of ordinary and partial differential equations is derived by using Hamilton's principle. The potential energy shaping technique and the dynamic extension strategy provide a dynamic compensator with tip position error, tip deflection rate, and joint velocity feedback. We prove the local asymptotic stability of a given desired tip position by showing invariance of a level set associated with a Lyapunov function and that an ω-limit set of any trajectory of the closed-loop system starting inside the level set consists only one point.抄録全体を表示PDF形式でダウンロード (4951K) -
Hideaki ISHII, Chihiro OHYAMA, Koji TSUMURA2008 年 44 巻 5 号 p. 396-404
発行日: 2008/05/31
公開日: 2013/02/25
ジャーナル フリーWe consider the problem of control over networks and find a tradeoff between control performance and the data rate required for the communication of state information. In particular, following the approach of Nair and Evans (2004), we derive an upper bound on the mean-square norm of the states of the system to be stabilized. A numerical example is provided to verify the obtained bound as well as the performance tradeoff.抄録全体を表示PDF形式でダウンロード (5030K) -
名倉 剛2008 年 44 巻 5 号 p. 405-414
発行日: 2008/05/31
公開日: 2013/02/25
ジャーナル フリーthis paper we study the H∞ tracking problems with preview by output feedback for linear jump systems with time-varying uncertainties. We adopt a game theory approach for them and present saddle point strategies. We consider the problems that the reference signals are previewed in a fixed time interval ahead and that they are known a priori for the whole time interval, and present feedback control laws for these two types of robust H∞ tracking problems. In order to solve these tracking problems, we introduce the auxiliary system with no uncertainties and the auxiliary performance index, and solve the auxiliary game problem.抄録全体を表示PDF形式でダウンロード (5530K) -
赤阪 大介, 劉 康志2008 年 44 巻 5 号 p. 415-424
発行日: 2008/05/31
公開日: 2013/02/25
ジャーナル フリーIn this paper, the stabilization problem of a class of on-off control systems is studied. First a gobal stability condition for the state feedback system is derived, which is characterized by a partial differential matrix inequality. Then, a class of state feedback laws which includes nonlinear laws is designed by solving related partial differential equations analytically. Further, the output feedback control design based on a state observer is discussed.抄録全体を表示PDF形式でダウンロード (5179K) -
マルティプライア/ポリトープ的方法に基づくL2/指数安定性能解析木山 健2008 年 44 巻 5 号 p. 425-433
発行日: 2008/05/31
公開日: 2013/02/25
ジャーナル フリーThis paper considers linear time-invariant continuous-time systems with saturation and/ or dead-zone nonlinearities, and proposes analysis methods of a regional L2and/ or exponential stability performance for the system based on a quadratic Lyapunov function via a multiplier (S-procedure) and a polytopic approaches. In particular, a new domain of L2/ exponential stability performance is defined by a region of initial states of the system with guaranteed the performance. For the analysis, this paper assumes that the initial state vectors belong to a bounded set and disturbance inputs belong to a set of signals having a bounded L2t norm. Consequently, the analysis problems using the two approaches can be recast as linear matrix inequality optimization problems respectively. Generally, it is proved that the analysis condition based on the multiplier approach is a sufficient one of the corresponding analysis condition based on the polytopic approach. In the special case of single saturation or dead-zone nonlinearity, it is pointed out that the analysis condition using multiplier approach is exactly the same as the analysis condition using the polytopic approach. Therefore, from the existing result of stability analysis for the system with the single nonlinearity, it is clarified that the analysis condition via the multiplier approach becomes a necessary and sufficient condition of the stability analysis based on the domain of attraction using the quadratic Lyapunov function.抄録全体を表示PDF形式でダウンロード (2366K) -
高ゲイン出力フィードバックに基づく安定化田村 健一, 志水 清孝2008 年 44 巻 5 号 p. 434-443
発行日: 2008/05/31
公開日: 2013/02/25
ジャーナル フリーThis paper is concerned with regulator problem for MIMO systems with Pd-quasi-I+D control. The P+qusi-I+D control is constructed by modifying the integral operation of the PID control. The purpose is to design a P-Equasi-I+D controller for aysmptotic stabilization and to adjust P, quasi-I, D parameter matrices for improving convergence speed of responces under guaranteeing the stability. In our method, we consider a certain hypothetical system derived from the closed-loop system with P+quasi-I+D control in order to apply high gain output feedback. Then the P, quasi-I, D parameter matrices are adjusted by making zero dynamics of the hypothetical system asymptotically stable and performing the high gain output feedback. The proposed method is fundamentally based on the high gain output feedback theorem. The effectiveness of the method is confirmed by simulation results for unstable MIMO plants.抄録全体を表示PDF形式でダウンロード (4979K) -
Divergence-basedカーネルを用いた時変スペクトル判別石垣 司, 樋口 知之2008 年 44 巻 5 号 p. 444-449
発行日: 2008/05/31
公開日: 2013/02/25
ジャーナル フリーIn Japan, the quality of paper banknotes in circulation is maintained at a high level. The main reasons for this are as follows:(1) to facilitate the detection of counterfeit banknotes, and (2) to prevent paper jam problems in automated teller machines. Old, stained, or badly wrinkled banknotes frequently cause these problems. Such banknotes are removed from circulation and discarded by the Bank of Japan. In this paper, we introduce the time-varying spectrum classification method based on the SVM and RVM with the divergence-based kernel and apply this method to the detection of worn-out banknotes. The divergence gives a metric between two probability distributions, and the divergence-based kernel was proposed as a measure between two probability distributions in the kernel method. Here, two data sets are used for verification of classification performance, and the sound of flicking of banknotes is considered as the analyzed object. The obtained result shows a higher classification performance than some common methods.抄録全体を表示PDF形式でダウンロード (11978K) -
大久保 寛, 井上 和也, 丸山 譲二, 浜田 利満, 大成 尚2008 年 44 巻 5 号 p. 450-457
発行日: 2008/05/31
公開日: 2013/02/25
ジャーナル フリーIn nursing homes, various recreations are carried out in order to prevent the progression of a dementia.But effective recreations have not designed, because the relationship between the effect and the content of recreation has not been proved quantitatively. In this paper, we proposed how to design the content of recreation according to the inferior capability of each elderly person. In order to propose it, we develop the relationship model between an action factor during a recreation and an ability of elderly person by papers review. This model means what types of action the elderly person should do in order to improve the inferior ability. And we develop the correlation model between abilities (memorization, emotion control, cognition, etc). We designed the content of recreation with animal-robot by using these2models. As a result of case study in nursing home, we confirmed the effect of the designed recreation, because the target ability of designed recreation is improved according to increase the occurrence rate of the target action factor. Moreover, this result means that the validity of developed2models has been proved partly. The achievement of this paper is to develop the framework for the content design of recreation to meet abilities of each elderly person.抄録全体を表示PDF形式でダウンロード (5401K) -
岡島 寛, 松永 信智, 川路 茂保2008 年 44 巻 5 号 p. 458-460
発行日: 2008/05/31
公開日: 2013/02/25
ジャーナル フリーThis paper is concerned with dynamic quantizer for controlling plants with discrete-valued input.l∞ norm of error between outputs with continuous-input and with quantized-input was guaranteed by the quantizer proposed by Azuma et al. In this paper, the degree of freedom of quantizer, which also guarantees the l∞ norm, is considered for treating the other objectives such as robustness, reduced-order controller etc. Then a design method of reduced-order quantizer is proposed by using the design parameter. The effectiveness of reduced-order quantizer is shown by numerical examples.抄録全体を表示PDF形式でダウンロード (479K) -
森 貴彦, 不破 勝彦, 森田 良文, 神藤 久2008 年 44 巻 5 号 p. 461-463
発行日: 2008/05/31
公開日: 2013/02/25
ジャーナル フリーWe develop ILQ servo system for the vibration control of flexible structures. It enables to specify a low pass filter exactly while keeping optimality. Some results of experiments are given in order to verify the usefulness of the method.抄録全体を表示PDF形式でダウンロード (502K)
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