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Volume 46, Issue 2
Displaying 1-7 of 7 articles from this issue
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Paper
Control
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Kenji FUJIMOTO, Mitsuru TANIGUCHI2010 Volume 46 Issue 2 Pages 83-90
Published: 2010
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper is devoted to trajectory tracking control for port-Hamiltonian systems. The control law presented here is extension of an existing passive velocity field controller for fully actuated mechanical systems. The proposed method employs vector fields on co-tangent spaces instead of those on tangent spaces. Since port-Hamiltonian systems can describe a wider class of systems than conventional mechanical ones, the proposed method is applicable to various systems. Furthermore, a numerical simulation of a rolling coin exhibits the effectiveness of the proposed method.View full abstractDownload PDF (533K) -
Takuya SOGO2010 Volume 46 Issue 2 Pages 91-96
Published: 2010
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSIt is known that the transfer function of sampled-data system has so-called intrinsic and discretization zeros, the latter of which are often unstable and have no counterpart for the original continuous-time system; moreover have no closed expression in terms of the continuous-time zeros and the sample time. This fact limits the application range of inversion-based feedforward compensation for digital control systems because the stability of the feedforward controller essentially depends on the stability of the sampled zeros. Fortunately, recent research has revealed that discretization zeros of sampled-data systems tend to zeros of the so-called Euler-Frobenius polynomial, the location of which has a regularity. Based on this fact and the computing power of recently emerging symbolic mathematics software, this paper presents polynomial expression formulas of all discretization zeros with respect to the sample time for general sampled-data systems. The result is applied to developing a method to relocate the zeros of sampled-data systems and stabilize inversion-based feedforward controllers.View full abstractDownload PDF (564K) -
Michio KONO, Tatsuo SUZUKI, Nobuya TAKAHASHI, Osamu SATO2010 Volume 46 Issue 2 Pages 97-105
Published: 2010
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper proposes a new model for a networked control system and considers its structural properties such as controllability, stabilizability, reconstructibilty and detectability. To control a linear time-invariant discrete-time plant via a bus with limited capacity, we introduce a hold device and a communication sequence which follows a given ω-periodic pattern. Incorporating the communication sequences and hold devices into the original plant amounts to extending the original time-invariant state equation to the ω-periodic one which has the higher order. We assume that the communication sequence is admissible. It is shown that controllability and stabilizability of the plant are preserved in the periodic extended system under the assumption that the zeros of the communication characteristic polynomial does not coincide with λ1/ω where λ is the eigenvalue of the plant. On the other hand, reconstructibility(detectability) of the original plant implies that the periodic observability pair of the extended one is reconstructible(detectable) at any time.View full abstractDownload PDF (543K) -
Satoshi SATOH, Kenji FUJIMOTO2010 Volume 46 Issue 2 Pages 106-113
Published: 2010
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper concerns an observer based stochastic trajectory tracking control of mechanical systems. We consider mechanical systems in the presence of noise as stochastic systems and derive a condition for a stabilizing or tracking controller to achieve each control objective. We investigate the case that only position information can be measured and the velocity signal is reconstructed by an observer. A construction method of the combined controller-observer is derived. Since the proposed method is based on stochastic bounded stability, the norms of tracking and estimation errors remain arbitrarily small in probability.View full abstractDownload PDF (1476K)
Systems and Information
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Kohji KAMEJIMA2010 Volume 46 Issue 2 Pages 114-122
Published: 2010
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSA dynamic scheme is presented for generating multi-scale images associated with self-similar patterns. By blurring with a small scale parameter, brightness distributions are extended to geometrically singular fractal patterns. Through weighted averaging with respect to scale factors, a multi-scale image is generated as a representation of the conditional probability for capturing unknown attractors. The local structure of the multi-scale image is analyzed to demonstrate the structural consistency of the capturing probability with respect to the imaging process associated with the attractor. By extracting stochastic features based on the capturing probability, a computational scheme is introduced for matching observed attractors with a preassigned dictionary of patterns. Proposed method was verified by simulation studies.View full abstractDownload PDF (1594K)
System Integration
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Yoshiyuki TANAKA, Takeshi RAKUMATSU, Masayoshi HORIUE, Tooru MIYAZAKI, ...2010 Volume 46 Issue 2 Pages 123-129
Published: 2010
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper proposes a new evaluation method of an automotive interior package based on human oculomotor and joint-motor properties. Assuming the long-term driving situation in the express high way, the three evaluation indices were designed on i) the ratio of head motion at gazing the driving items; ii) the load torque for maintaining the standard driving posture; and iii) the human force manipulability at the end-point of human extremities. Experiments were carried out for two different interior packages with four subjects who have the special knowledge on the automobile development. Evaluation results demonstrate that the proposed method can quantitatively analyze the driving interior in good agreement with the generally accepted subjective opinion in the automobile industry.View full abstractDownload PDF (1694K)
Short Paper
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—An Approach for Minimizing Driving Energy and Residual Vibration—Akira ABE, Kazunori SASAMORI2010 Volume 46 Issue 2 Pages 130-132
Published: 2010
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper proposes an optimal trajectory planning for a flexible manipulator in a point-to-point motion. In order to get the optimal trajectory, two objective functions are considered: the first is the driving energy and another one is the residual vibration.View full abstractDownload PDF (379K)
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