巻号一覧
46 巻, 4 号
選択された号の論文の8件中1～8を表示しています
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論文
制御
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不破 勝彦, 成清 辰生, 森田 良文2010 年 46 巻 4 号 p. 189-198
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーIt is well known that the class of all stabilizing controllers for a given plant can be synthesized by the use of a full-order observer-based controller, with internal feedback loop involving free parameter which possesses stable dynamics. However, it seems very difficult to synthesize a minimal-order observer-based stabilizing controller, because the innovation is equal to zero. From this viewpoint, a novel synthesis method of the stabilizing controller by the minimal-order observer is studied in this paper. The basic idea is to estimate a part of state variables by using an observer with a function of estimating unmeasurable inputs.抄録全体を表示PDF形式でダウンロード (696K) -
―サンプル値制御法に基づいたオブザーバとフィードバック補償器の設計―山田 学, 高野 洋瑛, 舟橋 康行2010 年 46 巻 4 号 p. 199-208
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーThis paper considers the problem of controlling a class of nonholonomic systems in high-order chained form, which is described by a set of nonlinear differential equations. Our novel approach is based on coordinate transformations and sampled data control. First, the nonholonomic system is discretized by a zero order hold and a sampler. A time-varying discrete-time coordinate transformation is utilized to reduce the stabilization problem to a standard pole assignment problem for a controllable and observable linear time-invariant discrete-time system. Both a new state feedback controller and a new dynamic output feedback controller based on state-observer are presented for obtaining global exponential stabilization of the system. Moreover, the proposed design methods are simple and straightforward. Some simulation results are performed to validate the effectiveness of the proposed controllers.抄録全体を表示PDF形式でダウンロード (884K) -
―大域的指数安定化離散時間フィードバック補償器の設計―山田 学, 市川 靖高, 舟橋 康行2010 年 46 巻 4 号 p. 209-218
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーThis paper considers the problem of controlling both the position and the angle of two-wheeled nonholonomic mobile robot systems by sampled-data control. The two-wheeled nonholonomic mobile robot system is discretized directly by a zero order hold and a sampler without transformation such as a chained form, and a new discrete-time state feedback controller is presented for global exponential stabilization of the system. A time-varying discrete-time coordinate transformation is utilized to reduce the stabilization problem to a standard pole assignment problem for a controllable linear time-invariant discrete-time system. The design method is simple and straightforward. Moreover, a useful global exponential stabilization problem is solved for a two-wheeled nonholonomic mobile robot system considering the dynamics in sampled-data control system. Some simulation results are performed to validate the effectiveness of the proposed controllers.抄録全体を表示PDF形式でダウンロード (821K) -
細江 陽平, 萩原 朋道2010 年 46 巻 4 号 p. 219-228
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーThis paper discusses the application of noncausal linear periodically time-varying (LPTV) scaling to the design of discrete-time robust stabilizing controllers. Such a new type of scaling was introduced recently through the lifting technique, and has been shown to be effective for robust stability analysis in terms of reducing conservativeness. This paper thus discusses how and why one could exploit the desirable properties of noncausal LPTV scaling in the context of robust stabilizing controller design, and provides explicit steps for such design, including the suitable selection of the structure of noncausal LPTV scaling and LMI optimization of scaling as well as the controller. Numerical examples are also studied demonstrating that the noncausal LPTV scaling approach leads to less conservative design than the conventional scaling or µ-synthesis approach.抄録全体を表示PDF形式でダウンロード (408K) -
三浦 享博, 池田 雅夫, 星島 耕太2010 年 46 巻 4 号 p. 229-236
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーHigh productivity is commonly required in manufacturing processes. For this purpose, we need to run machines at high speed. However, high-speed motion usually generates vibration in positioning and then makes the settling time long. For this reason, various control strategies have been proposed for high-speed motion and vibration suppression at the same time. In this paper, we deal with a mechanical transfer system with a loading beam, which is widely used in manufacturing processes. We represent the system as composed of three rigid bodies, that is, a driving unit, a hand, and a work. The driving unit and the hand are connected by an elastic link, and slide on a smooth floor. The work is loaded on a flexible beam which is connected rigidly to the hand. When the driving unit moves on the floor, the work is vibrated not only in the translational motion but also in the bending motion because of the flexibility of the beam. Under polytopic uncertainties of the stiffness and damping parameters in the link and the beam, we apply the idea of jerk reduction control to the hand for vibration suppression of the work and shortening the settling time in positioning. We show the effectiveness of jerk reduction of the hand by numerical simulations for a finite element model.抄録全体を表示PDF形式でダウンロード (568K) -
石川 将人, 北吉 良平, 和田 尭, 丸田 一郎, 杉江 俊治2010 年 46 巻 4 号 p. 237-244
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーAn R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.抄録全体を表示PDF形式でダウンロード (1269K)
システム・情報
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石垣 司, 山本 吉伸, 中村 嘉志, 赤松 幹之2010 年 46 巻 4 号 p. 245-252
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーPatients that have an health service by doctor have to wait long time at many hospitals. The long waiting time is the worst factor of patient's dissatisfaction for hospital service according to questionnaire for patients. The present paper describes an estimation method of the waiting time for each patient without an electronic medical chart system. The method applies a portable RFID system to data acquisition and robust estimation of probability distribution of the health service and test time by doctor for high-accurate waiting time estimation. We carried out an health service of data acquisition at a real hospital and verified the efficiency of the proposed method. The proposed system widely can be used as data acquisition system in various fields such as marketing service, entertainment or human behavior measurement.抄録全体を表示PDF形式でダウンロード (901K)
ショート・ペーパー
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田中 芳夫, 川田 博之, 石川 満, 北島 博之2010 年 46 巻 4 号 p. 253-255
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーHere we propose a collision-free sorting method for optically controlled dynamic micro-arrays. The beads forming a two-dimensional M×N lattice array can be sorted in arbitrary order by the collision-free cyclic shifts of four beads and six beads. A mathematical proof based on group theory and the experimental result with the time-sharing optical tweezers are described.抄録全体を表示PDF形式でダウンロード (1173K)
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