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Volume 50, Issue 3
Displaying 1-18 of 18 articles from this issue
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Special Issue on Establishing Society by Control Theory and Technology
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[in Japanese], [in Japanese]2014 Volume 50 Issue 3 Pages 189
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSDownload PDF (126K)
Paper
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Noriaki SAKAMOTO, Kazuhiro OZAWA, Takahide NIIMURA, Hiroshi TAKAMORI2014 Volume 50 Issue 3 Pages 190-196
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSThis paper examines a public policy initiative plan of Fuel Cell Vehicle by using a feedback control. The plan is not a policy to only spend a budget among one year. A public institution builds the hydrogen stations, and then a private business operator which won by the bidding system manages and run the station. The numbers of Fuel Cell Vehicle follow a tracking pattern by using the feedback control. The control logic is Sliding Mode Control which has robustness against the uncertainties of the infrastructure model for the number of Fuel Cell Vehicle and the hydrogen station. The simulation result shows that the good tracking result even if there is uncertainty in the model, and gives that the lowest bid amount of money per one station when a private business operator bids it.View full abstractDownload PDF (1097K) -
Hayato NAKADA, Peter MARTIN, Gareth MILTON, Akiyuki IEMURA, Akira OHAT ...2014 Volume 50 Issue 3 Pages 197-202
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSThis paper considers an application of a reference governor (RG) to boost pressure control for automotive diesel engines. As a prediction model of the plant, we employ a piecewise affine (PWA) model to express nonlinearities of the plant. Each submodel of the PWA model is obtained through system identification under a steady-state condition that is determined by a constant engine speed and a constant fuelling. In order to obtain a modified reference such that the turbine rotation speed is constrained under its maximal limit, we propose an online RG algorithm based on the gradient descent method. Finally, we show the effectiveness of the present method through an experiment with a production vehicle.View full abstractDownload PDF (731K) -
Masayoshi DOI, Kazuhisa NAGAMOTO, Yasuchika MORI2014 Volume 50 Issue 3 Pages 203-209
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSTurning performance due to ship's steering is different from each steering angle. Therefore, the turning performance due to steering is time varying system. First, this study identifies the ship's maneuverability, which is expressed as Auto-Regressive Moving Average (ARMAX) model, by each steering angle. Second, time varying parameters of ARMAX model are verified. Finally, this study designs a control system for the time varying steering system. The angular velocity of turning is controlled by applying Generalized Minimum Variance Control (GMVC) for time varying system. Especially, GMVC is arranged the polynomial's multiply for the time varying steering system.View full abstractDownload PDF (925K) -
Ryosuke NAKAMURA, Kenji SAWADA, Seiichi SHIN, Kenji KUMAGAI, Hisato YO ...2014 Volume 50 Issue 3 Pages 210-218
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSThis paper proposes a new static simultaneous optimization of dispatching and conflict-free routing for unidirectional Overhead Hoist Transport (OHT) systems. The objective is to minimize the entire transportation time where the given transportation tasks are finished. A dynamical system modeling is applied for OHT system that is constituted by the OHT vehicles at the lower level and governed by the upper level scheduler. In the proposed modeling, it is clarified that the simultaneous optimization problems are recast as a binary integer linear problem. This paper presents a numerical example and shows that the proposed simultaneous optimization is better than the routing optimization in term of the entire transportation time.View full abstractDownload PDF (788K) -
Koji UENO, Noboru SAKAMOTO, Masayasu SUZUKI, Toshiki OGUCHI2014 Volume 50 Issue 3 Pages 219-226
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSIn this report, we propose a new approach for nonlinear observer design based on state-dependent Sylvester equation (SDSE). To achieve the state estimation in a nonlinear system, we utilize state-dependent coefficient (SDC) matrices and analytic solutions of the the Sylvester equation. It will be shown that the proposed method extends the linear Luenberger observer formulation to nonlinear systems by using SDC matrices. Due to the analytic solutions for the Sylvester equation, the proposed design method does not rely on numerical computation unlike existing methods such as state-dependent Riccati equation approach, or extended Kalman filter. We verify the effectiveness of the proposed method by numerical simulations and an experiment using a Lorenz-chaos based system.View full abstractDownload PDF (913K) -
Masaki YO, Masahiro ONO, Brian C. WILLIAMS, Shuichi ADACHI2014 Volume 50 Issue 3 Pages 227-235
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSWe propose a decentralized electricity dispatch and pricing mechanism that enables a grid with intermittent energy sources to dispatch energy within a user-specified risk bound. This approach allows each power provider to specify the probability density function of the amount of energy that it has to generate in the future. As a result, a power provider can quantitatively limit the risk of power shortage by imposing chance constraints in a decentralized manner. We demonstrate the capabilities of the proposed approach by simulations using real data.View full abstractDownload PDF (875K) -
—Flight Test Results of Straight Trajectory Tracking—Yoshiro HAMADA, Taro TSUKAMOTO, Shinji ISHIMOTO2014 Volume 50 Issue 3 Pages 236-244
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSThis paper describes the novel lateral guidance law of an unmanned aerial vehicle using model predictive control and shows its flight demonstration results. The guidance law is accompanied with the extended Kalman filter which estimates steady wind velocities in order to follow a pre-specified reference trajectory defined in the ground-fixed coordinate system. The small scale research vehicle, developed by Japan Aerospace Exploration Agency, is used to show the proposed system's high guidance performance in flight demonstrations.View full abstractDownload PDF (1326K) -
Yoshihiro OKAWA, Yu HARAIKAWA, Toru NAMERIKAWA2014 Volume 50 Issue 3 Pages 245-252
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSThis paper proposes a model of real-time electricity market in energy management system, and discusses how to decide the price of electricity. We consider a linearized AC model of power grid with direct current process and propose a novel decision procedure of price of electricity based on gradient methods. First, we use a behavioral model of consumer and supplier based on maximization of their usage in response to price signal. Then, we discuss optimal pricing of electricity that maximizes the social welfare determined by Independent System Operator (ISO). Third, we propose a market algorithm based on the gradient method of dual function, in which ISO does not need all information for a decision of the electricity price. Finally, simulation results show effectiveness of the proposed model representation and the dynamic pricing methodology.View full abstractDownload PDF (913K) -
Masanori TAKAHASHI2014 Volume 50 Issue 3 Pages 253-258
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSFor plants with unknown sensor failures, this paper presents a new design method for a self-repairing control system utilizing a nonlinear detection filter that can automatically replace the failed sensor with the backup. The detection method presented here, is based on a finite escape time of the nonlinear detection filter in the faulty situations. By detecting the exploding signal from the filter, sensor failure can be detected exactly within a prescribed detection time earlier than the finite escape time. Also, it is possible to shorten the detection time arbitrarily by adjusting the parameter of the filter. Furthermore, this paper shows a nonlinear controller so as to stabilize the overall control system with the healthy sensor. The tracking error asymptotically enters the ball of any small radius. Through several numerical experiments, the effectiveness of the proposed method is confirmed.View full abstractDownload PDF (438K) -
Kenta MAEDA, Hiroshi FUJIMOTO, Yoichi HORI2014 Volume 50 Issue 3 Pages 259-265
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSThis paper presents the estimation method of the slip ratio limitation for electric vehicles that ensures traction, based on the tire brush model considering tire side slip. Also the estimated slip ratio limitation is applied to the driving force control, a traction control that has been proposed by the authors' research group. According to the proposed method, vehicle safety can be improved by preventing understeer when cornering with accelerating or decelerating on slippery roads. Effectiveness of the proposed method is verified by experiments using an experimental electric vehicle.View full abstractDownload PDF (1270K) -
Takaaki KOJIMA, Yoshihiro OKAWA, Toru NAMERIKAWA2014 Volume 50 Issue 3 Pages 266-273
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSThis paper deals with large scale map building by using Multi-Robot in D-SLAM framework. D-SLAM is a decoupled solution to the SLAM problem. Specifically, it is demonstrated that each robot estimates a local map using EKF, and these local maps are merged into a global map. In this paper, we propose a new RLS-based algorithm for map merging in this D-SLAM framework. First, we transform local maps into relative information which is considered as measurements for the global map. Then, we update the state estimate by RLS considering the weighting of measurements, which is determined by error propagation from the EKF SLAM. The convergence of the error covariance matrix in this algorithm can be proven. In experimental results, we confirm the validity of the proposed algorithm and correctness of derived theorems for the convergence.View full abstractDownload PDF (916K) -
Yoshio UMEMURA, Noboru SAKAMOTO2014 Volume 50 Issue 3 Pages 274-280
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSIt is well-known that slip control of a lock-up clutch is a crucial technology for improving fuel economy and driving comfort. However, plant parameters rapidly vary according to turbine speed, making the slip control challenging. For this problem, we apply output regulation theory by using a parameter varying (LPV) system representation. In this framework, the plant parameter is scheduled according to the turbine speed. The effectiveness of the proposed method is confirmed by the simulation comparing with an H∞ controller and an experimental verification is also carried out.View full abstractDownload PDF (786K) -
Yuji WAKASA2014 Volume 50 Issue 3 Pages 281-286
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSThis paper proposes a direct controller parameter tuning method by applying particle filtering to a system derived from the performance index of fictitious reference iterative tuning which is a kind of direct controller tuning method. First, a linear plant is dealt with as a basic case, and then, the proposed method is extended to plants with dead-zone and hysteresis nonlinearities. Numerical examples are provided to illustrate the effectiveness of the proposed method.View full abstractDownload PDF (1113K) -
—Towards Effective Use of Solar Power Generation for Peak Load Reduction—Yoshio NAKAO, Tsuyoshi TANIGUCHI2014 Volume 50 Issue 3 Pages 287-294
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSSignificant amount of solar power and other renewable energies will be exploited in the future low-carbon society. But the weather-dependent instability of renewable energy production makes it difficult for energy management systems to use those types of energies in accordance with varying demands. This paper proposes a method for managing a hybrid system of solar power and storage batteries, which has been developed to cope with the unpredictable change of solar power production so that the peak consumption of utility power is effectively reduced, and evaluates that method using experimental data obtained through a microgrid system at the Fujitsu Kawasaki Research & Manufacturing Facilities.View full abstractDownload PDF (899K) -
Kazuki NABEKURA, Hiroshi OKAJIMA, Nobutomo MATSUNAGA2014 Volume 50 Issue 3 Pages 295-302
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSAD/DA conversion has become a core technology in digital signal processing. Traditionally, AD/DA systems are composed of the post-filter and the quantizer, and it is required to satisfy the low quantization noise and the low distortion characteristics. However, it is well known that there exists trade-off between these two characteristics. In previous studies, we proposed a new design method of AD/DA system that includes pre-filter, in addition to the traditional AD/DA systems. Post and pre-filters are designed towards the original signal, so as to minimize the effect of noise and distortion due to quantization. In this paper, we verify the AD/DA systems with post and pre-filters by using the voice signal compression system. We evaluate the effectiveness using DMOS (Degradation Mean Opinion Score) method.View full abstractDownload PDF (1651K) -
Yoshihiro OKAWA, Toru NAMERIKAWA2014 Volume 50 Issue 3 Pages 303-310
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSThis paper deals with the Simultaneous Localization and Mapping (SLAM) problem via H∞ filter with compensations for intermittent observations. In the SLAM problem, a mobile robot sometimes loses its proper observation because of obstacles between the robot and landmarks or the limit of its sensor range. In order to estimate the landmarks and its own position accurately based on such intermittent observation data, the proposed method detects them by comparing the observation with its estimation and compensates with a diagonal matrix whose components are switched between 0 and 1. This paper also shows the convergence of the state error covariance matrices. In simulation and experimental results, the correctness of derived theorems for the convergence are confirmed. We can show robot's state and environment information can be estimated with the proposed compensation method for intermittent observations.View full abstractDownload PDF (1314K) -
Masahiro KAWAGUCHI, Masaki YAMAKITA2014 Volume 50 Issue 3 Pages 311-317
Published: 2014
Released on J-STAGE: March 20, 2014
JOURNAL FREE ACCESSPlant modeling can be classified as white box modeling, gray box modeling or black box modeling. In a case where physical characteristics of plants are known, white box or gray box modeling is applicable. However detailed models often have very complex structures and it is very difficult to identify the parameters of them. In such cases, simplified models are often used, but sometimes they give insufficient performance. In order to overcome the problem, an identification method with combination of simplified physical models and error models is presented. In the proposed method, to enhance the performance of the identified model, we introduce error systems to predict the estimation errors of the physical models where the error systems consist of steady-error model and transient-error model which are identified separately. By compensating the estimation error using the error systems, we can obtain more accurate estimation. An application to an internal combustion engine is demonstrated to show the effectiveness of the proposed method.View full abstractDownload PDF (978K)
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