Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
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Volume 51, Issue 2
Displaying 1-8 of 8 articles from this issue
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Paper
  • Discrete Time Virtual Feedback Error Learning by Using 2-Delay Input Control
    Makoto NOGUCHI
    2015 Volume 51 Issue 2 Pages 73-82
    Published: 2015
    Released on J-STAGE: February 17, 2015
    DOIhttps://doi.org/10.9746/sicetr.51.73
    JOURNAL FREE ACCESS
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    In this paper, a new learning scheme named Discrete Time Virtual Feedback Error Learning (DT-VFEL) is proposed. Even if the controlled systems with high relative degree are minimum phase continuous-time system, by sampling at a fast rate, non-minimum phase discrete-time systems can often appear. Therefore, it is difficult to extend VFEL from the continuous-time version to the discrete-time one, because the stable inverse system can not be learned in conventional Discrete Time Feedback Error Learning (DTFEL) schemes. To overcome the drawback, 2-Delay input control is applied. And variable-gain-type learning law is adopted to shorten the time of learning. Finally, the paper shows that the tracking error converges to zero under a PE condition of the discrete-time version, and verifies its effectiveness based on simulation.
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  • Stability Evaluation of Soft-finger Grasp Considering the Contact Surface
    Kensuke HARADA, Tokuo TSUJI, Yoshinori FUJIHIRA, Tetsuyou WATANABE, So ...
    2015 Volume 51 Issue 2 Pages 83-91
    Published: 2015
    Released on J-STAGE: February 17, 2015
    DOIhttps://doi.org/10.9746/sicetr.51.83
    JOURNAL FREE ACCESS
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    This paper discusses the grasp stability under gravity where each finger makes soft-finger contact with an object. By using the intersection of polygon models between a finger and an object, the contact area between a finger and an object is obtained. Then, by assuming the Winkler elastic foundation model, the pressure distribution within the contact area is obtained. By using this pressure distribution, we determine the grasp stability under soft-finger contact. We further consider defining a quality measure of the soft-finger grasp by assuming that, while the gravitational force is applied to an object, the direction of gravity is unknown. To demonstrate the effectiveness of the proposed approach, we show several numerical examples. Finally, we show an experimental results on identification of physical parameters of elastic material attached at the finger surface.
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  • Nonlinear Control of Convex Input Costrained Nonlinear Systems Based on Locally Semiconcave Control Lyapunov Functions
    Yasuyuki SATOH, Hisakazu NAKAMURA, Shunsuke KIMURA
    2015 Volume 51 Issue 2 Pages 92-100
    Published: 2015
    Released on J-STAGE: February 17, 2015
    DOIhttps://doi.org/10.9746/sicetr.51.92
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    Semiconcave control Lyapunov functions (semiconcave CLFs) play important roles in nonlinear control theory. Many semiconcave CLF based stabilizing controllers were proposed. In this paper, we consider a local asymptotic stabilization problem of input affine nonlinear systems under convex input constraints. To design a stabilizing state feedback under the input constraints, we employ a locally semiconcave CLF and the convex optimization theory. Due to nonsmoothness of the semiconcave CLF, the proposed state feedback is discontinuous on the state space. We consider sample and hold solutions and guarantee the asymptotic stability of the closed loop system in the sense of sample stability.
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  • Damping Control of Sloshing in a Liquid Container on a Cart with an Active Vibration Reducer of 6-DOF Parallel Linkage
    —The Case of a Straight Path on Horizontal Plane—
    Masafumi HAMAGUCHI, Takao TANIGUCHI
    2015 Volume 51 Issue 2 Pages 101-109
    Published: 2015
    Released on J-STAGE: February 17, 2015
    DOIhttps://doi.org/10.9746/sicetr.51.101
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    This paper presents a method for damping sloshing in a liquid container during its transfer by a cart that is equipped with an active vibration reducer with six-degree-of-freedom parallel linkage. Sloshing is generated during the liquid container transfer. To damp this sloshing, it is tilted and horizontally moved by the active vibration reducer. The reducer is controlled by a linear quadratic regulator. A weighting matrix of the quadratic performance index is optimized using a genetic algorithm. Gain scheduling is used to apply it to any liquid level of the container. The cart is driven along a straight path on a horizontal plane. The usefulness of the control system is verified through a simulation and experiment.
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  • Selective Stabilization of Unstable Standing Waves in a Reaction-diffusion System
    Yusuke UMEZU, Toshiyuki OGAWA, Kenji KASHIMA
    2015 Volume 51 Issue 2 Pages 110-119
    Published: 2015
    Released on J-STAGE: February 17, 2015
    DOIhttps://doi.org/10.9746/sicetr.51.110
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    Autonomous pattern formation phenomena are ubiquitous throughout nature. In 6), the authors showed that we can suitably guide such phenomena to effectively generate specific static spatial patterns. In this paper, we attempt to stabilize dynamic patterns under the same philosophy. To this end, we employ a 3-component reaction-diffusion system as a mathematical model, and stabilize prespecified unstable standing waves. The effectiveness of the proposed control law is evaluated theoretically not only in a finite dimensionally truncated dynamics as in 6), but also in the original partial differential equations.
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  • 24GHz Software Defined Radar for Verification and Comparison of Radar Ranging Methods
    Masato WATANABE, Takayuki INABA
    2015 Volume 51 Issue 2 Pages 120-127
    Published: 2015
    Released on J-STAGE: February 17, 2015
    DOIhttps://doi.org/10.9746/sicetr.51.120
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    In recent years, it is required to consider the appropriate radar ranging method for each application as radar is applied to various situations. For this purpose, experimental verifications and comparisons between radar ranging methods in the environments where radar should operate are very effective. However, it is generally necessary to develop radar systems one by one for the verification described above. We developed a radar system that can produce any shape of waveforms designed by operators, named as Software Defined Radar. In this paper, it is shown that Software Radar enables us to compare radar modulations for various applications.
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  • Estimation of Belief in Bayesian Game by Feedback Control
    Masakazu KANAGAWA, Kiminao KOGISO
    2015 Volume 51 Issue 2 Pages 128-135
    Published: 2015
    Released on J-STAGE: February 17, 2015
    DOIhttps://doi.org/10.9746/sicetr.51.128
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    This paper presents a method for estimating player's belief related to Bayesian Nash equilibrium in a class of static Bayesian games. The method is to construct a feedback control system for a nonlinear plant that expresses evolution of a mixed strategy and a belief of the games. A numerical example confirms that their beliefs can be estimated by the proposed method.
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