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 53, Issue 11
Displaying 1-8 of 8 articles from this issue
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Paper
  • Position Control Experiments of McKibben Pneumatic Artificial Muscle Using Contraction Ratio Estimation
    Kouichirou YOKOYAMA, Kiminao KOGISO
    2017 Volume 53 Issue 11 Pages 567-573
    Published: 2017
    Released on J-STAGE: November 16, 2017
    DOIhttps://doi.org/10.9746/sicetr.53.567
    JOURNAL FREE ACCESS
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    This paper considers position control of a practical McKibben pneumatic artificial muscle without measuring a PAM length. Unscented Kalman filter is employed to estimate the length based on pressure measurement. Comparing with some PID control systems, the effectiveness that UKF can be used as a distance sensor for the PAM position control is illustrated.
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  • Robust Gain-scheduled Observer Design for State-of-charge Estimation of Rechargeable Battery with Hysteresis Characteristics
    Kenichi HATTAHA, Masaki INOUE, Takahiro KAWAGUCHI, Kensuke OSAMURA, Sh ...
    2017 Volume 53 Issue 11 Pages 574-582
    Published: 2017
    Released on J-STAGE: November 16, 2017
    DOIhttps://doi.org/10.9746/sicetr.53.574
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    In this paper, we consider a model-based state-of-charge estimation of a rechargeable battery with hysteresis characteristics. One approach to the estimation problem is to utilize a linear observer designed based on an approximately derived linear time-invariant model. However, due to the nonlinearity of the hysteresis characteristics, this cannot achieve high estimation performance. To improve the estimation performance, we focus on that the hysteresis is nonlinear only to a single variable and describe the battery system as a linear parameter-varying (LPV) model. Then, a robust gain-scheduled observer against the modeling errors is designed for the LPV system. The observer design is formulated as a convex optimization problem under linear matrix inequality (LMI) constraints. The effectiveness of the proposed method is illustrated through numerical simulations.
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  • A Path Planning Method for a Projector Robot to Project from Adequate Place
    Kenji TATSUMOTO, Kazuya TSUJI, Satoshi IWAKI, Tetsushi IKEDA
    2017 Volume 53 Issue 11 Pages 583-589
    Published: 2017
    Released on J-STAGE: November 16, 2017
    DOIhttps://doi.org/10.9746/sicetr.53.583
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    In this paper we propose a method to improve projection quality of projection robots that work in our daily environments. In previous work we have proposed a robot CAMPRO-RIS which can project from arbitrary place to a specified position and size without distortion. However, there is a problem that projection quality deteriorates as the distance from the robot to the position becomes larger or the angle becomes steeper. To overcome the problem we propose a planning method that considers the projection quality according to the specification of the projector and simultaneously avoids obstacles. By making use of the redundant degree of freedom of the CAMPRO-RIS, our method computes a potential function that navigates the robot to appropriate areas to project while keeping projection to the specified position. We have confirmed the validity of the proposed method based on the simulated experiments and real robot navigation and projection experiments.
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  • Derivation of Contactable Ranges for Decentralized-controlled Hexapod Robot Based on Model Checking with Timed Automaton
    Yuki MURATA, Shinkichi INAGAKI, Tatsuya SUZUKI
    2017 Volume 53 Issue 11 Pages 590-600
    Published: 2017
    Released on J-STAGE: November 16, 2017
    DOIhttps://doi.org/10.9746/sicetr.53.590
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    This paper proposes a parameter designing method for a hexapod robot by utilizing formal verification. The robot is controlled based on follow-the-contact-point gait control and is possible to walk over uneven terrain. The allowable contacting area of each leg is a crucial parameter for walk performance and is the target to be designed in this paper. Behavior of each leg of the robot is modelled by a timed-automaton, and specifications that the robot should satisfy to keep satable walk are expressed by computational tree logic. And then, upper and lower bounds of time parameters in the timed-automaton is derived based on the proposed argorithm utilizing model checking. The robot can take and change behavior arbitrarily in the derived time parameter space. Finally, the allowable contact area of each leg is derived from the upper and lower bounds of time parameters. Validity of the proposed method is verified by simulation using physics engine of a hexapod robot.
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  • Stability and Stabilization of Model Based Networked Control Systems with Multiplicative Noise
    Wataru TORIUMI, Yasumasa FUJISAKI
    2017 Volume 53 Issue 11 Pages 601-607
    Published: 2017
    Released on J-STAGE: November 16, 2017
    DOIhttps://doi.org/10.9746/sicetr.53.601
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    In this paper, stability and stabilization of Model Based Networked Control Systems (MB-NCS) with multiplicative noise are considered. A necessary and sufficient condition for stability of the system is derived via lifting approach. Then, a sufficient condition for obtaining a stabilizing feedback gain is also established by using convex approximations. Both conditions have a form of linear matrix inequality (LMI), so numerical solutions are easily given via convex optimization. Numerical examples illustrate capability for the proposed gain design.
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  • Distributed Design of Local Controllers for Transient Stabilization in Power Systems
    Hampei SASAHARA, Takayuki ISHIZAKI, Tomonori SADAMOTO, Jun-ichi IMURA
    2017 Volume 53 Issue 11 Pages 608-617
    Published: 2017
    Released on J-STAGE: November 16, 2017
    DOIhttps://doi.org/10.9746/sicetr.53.608
    JOURNAL FREE ACCESS
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    In this paper, we develop a distributed design method for local controllers that perform transient stabilization of dynamic responses for deflections caused by contingencies in a large power gird. We suppose that multiple independent system operators exist and manage their corresponding generators in the power system. It is assumed that the system model associated with individual system operators should be unavailable for deciding their control policies and we formulate the local controller design problem where each controller is designed using its corresponding local system model and they achieve a desired transient response performance. Our proposed method based on hierarchical state-space expansion enables us to solve the distributed design problem and the resultant closed-loop system satisfies the requirements. Through numerical simulations for the IEEJ EAST 30-machine power system, the effectiveness of our proposed method is verified.
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