巻号一覧
53 巻, 6 号
選択された号の論文の4件中1～4を表示しています
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論文
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—システム蘇生変換—木村 駿介, 中村 文一, 伊吹 竜也, 三平 満司2017 年 53 巻 6 号 p. 337-345
発行日: 2017年
公開日: 2017/06/15
ジャーナル フリーCoordinates transformation is a fundamental tool for nonlinear system control. Particularly, the transformation is also applied to state constrained problems. This paper investigates a coordinates and input transformation method, and proposes a new transformation method named “system revival transformation.” The system revival transformation generates a virtual system having the same state equation as an original system. By the proposed transformation, a controller for state constrained systems can be designed by using a controller for unconstrained systems. For general nonlinear systems, the paper provides a mathematical definition of the system revival transformation and proves global asymptotic stability. Moreover, a system revival transformation design method is also presented for control affine nonlinear systems. The effectiveness of the system revival transformation is confirmed through a stabilization problem of a two-wheeled mobile robot.抄録全体を表示PDF形式でダウンロード (838K) -
孫 連明, 佐野 昭2017 年 53 巻 6 号 p. 346-354
発行日: 2017年
公開日: 2017/06/15
ジャーナル フリーA new identification algorithm is developed for direct closed-loop identification by using the temporal-spatial information extracted from the over-sampled input and output data. It has been shown that the poor convergence and numerical problems often arise in the general prediction error method (PEM) when the external exciting signals have not sufficient frequency components, or the input and output signals are strongly correlated with the noise. As a result, the closed-loop identification may fail to offer a valid plant model. In this paper, the distinct subspace characteristics of the sampled data in the output over-sampling scheme are analyzed, and the new criterion is presented for the numerical optimization. It illustrates that the convergence region is enlarged, while the condition number of data matrix is reduced in the new algorithm, so the performance of the identification algorithm can be improved, and the variance of the estimated parameters is decreased greatly. The simulation examples demonstrate the effectiveness of the proposed algorithm, and show that it has better performance than the conventional closed-loop methods especially under the severe numerical conditions.抄録全体を表示PDF形式でダウンロード (552K) -
栄田 国志, 木村 一輝, 野中 謙一郎, 関口 和真2017 年 53 巻 6 号 p. 355-365
発行日: 2017年
公開日: 2017/06/15
ジャーナル フリーIn this paper, we propose a localization method integrating laser range finder (LRF) measurement and odometry by moving horizon estimation (MHE). The position and the attitude angle of a robot are estimated by solving an optimization problem using multiple sampling data while shifting the evaluation interval at each sampling. The relative importance of the estimations of LRF and odometry are balanced by adapting to the number of LRF measurements. With the proposed method, accurate localization can be realized even in singular environments where the self-pose cannot be localized using only LRF measurements. The accuracy of the proposed method is verified through comparisons with conventional methods on numerical simulations. In addition, we verify the robustness and feasibility of the proposed method for singular environments through numerical simulations and experiments.抄録全体を表示PDF形式でダウンロード (3024K) -
—Just In Time線形近似モデルとディーゼルエンジン吸排気モデルへの適用—浅井 徹, 仲田 勇人, 松永 彰生2017 年 53 巻 6 号 p. 366-375
発行日: 2017年
公開日: 2017/06/15
ジャーナル フリーLinearly approximated systems are useful for controlling nonlinear systems. In order to obtain linearly approximated systems, derivatives of right hand side of state equations need to be computed around some operating points. To obtain the values of the partial derivatives, the automatic differentiation is useful. Although the automatic differentiation enables us to compute derivatives efficiently and accurately, tools for automatic differentiation may not be useful for rapid prototyping control system design. We therefore propose a method to rewrite source codes along the ideas of automatic differentiation. The proposed method is easy to understand and the obtained source codes remain readable. Consequently, the proposed method enables us systematically rewriting codes without sacrificing the merits of rapid prototyping developments. We also apply the proposed technique to an air flow model of diesel engines and examine the effectiveness of the technique.抄録全体を表示PDF形式でダウンロード (836K)
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