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 9
Displaying 1-4 of 4 articles from this issue
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Paper
  • Stability Analysis of Networked Monotone Systems
    Daisuke INOUE, Shun-ichi AZUMA, Toshiharu SUGIE
    2017 Volume 53 Issue 9 Pages 493-500
    Published: 2017
    Released on J-STAGE: September 15, 2017
    DOIhttps://doi.org/10.9746/sicetr.53.493
    JOURNAL FREE ACCESS
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    In this study, the stability of interconnected monotone systems is analyzed. We assume that the monotone systems which have static I/O properties are connected on a flower-shaped structure, and derive sufficient conditions for the stability of the interconnected systems. In order to show the effectiveness, we apply the results to the stability analysis of gene regulatory networks.
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  • Closed-loop Identification and Periodic Disturbance Estimation Based on Generalized Minimum Variance Evaluation
    Ryota UEMATSU, Shiro MASUDA
    2017 Volume 53 Issue 9 Pages 501-508
    Published: 2017
    Released on J-STAGE: September 15, 2017
    DOIhttps://doi.org/10.9746/sicetr.53.501
    JOURNAL FREE ACCESS
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    This paper provides a closed-loop identification method based on generalized minimum variance (GMV) evaluation in the case where output signals are perturbed by periodic disturbance. The proposed method assumes that disturbance is composed of both deterministic and stochastic parts. A new variance criterion to obtain process parameters and periodic disturbance simultaneously is introduced. By using the periodicity of the disturbance, the computation of the proposed criterion can perform successfully. The paper proves that the optimization of the proposed criterion results in the unique optimal solution which corresponds to the true system parameters and the actual periodic disturbance. The simulation result illustrates the validity of the proposed method.
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  • A Whole Body Path Following Feedback Control Method for a Snake-like Robot with Multiple Steering Systems
    Koichiro NOGI, Hiroaki YAMAGUCHI, Naoaki YONEZAWA
    2017 Volume 53 Issue 9 Pages 509-522
    Published: 2017
    Released on J-STAGE: September 15, 2017
    DOIhttps://doi.org/10.9746/sicetr.53.509
    JOURNAL FREE ACCESS
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    This paper presents a whole body path following feedback control method of snake-like robots with multiple steering systems whose wheels are all passive. The snake-like robot performs undulatory locomotion in which it transforms the periodic driving of its revolute joints into its movement through the periodic operation of its steering systems. To achieve inspection tasks in narrow spaces where obstacles are scattered, it is necessary to specify the motion of all the links of the locomotor to avoid collision with any obstacle. Especially, each of the links of this locomotor has a steering system at its midpoint, which makes it possible to cause the midpoints of all the links to follow a single parametric curve path, e.g., a Bezier curve, a B-spline curve and so on. In this control method, virtual mechanical elements are defined to convert the kinematical equations of the snake-like robot into time differential equations in a chained form. The chained form facilitates to design the feedback control method which guarantees the convergence of the positions of the midpoints of all the links into their desired positions on the single path, i.e., which guarantees the whole body path following motion. This means that the motion of all the links can be specified by the parameters of the single path which determine its shape so as to cause the snake-like robot to pass through narrow spaces without collision with any obstacle. The asymptotic stability of this control method is guaranteed by the Lyapunov's second method. The validity of this control method is verified by simulations in which the snake-like robot passes through a narrow corridor where multiple column-shaped obstacles are located by causing the midpoints of all the links to follow a 5th-order B-spline curve path with 72 control points.
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