Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
Current issue
Displaying 1-3 of 3 articles from this issue
  • Takehiro KANAMORI, Hisakazu NAKAMURA
    2023 Volume 59 Issue 9 Pages 385-397
    Published: 2023
    Released on J-STAGE: September 20, 2023

    The differentially flat system, a class of nonlinear systems, contains many mechanical systems. However, few control laws for differentially flat systems are tolerant of disturbances despite many mechanical systems suffer from some disturbances. We aim to design a stabilization control law for differentially flat systems under constant disturbances by using its linearizability and the minimum projection method. First, we design a static control Lyapunov function (CLF) that includes a disturbance for the nonlinear system via a CLF for the linearized system. After that, we prove the designed CLF satisfies the condition of an adaptive control Lyapunov function (ACLF). Finally, we demonstrate an example of designing the proposed adaptive controller for a PVTOL system under winds and verify the effectiveness of the proposed method.

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  • Masaki YAKUWA, Hisakazu NAKAMURA
    2023 Volume 59 Issue 9 Pages 398-409
    Published: 2023
    Released on J-STAGE: September 20, 2023

    In recent years, control barrier functions have attracted much attention for ensuring safety in collision avoidance and human assist control. However, control laws cannot guarantee the solution of differential equations without properly considering the shape of the target system. In this study, we designed a control law that considers the shape of the control target and designs a control barrier function for non-convex safe sets. Based on this, we proposed an integral control barrier function and confirmed its effectiveness by testing it for collision avoidance between a three-link robot arm and obstacles through simulation and experiment.

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  • Taito WATANABE, Yasuaki WASA, Yoshihiko SUSUKI, Kenji HIRATA, Kenta TA ...
    2023 Volume 59 Issue 9 Pages 410-417
    Published: 2023
    Released on J-STAGE: September 20, 2023

    This paper addresses a control mechanism to strengthen the cross-sector resilience of dynamic energy and mobility systems. To realize electrification towards decarbonizing smart cities and early recovery in emergencies, the real-time management of electric vehicles (EVs) is essential. EVs cannot achieve both the energy management function and the mobility function depending on user behavior in parallel. To minimize the physical costs and the enforced human behavior change, the dynamic optimization problem of cross-sector energy and mobility systems is proposed. Through simulations imitating the central Tokyo area, the effectiveness, economic cost, and environmental impact of the proposed algorithm are also numerically evaluated.

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