著者

岡島 寛 奥村 洸祐 松永 信智

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)

巻号頁・発行日

vol.139, no.3, pp.219-226, 2019-03-01 (Released:2019-03-01)

参考文献数

26

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It is well known that inverted pendulums are difficult to control because of its non-minimum phase and non-linear characteristics. Car robot type inverted pendulums are developed and it provides small spacing than four wheel mobile robot. Moreover, car robot type inverted pendulums have high acceleration performance. In previous study, how to obtain the reference value of the body angle for driving at desired acceleration is proposed using zero dynamics of the non-linear system. This method use the exact values of the model parameters to obtain desired acceleration signal. Therefore, the robot cannot achieve desired acceleration if the plant parameters are different from its model parameters. So, it is necessary to minimize the effect of the model error to achieve robust acceleration performance. In this paper, we propose a method to achieve robust acceleration performance based on the model error compensator. Also, the performance of the model error compensator is improved using the virtual output to satisfy minimum phase condition. The effectiveness of the proposed system is evaluated by the driving experiments of a car robot type inverted pendulum.

著者

岡島 寛 松永 信智

出版者

一般社団法人 システム制御情報学会

雑誌

システム制御情報学会論文誌 (ISSN:13425668)

巻号頁・発行日

vol.29, no.10, pp.466-468, 2016-10-10 (Released:2017-01-15)

参考文献数

8

被引用文献数

3 5

著者

松永 信智 坂本 将一 田中 友樹 岡島 寛

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.84, no.858, pp.17-00349, 2018 (Released:2018-02-25)

参考文献数

19

被引用文献数

1 1

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Recently, electrical welfare vehicles driven by two motors employing free casters are widely used by patients and elders. However, as the user is not able to drive the vehicle well on the uneven rough roads, it is necessary to apply a new mechanism to drive on the rough road in order to expand driving area. The skid steer vehicle (SSV) has been used because of its high traveling ability on the rough road. However, the SSV has disadvantage that is, the driving assistance is required because its steering is highly affected by the road condition. The aim of this study is to design a driving assistance system of SSV for patients and elders by using Model Error Compensator (MEC) that suppresses the modeling error. The proposed controller consists of MEC, Extended Kalman Filter (EKF) that reduces sensor noise and system noise, and estimator of on-line cornering power of SSV. The effectiveness of the proposed system using on-line cornering power estimator is confirmed by the outdoor driving experiments. And the improvement of the driving assistance is evaluated by the correlation of the joystick manipulation comparing the paved and the dirt roads.

著者

井上 豪 岡島 寛 浅井 徹

出版者

一般社団法人 システム制御情報学会

雑誌

システム制御情報学会 研究発表講演会講演論文集 第51回システム制御情報学会研究発表講演会

巻号頁・発行日

pp.101, 2007 (Released:2008-06-16)

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4WS車両は,2WS車両では不可能な平行移動が可能であるなど,運動自由度が高い車両であることが知られている.このような制御対象で軌道追従を行う場合,冗長な自由度を適切に利用すれば,乗り心地や車両の安定性など,追従以外の性能の改善が期待できる.そこで本研究では,2つある入力自由度を追従に関する部分と性能改善に関する部分に分離することで,最適制御問題の枠組みで乗り心地などを考慮した制御を行う.その際,数値例により有効性の検証を行う.

著者

岡島 寛 中林 佑多 松永 信智

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.54, no.1, pp.146-152, 2018 (Released:2018-02-23)

参考文献数

12

被引用文献数

1 2

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In this paper, we propose a filter to satisfy velocity and acceleration limits for arbitrary input signals. The shapes of input signals are sometimes converted into trapezoidal wave in order to prevent an overload on the robot in FA field. Generally, physical protection of equipments, safety and ride quality are achieved with limitations for input signals about some properties. For achieving such limitation, the filters which limit some signal properties are widely used. A filter structure to satisfy velocity and acceleration limits was designed only simple feedback control with the saturation function. However, this structure had a problem that time-lag between the input signal and modified signal is occurred. To solve this problem, we propose a filter structure which is based on the model error compensator. Modified signal which is generated by the proposed filter satisfies the desired signal constraints for any input signals. By the proposed structure, time-lag can be smaller than the signals obtained by the previous method. The effectiveness of the proposed filter is shown by the numerical examples.

著者

岡島 寛

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.62, no.3, pp.168-175, 2023-03-10 (Released:2023-03-21)

参考文献数

32

著者

岡島 寛 浅井 徹

出版者

一般社団法人 システム制御情報学会

雑誌

システム制御情報学会論文誌 (ISSN:13425668)

巻号頁・発行日

vol.20, no.4, pp.133-143, 2007-04-15 (Released:2011-10-13)

参考文献数

15

被引用文献数

6 3

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This paper deals with path-following control. In existing path-following methods, velocity of e.g. vehicles has been often given as reference inputs. However, velocity is tied in with other tracking characteristics and there exist trade-offs between velocity, tracking errors, control costs and so on. To deal with the trade-offs explicitly, we first formulate a cost function based on difference between a reference path and trajectories of vehicle motion. The difference is modeled in terms of dynamics of curvature. This formulation enables us to deal with trade-offs among tracking error, reaching time and control costs. The control input can be given by solving a two point boundary problem numerically. The effectiveness of the proposed method is examined by numerical examples.

著者

岡島 寛 藤浪 翔

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.57, no.6, pp.267-275, 2021 (Released:2021-06-16)

参考文献数

21

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In this paper, we analyze robust invariant set for peak-constrained disturbances. In the case of the periodically time-varying system, its performance is more difficult to analyze the robust invariant set accurately than that of the linear time-invariant system. We propose a method to improve the accuracy of estimating robust invariant set by using a combination of sequential state updates and invariant ellipses in a previous study. In this paper, we apply the method to a periodically time-varying system and verify its effectiveness.

著者

岡島 寛 細江 陽平 萩原 朋道

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.12, pp.792-799, 2019 (Released:2019-12-14)

参考文献数

32

被引用文献数

1

---

A multi-rate state observer with a periodically time-varying gain is proposed in this paper. The proposed observer can be regarded as a periodically time-varying system. By using the cycling technique, the periodically time-varying system can be dealt with as a time-invariant system. This paper presents a method to design a multi-rate state observer using the cycling technique. Then, analysis about the l2-induced norm of the estimation error by the proposed observer is reduced to an LMI optimization problem. Then, the design problem of the time-varying gain is also described as an LMI optimization problem. The effectiveness of the multi-rate state observer is shown by numerical examples.

著者

坂本 奨馬 末吉 紘大 岡島 寛

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.56, no.11, pp.514-520, 2020 (Released:2020-11-26)

参考文献数

17

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This paper propose a virtual camera-work method for musical instruments performance videos. At the concerts for professional musical instruments performers, videos are shot and edited by a professional cameraman or editors. These videos are broad-casted on TV or sold as a DVD. On the other hand, at the concerts for amateur musical instruments performers including extracurricular activities, it is difficult to have a professional cameraman or editor shoot and edit videos because of the cost problem. We can solve the cost problem by automatically reconstructing the concerts videos by fixed camera without cameraman. We have proposed a method of virtual camera-work method using receding horizon strategy which is well used in control engineering. This method eliminates the need for a professional cameraman and editor, then we can reduce the cost of shooting and editing. In this paper, we show a method to automatically reconstruct videos for musical instruments performance videos taken by fixed point camera. In case of musical instruments performance videos or concert videos, drastic changing of frame is required because various focus point (such as various performers) are including the entire frame of the fixed camera. The control objective in this paper is to propose an automatically reconstruction method of videos using receding horizon strategy with adequate setting of the cost function to achieve drastic changing the frames in reconstructed videos.

著者

岡島 寛 川脇 治

出版者

一般社団法人 システム制御情報学会

雑誌

システム制御情報学会論文誌 (ISSN:13425668)

巻号頁・発行日

vol.31, no.11, pp.392-399, 2018-11-15 (Released:2019-02-15)

参考文献数

14

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This paper presents a design framework for individualization of control system. Controllers in products are designed for the average user in general. To increase the control performance for a particular person, individual design of controller is required. However, design controller for individual users involve costs. The words “Internet of Things” is used in recent years. It is expected that low cost customization of the control system using individual characteristics observation and application of information of the individual characteristics for control system design. This propose a concept of the design framework of control systems for individual user based on individual user's parameters.

著者

岡島 寛 甲斐 しずく 徳永 慎也

出版者

一般社団法人 システム制御情報学会

雑誌

システム制御情報学会論文誌 (ISSN:13425668)

巻号頁・発行日

vol.34, no.2, pp.47-57, 2021-02-15 (Released:2021-05-15)

参考文献数

17

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Management of evacuation centers and flexible support of supplies are required when a largescale disaster occurs. It is necessary to predict demand in order to transport relief goods quickly and appropriately to evacuation centers. Therefore, it is effective to predict the number of refugees in evacuation centers. Generally, the supply and demand trends vary not only due to the scale of the earthquake disaster but also depending on the occurrence situation, power outages and other conditions. In this study, we propose a dynamic model for predicting the number of evacuees. The effectiveness of the proposed model is illustrated by numerical example about case study of the Kumamoto earthquake.

著者

米良 亮平 岡島 寛 松永 信智 川路 茂保

出版者

一般社団法人 日本人間工学会

雑誌

人間工学 (ISSN:05494974)

巻号頁・発行日

vol.48, no.4, pp.187-195, 2012-08-15 (Released:2012-10-31)

参考文献数

21

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上肢6筋モデルは筋活動と関節角度の変化より関節トルクや手先剛性を推定できるため,腕の姿勢が変化する動作の解析に適用できる.このような解析を行うためにはモデルの剛性パラメータを推定する必要がある.しかし,筋肉付け位置,長さ,断面積などの生体パラメータを多く含むため,動作範囲が広い場合は筋の長さや断面積の変化が筋のばね定数に大きく影響し,剛性パラメータの推定は困難になる.これに対し本論文では,広い動作範囲を持つクランクタスクを用いて,上肢6筋モデルにおける筋の剛性パラメータの推定手法を提案する.まず,すべての筋を均質な弾性体と考え,それぞれの筋の弾性係数を共通した縦弾性係数を用いて表し,最小二乗法に筋の縦弾性係数に関する勾配法を併用して筋パラメータを推定する.さらに,提案手法によって得た筋パラメータに対する剛性分析により,求まった筋パラメータの有効性を検証する.

著者

松永 信智 仲野 征彦 岡島 寛 川路 茂保

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.130, no.10, pp.1175-1181, 2010-10-01 (Released:2010-10-01)

参考文献数

20

被引用文献数

1

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In manufacturing processes, inappropriate thermal distribution, which is observed in both steady and transient states of the thermal plant, leads to inferior quality. For a plant with strong thermal interaction, decoupling control is effective in precisely tuning the control system. We proposed the decoupling controller based on the temperature-difference feedback model. However, no parameter-identification method of thermal interaction has been presented so far. Traditionally, iterative tuning by trial and error has been used to tune the controller parameters. In the case of an industrial plant, the tuning time would be long because of the large time constants of the plant. Recently, the virtual reference feedback tuning (VRFT) method, which can be used for off-line tuning of the controller parameters using a set of I/O data, has been studied to examine the possibility of shortening the tuning time. In this paper, a VRFT method for the feedback decoupling controller is proposed for a two-dimensional heat plate by taking consideration the thermal interaction property. The effectiveness of this VRFT method is evaluated by performing an experimental simulation.

著者

宮本 洋孝 田中 友樹 岡島 寛 松永 信智

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)

巻号頁・発行日

vol.136, no.5, pp.642-649, 2016-05-01 (Released:2016-05-01)

参考文献数

17

被引用文献数

2

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Recently, welfare vehicles are widely used by patients and elders. Many welfare vehicles are restricted to drive indoor or on a flat road. The vehicle with free casters can not be driven well when the road surface is rolling outdoors. To design compact welfare vehicles for outdoor use at low cost, the skid steer mechanism is focused on. The skid steer vehicle (SSV) is well known for its high traveling ability on an off-road. However, the SSV has disadvantage that the maneuvering assistance is required because its steering is highly affected by road condition. This study aims a steering assistance of SSV for patients and elders by using Model Error Compensator (MEC) that suppresses the modeling error by traditional PID control. The proposed controller consists of MEC and Extended Kalman Filter to reduce the sensor and the system noise assuming the undulating and skiddy roads. The effectiveness of the proposed control system is verified by the driving simulation considering the drivers weight and the road conditions.

著者

宮崎 剛司 北原 晃輔 岡島 寛 松永 信智

出版者

一般社団法人 システム制御情報学会

雑誌

システム制御情報学会論文誌 (ISSN:13425668)

巻号頁・発行日

vol.31, no.7, pp.274-280, 2018-07-15 (Released:2018-10-24)

参考文献数

16

被引用文献数

1

---

In recent years autonomous control of automobiles has been focused on. Path-following control is an important technologies of autonomous control of automobiles. In path-following control, it is necessary to calculate an appropriate steering input and velocity input according to the shape of the target path. In previous research, the steering control and velocity control method have been achieved by formulating and solving the optimization problem using variation principle. Since the problem solvable by the two-point boundary value problem is limited, the format of the evaluation function is limited and it is difficult to explicitly consider constraints in some cases. In addition, the real-time performance of the optimization calculation is also a problem considering the implementation in the real plant. In this paper, we propose a method for accurate follow-up to the target path and appropriate velocity control according to the shape of the target path in real time by designing the velocity function as a function of the target path information and state of the plant.

著者

菅野 達也 壇 裕介 岡島 寛 松永 信智

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.82, no.840, pp.15-00690-15-00690, 2016 (Released:2016-08-25)

参考文献数

19

被引用文献数

4

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In aging society, welfare personal vehicles have been widely used to improve the quality of life of elderly and handicapped persons. However, it is difficult for the users to steer the vehicle in narrow buildings. Accordingly, platoon driving of welfare personal vehicles has attracted attention as one of the effective leading methods. The platoon driving system consists of the longitudinal control and the lateral control. The longitudinal control is based on Adaptive Cruise Control. If the vehicle parameters are adjusted for each user’s driving ability, the longitudinal control will be string unstable in the worst case. As for the lateral control, the following vehicle tracks the preceding vehicle according to the target point following algorithm. The following vehicle may collide with a wall due to the large tracking error at a sharp corner in buildings. In this paper, the robust and precise platoon driving system is proposed to realize the safe platoon driving. Firstly, the longitudinal controller stably keeps the inter-vehicle distance regardless of the short time-headway. Secondary, the lateral controller precisely tracks the wheel track of preceding vehicle by using way-points. Thirdly, the robust platoon control for the different vehicle dynamics is designed by Model Error Compensator. Finally, the effectiveness of our proposed system is evaluated by the driving experiments.

著者

住友 宣仁 岡島 寛 松永 信智

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.57, no.8, pp.349-357, 2021 (Released:2021-08-20)

参考文献数

39

被引用文献数

1

---

In this study, we propose a path-following control method based on the state feedback law. In recent years, automated driving which attracts attention requires various element technologies, and among them, path following control to follow the target path is one of the most important elemental technologies. In previous study, a method was proposed that gave a constraint that makes the following error asymptotically zero. However, if the target path has a road width, the tracking error does not have to be zero. In this paper, a reference value for the tracking error is designed as a function of the vehicle state and other factors. The effectiveness of the proposed method was validated by numerical simulations and showed better performance than previous studies.

著者

岡島 寛

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.12, pp.823-829, 2019 (Released:2019-12-14)

参考文献数

23

被引用文献数

1 3

---

This paper dealt with a design method of MCV observer using robust invariant set analysis method. In our previous research, a design method of state observer for output signal with outliers was proposed. In some control systems, adverse effect by outliers is one of the most important topics for solving. To overcome the adverse effect by outliers, we proposed a method to disappear the effect of outliers using median and candidates of estimated state. In this paper, we give an evaluation signal, and analyze the maximum absolute value of the evaluation signal using a robust invariant set. We propose the design method of observer gains to minify the maximum absolute value of the evaluation signal based on LMIs with some variables. It is easy to design the observer gains by our method. The effectiveness of the proposed design method of observer gains is evaluated by numerical simulation.

著者

岡島 寛 細江 陽平 萩原 朋道

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.54, no.11, pp.827-835, 2018 (Released:2018-11-22)

参考文献数

24

被引用文献数

1

---

This study proposes a design method of dynamic quantizer with communication rate constraints. Dynamic quantizers are well known as an effective method for the signal quantization in the meaning of the noise shaping. The noise shaping characteristics of the dynamic quantizers are determined by the matrices A, B and C. In the previous studies, A, B and C are given as time-invariant matrices. In this paper, we propose a dynamic quantizer form including periodically time-varying matrices for improving the control performance under the communication rate constraints. Analysis method of periodically time-varying dynamic quantizer is reduced to that of dynamic quantizers using time invariant matrices by using lifting technique. The effectiveness of the designed periodically time-varying dynamic quantizer is assessed via numerical examples.