著者

岡島 寛 金田 泰昌 田村 友規 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.55, no.4, pp.245-251, 2019 (Released:2019-04-16)

参考文献数

26

被引用文献数

2 3

---

A design method of state estimation observer under outliers and data-lost environment is proposed in this paper. In networked control systems, the data-lost is one of the most important topic for solving. When data-lost occurred, the output data for the control system is disappeared. The data-lost is significant problems if we want to use state feedback. To overcome negative impact by outliers and data-lost, we propose a method to disappear negative impact by outliers and data-lost using median information. The effectiveness of the proposed observer is evaluated by numerical examples.

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 (ISSN:09161600)

巻号頁・発行日

vol.60, no.2, pp.60-65, 2016-02-15 (Released:2017-04-15)

被引用文献数

1

著者

岡島 寛 竹 祐亮 松永 信智 上瀧 剛

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.783-791, 2019 (Released:2019-12-14)

参考文献数

24

被引用文献数

3 1

---

Many traditional cultural assets in Kumamoto City were damaged by the Kumamoto Earthquakes in 2016. The Kumamoto Castle disastrously damaged by the earthquakes should be completely repaired because it is one of the most important cultural assets in Japan. The Kumamoto Castle recently celebrated its 400th anniversary. In this paper, we propose database design method of broken stones in the Kumamoto Castle for completely repairing the wall of stones which is called “ISHIGAKI”. It is required to find accurate position of each stone before the Kumamoto Earthquakes. However it is difficult to matching each stones because of the shooting environment problem of the photographs of each stone. It is required to construct ISHIGAKI database for matching collect position of stones. We focus on location after broken ISHIGAKI and the surface area of each stone for increasing the ability to find the collect location. Moreover, we propose the entire ISHIGAKI matching algorithm based on not only image matching but also surface area information and location information of stones.

著者

岡島 寛 西村 悠樹 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.50, no.12, pp.869-874, 2014 (Released:2014-12-23)

参考文献数

22

被引用文献数

4 9

---

This paper deals with a kind of feedback linearization method for the nonlinear affine systems. In case of the standard feedback linearization method, the coordinate transformation is used and the nonlinear terms are canceled by using the nonlinear state feedback. Then, the input-output relation of the systems are linearized in the wide range of the state space. It is well known that the control system does not work well enough if there exists the modeling error and the disturbance. We propose a novel feedback linearization method to achieve good robust performance for the modeling error and disturbance. In our previous researches, a control structure to minimize the model error is proposed for the linear control systems. This structure of the control system is extended to the nonlinear control systems with some improvement. Since the extended control structure includes a feedback path of the error between the plant output and the desired model output, it is expected that the robustness is increasing in the meaning of input-output relation rather than the previous feedback linearization methods. The effectiveness of proposed structure is shown by numerical examples.

著者

奥薗 智仁 岡島 寛 松永 信智

出版者

自動制御連合講演会

雑誌

自動制御連合講演会講演論文集 第59回自動制御連合講演会

巻号頁・発行日

pp.736-737, 2016 (Released:2017-02-01)

---

株式市場の内部メカニズム検討する手段に人工市場がある。従来の人工市場では投資家の意思決定や取引のルールを重要視したモデル化がされてない。実用的なルールを内包した人工市場を構築すると、公正な証券取引所の再設計にモデルを利用できる。そこで投資家モデル群と売買ルールに基づいた人工市場を設計し、その評価を行う。

著者

松永 信智 岡島 寛 志田 裕紀 松野 大亮

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.83, no.851, pp.16-00519, 2017 (Released:2017-07-25)

参考文献数

18

---

To analyze the driving behavior is important for designing a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It has been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the travel routes, driving situations and driver's characteristics. The PID gain of the steering model is assumed to be modified depending on driver's gazing distance. The facts are familiar, but the relationship between driver's steering gain and the gazing distance has not been clarified yet. If this relation becomes clear, it can be helpful for the comfortable driving assistance and/or automatic driving systems to provide for each driver. The aim of this study is to design a steering model estimated by Particle Swarm Optimization (PSO) depending on gazing distance . The feature of the model is on-line measurement of gazing distance incorporating the gazing distance explicitly into a model. The isolated driving and the following driving are evaluated using a Honda driving simulator. The effectiveness of the model is discussed individually.

著者

藤岡 巧 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.50, no.12, pp.861-868, 2014 (Released:2014-12-23)

参考文献数

13

被引用文献数

3 7

---

Robust control considering model uncertainty have been widely studied. The benchmark problem using three-inertia system was designed by SICE committee in order to correctly evaluate robust control methods. Traditional robust controller is designed to achieve desired performance for the worst case in a model set. Therefore, it is difficult to achieve high control performance by the traditional robust controller. To overcome this problem, we have proposed a robust control system for this benchmark problem using the model error compensator (MEC) and the frequency shaped final-state control (FFSC). MEC can minimize the gap between real plant and its nominal model. An input signal designed by FFSC can settle desired state variables in terminal period and achieve vibration suppression control. Since MEC is familiar with many other control systems, it is easy to combine FFSC and MEC. Simulation results for the benchmark problem are shown to confirm the effectiveness of proposed method.

著者

岡島 寛 一政 豪 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.51, no.11, pp.794-801, 2015 (Released:2015-11-21)

参考文献数

22

被引用文献数

7 3

---

Model based control system design has been developed in many fields based on the dynamics of the accurate plant model. However, the desired control performance is not achieved if the modeling error is not small. To overcome this problem, we have proposed a compensator to minimize the gap between an actual plant and its nominal model. The proposed compensator is composed of its plant model and an error feedback component. It is difficult to apply the compensator for non-minimum phase plants because of its control structure. In this paper, a parallel feedforward compensator is used to overcome the non-minimum phase characteristics. The effectiveness is shown by numerical examples.

著者

奥村 洸祐 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.30, no.4, pp.153-155, 2016-04-15 (Released:2017-07-15)

参考文献数

5

被引用文献数

2

著者

岡島 寛 松永 信智 川路 茂保

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.45, no.3, pp.153-159, 2009 (Released:2011-11-03)

参考文献数

16

被引用文献数

2 2

---

Electric automobiles with four in-wheel moters have been developed in recent year. By using dynamic differential force between wheels, lateral motion of the automobile can be controlled with yaw moment. This framework is known as “Direct Yaw-moment Control (DYC)”. In many previous works of DYC methods, yaw-moment is used for increasing the stability. However, maneuverability has not been discussed. In this paper, a novel DYC controller is proposed that gives the neutral steering, where neutral steering is a good evaluation index of maneuverability of automobiles. The proposed controller is derived based on the output zeroing control. The effectiveness of proposed method is shown by numerical example.

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

---

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

---

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

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

---

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

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

---

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

---

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

---

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

---

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.