著者

渡辺 桂吾

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.31, no.8, pp.1106-1113, 1995

被引用文献数

3

---

The functional reasoning and the simplified reasoning, which are special cases of the so-called min-max-centroidal method, have been applied to construct a fuzzy controller or to model a system. It is not necessary known, however, for control engineers to rationally and easily design the conclusion part or any parameters in the conclusion part. In this paper, a new fuzzy reasoning is proposed so that the conclusion consists of a function of mean-values on each membership function in the antecedent. It is then shown that any parameters except for the mean-values in the conclusion can be rationally and easily designed as a slope of stable switching plane (or line) which is basically independent of the control rule, if the conclusion is formally regarded as a VSS (variable structure system) controller with the meanvalues in the antecedent as states. Thus, the laber required for designing the conclusion part can be reduced drastically by using the proposed method, compared with the traditional methods. The effectiveness of the proposed method is illustrated by simulating a fuzzy controller with two inputs-single output reasoning or a fuzzy controller with three inputs-single output reasoning.

著者

渡辺 桂吾 原 勝弘

出版者

日本知能情報ファジィ学会

雑誌

日本ファジィ学会誌 (ISSN:0915647X)

巻号頁・発行日

vol.7, no.3, pp.647-657, 1995

参考文献数

16

被引用文献数

1

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従来のファジィ制御器のほとんどのものは, 入力データ関数型推論や簡略化推論を利用しており, それらのファジィ推論の後件部任意パラメータ等を何らかの方法で合理的に設計する有効な手段は知られていない.従って, それらをファジィ・ニューラルネットワークとして実現しても必ずしも計算時間の短縮や学習パラメータ数の低減化に関しては効果的ではない.本論文では, 前件部メンバシップ関数としてガウシアン型を利用する場合, その平均値を後件部の関数構成に利用する平均値関数型推論に基づくファジィ・ガウシアン・ニューラルネットワークを提案する.この方法によると, 平均値以外の後件部任意パラメータの初期値を予め制御ルールに依存しないVSS制御の安定な切り換え面(または線)のパラメータとして設計することが可能となる.従って, 後件部任意パラメータが制御ルールに依存する入力データ関数型推論や簡略化推論法に基づくファジィ・ニューラルネットワーク制御器に比べて, 後件部の学習パラメータ数を大幅に低減化させることが可能となり, 学習制御器としての計算時間の短縮が可能となることを示す.本手法の有効性は2輪独立駆動型移動ロボット車の軌道追従制御のシミュレーションにて示す.

著者

渡辺 桂吾

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.31, no.8, pp.1106-1113, 1995-08-31 (Released:2009-03-27)

参考文献数

16

被引用文献数

1 3

---

The functional reasoning and the simplified reasoning, which are special cases of the so-called min-max-centroidal method, have been applied to construct a fuzzy controller or to model a system. It is not necessary known, however, for control engineers to rationally and easily design the conclusion part or any parameters in the conclusion part. In this paper, a new fuzzy reasoning is proposed so that the conclusion consists of a function of mean-values on each membership function in the antecedent. It is then shown that any parameters except for the mean-values in the conclusion can be rationally and easily designed as a slope of stable switching plane (or line) which is basically independent of the control rule, if the conclusion is formally regarded as a VSS (variable structure system) controller with the meanvalues in the antecedent as states. Thus, the laber required for designing the conclusion part can be reduced drastically by using the proposed method, compared with the traditional methods. The effectiveness of the proposed method is illustrated by simulating a fuzzy controller with two inputs-single output reasoning or a fuzzy controller with three inputs-single output reasoning.

著者

渡辺 桂吾 原 勝弘

出版者

日本知能情報ファジィ学会

雑誌

日本ファジィ学会誌 (ISSN:0915647X)

巻号頁・発行日

vol.7, no.3, pp.647-657, 1995-06-15 (Released:2017-09-24)

参考文献数

16

---

従来のファジィ制御器のほとんどのものは, 入力データ関数型推論や簡略化推論を利用しており, それらのファジィ推論の後件部任意パラメータ等を何らかの方法で合理的に設計する有効な手段は知られていない.従って, それらをファジィ・ニューラルネットワークとして実現しても必ずしも計算時間の短縮や学習パラメータ数の低減化に関しては効果的ではない.本論文では, 前件部メンバシップ関数としてガウシアン型を利用する場合, その平均値を後件部の関数構成に利用する平均値関数型推論に基づくファジィ・ガウシアン・ニューラルネットワークを提案する.この方法によると, 平均値以外の後件部任意パラメータの初期値を予め制御ルールに依存しないVSS制御の安定な切り換え面(または線)のパラメータとして設計することが可能となる.従って, 後件部任意パラメータが制御ルールに依存する入力データ関数型推論や簡略化推論法に基づくファジィ・ニューラルネットワーク制御器に比べて, 後件部の学習パラメータ数を大幅に低減化させることが可能となり, 学習制御器としての計算時間の短縮が可能となることを示す.本手法の有効性は2輪独立駆動型移動ロボット車の軌道追従制御のシミュレーションにて示す.

著者

山本 裕也 渡辺 桂吾 永井 伊作

出版者

一般社団法人 日本機械学会

雑誌

中国四国支部総会・講演会 講演論文集 2012.50 (ISSN:24242764)

巻号頁・発行日

pp.90301-90302, 2012-02-28 (Released:2017-06-19)

著者

本仲 君子 渡辺 桂吾 前山 祥一

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.81, no.825, pp.14-00631-14-00631, 2015 (Released:2015-05-25)

参考文献数

11

被引用文献数

1 2

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Recently, it is expected to develop an autonomous robot working in a living environment. Motion planning is very important for an autonomous mobile robot, but kinematic constraints and dynamic constraints are generally solved separately in conventional motion planning. In this research, a simpler way of deciding the control input for an autonomous mobile robot, which is described by a highly nonlinear model in a multi-dimensional space, is proposed by solving kinematic constraints and dynamic constraints simultaneously, under the kinodynamic motion planning based on a harmonic potential field (HPF). In this paper, a quadrotor that is very attractive as an aerial robot due to its high maneuverability, is assumed to be a controlled object, and it is aimed at guiding the quadrotor to an arbitrary target point while avoiding obstacles. Then, three types of controllers for kinodynamic motion planning based on an HPF, which were developed for point mass control, are extended to be applied to the quadrotor. The extended controllers are compared each other in trajectory, amplitude of attitude, and arrival time through some flight simulations. Moreover, multiple gains included in the proposed controllers are optimized automatically by using genetic algorithm (GA), in order to realize highly accurate control. Flight simulation in an untrained environment, which is different from the environment that the gains were selected by GA, is also conducted, and it is confirmed that the quadrotor can move onto the target point with the same gains while avoiding obstacles.