著者

岡島 寛 南 裕樹 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.52, no.7, pp.393-400, 2016 (Released:2016-09-29)

参考文献数

24

被引用文献数

1

---

Networked control has been studied by many researchers in recent years. This paper proposes a new system structure of the networked control systems. The evaluation system is presented to find the performance degradation caused by the communication channels. The proposed system has high degree of freedom for design and is not cumbersome structure. The effectiveness of the proposed structure is illustrated by numerical simulations.

著者

岡島 寛 上瀧 剛 松永 信智 内村 圭一

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.9, pp.645-654, 2015 (Released:2015-10-08)

参考文献数

19

被引用文献数

1

---

A digital halftoning method for DLP projector system is proposed in this paper. PWM type 2-value images have been rapidly switched to achieve high resolution image in DLP projector systems. To achieve high frame rate image projection with high image quality, it is required to reduce the number of 2-value images with small degradation of the image quality. We propose a framework for optimizing color quantization and luminance for DLP projector system with a few number of the 2-value images. The optimal light intense is designed based on a particle swarm optimization algorithm. We illustrate the effectiveness of the proposed method by numerical examples.

著者

Hiroshi OKAJIMA Kenji SAWADA Joe KAIBE Nobutomo MATSUNAGA

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.48, no.6, pp.359-361, 2012 (Released:2012-06-30)

参考文献数

6

被引用文献数

2

---

This paper aims at design of network control system for the remote control of robot. As the system includes a communication channel, quantization is required to satisfy communication capacity limitation. Dynamic quantizer is a kind of quantization methods and has been studied in control engineering field. Optimal quantizing width designed of dynamic has been designed based on invariant sets. However, quantizing width of dynamic quantizer designed based on invariant sets has maintainability than one of designed based on reachable sets and big maintainability and poor control performance. We need to design quantizing width of dynamic quantizer based on reachable sets. In this study, we propose design method of quantizing width of dynamic quantizer based on reachable sets. The effectiveness is shown by numerical example.

著者

Hiroshi OKAJIMA Nobutomo MATSUNAGA

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.47, no.4, pp.217-219, 2011 (Released:2011-12-19)

参考文献数

8

被引用文献数

2

---

In the field of signal processing, AD/DA converter takes an important role for data compressing and circuits design. This paper proposes new design method of AD/DA system with pre-filter and post-filters for achieving small quantization noise effect. Both filters are designed to minimize noise and distortion toward original signal. The effectiveness is illustrated by numerical example.

著者

Hiroshi OKAJIMA Kenji SAWADA Nobutomo MATSUNAGA

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.47, no.2, pp.126-133, 2011 (Released:2011-12-19)

参考文献数

15

被引用文献数

4 2

---

This paper proposes a design method of the dynamic quantizer for the networked control systems. In the networked control systems, the data size of the signals is limited because of the transmission rate of the communication channel. It is well known that feedback type dynamic quantizers such as Delta/Sigma modulator are effective for quantization of data series. The dynamic quantizer includes a set of the dynamic filter and the static quantizer. Many methods have been proposed to design the dynamic filter. However, the static quantizer part has not been designed although the quantization level number of the static quantizer has an effect on the data size. The simultaneous design of dynamic filter and the quantization level will be important issue to satisfy the given communication rate. In this paper, the integrated design method of the filter and the static quantizer is proposed based on the communication rate constraints. The proposed method is derived based on the invariant set analysis with LMIs. The effectiveness is shown by numerical examples.

著者

Hiroshi OKAJIMA Nobutomo MATSUNAGA Kenji SAWADA

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.46, no.6, pp.327-335, 2010 (Released:2011-11-03)

参考文献数

21

被引用文献数

6 3

---

This paper proposes the design method of the dynamic quantizer for the networked control systems. It is well known that feedback type dynamic quantizer such as Delta/Sigma modulator is effective for quantization of data series and many methods for designing the dynamics have been proposed. When it is required to control with network communication, the data size of signal should be minimized appropriately by quantizers. Since the quantizing width of the quantizer concern with the data size, determination of quantizing width is important problem in networked control systems. However, the quantizing width has not been designed analytically in the past researches. In this paper, we propose the design method of the quantizing width based on the LMIs. The quantizing width would be determined explicitly with the communication rate constraints. By the proposed method, the quantizing width guarantee that the signals are quantized appropriately within the given data size. The effectiveness is illustrated by numerical examples.

著者

Hiroshi OKAJIMA Tatsuya UMEMOTO Nobutomo MATSUNAGA Shigeyasu KAWAJI

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.46, no.3, pp.149-156, 2010 (Released:2011-11-03)

参考文献数

16

被引用文献数

5 4

---

It is well known that plants with time delay are hard to be controlled by using traditional method. For this, controller with delay, such as Internal Model Control (IMC), Smith-method, have been proposed for input-delay systems. However, it would be difficult to realize the delay of controller because of memory limit of micro control unit(MCU). Also, the sampling time might be large in case of the application to the plant with large time delay, because of the limitation of the memory in MCU. Hence, the trade-off exists between sampling time and maximum quantizing error, and the assignment of the quantizer affects the quantization error. In this paper, dynamic quantizers are designed for achieving small quantizing error for input-delay control systems in MCU system. Also, the attainable performance caused by assignment of the quantizer is discussed. The effectiveness of the proposed method is shown by numerical example.

著者

Hiroshi OKAJIMA Nobutomo MATSUNAGA Shigeyasu KAWAJI

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.44, no.5, pp.458-460, 2008-05-31 (Released:2013-02-25)

参考文献数

4

被引用文献数

2 3

---

This paper is concerned with dynamic quantizer for controlling plants with discrete-valued input.l∞ norm of error between outputs with continuous-input and with quantized-input was guaranteed by the quantizer proposed by Azuma et al. In this paper, the degree of freedom of quantizer, which also guarantees the l∞ norm, is considered for treating the other objectives such as robustness, reduced-order controller etc. Then a design method of reduced-order quantizer is proposed by using the design parameter. The effectiveness of reduced-order quantizer is shown by 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

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.10, pp.648-654, 2019 (Released:2019-10-18)

参考文献数

33

被引用文献数

1

---

Tracking performance of non-minimum phase systems under the continuous deadbeat condition is handled in this paper. It is well known that tracking performance is constrained and is difficult to achieve good transient response for the plant with unstable zeros. It seems that the deadbeat time and minimum undershoot by controller has some relation. In this paper, we derive analytical solution of a minimum undershoot for plants with one unstable zero when we want to achieve tracking control for the step reference. The effectiveness is illustrated using numerical simulations.

著者

Hiroshi OKAJIMA Toru ASAI Shigeyasu KAWAJI

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.45, no.6, pp.313-319, 2009 (Released:2011-11-03)

参考文献数

18

---

In this paper, tracking performance limitations for plants with input delay are considered. It is important to know the performance limitations for plants to design controllers and to design plants. Our objective is to find the fundamental limitation of the transient response in tracking control problem. When plant have input delay, no one would deny that tracking performance becomes worse than the plants without input delay. However performance limitations for such plants have not been derived analytically. We derive the performance limitations based on internal model control framework. The difference between plants with delay and without delay is compared by numerical examples.

著者

Hiroshi OKAJIMA Toru ASAI Shigeyasu KAWAJI

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.44, no.10, pp.793-801, 2008-10-31 (Released:2013-02-25)

参考文献数

19

被引用文献数

1 1

---

This paper is concerned with optimal reference tracking control problem for discrete time 1-DOF/2-DOF systems. It is well known that l2 norm of an error, which is defined by difference between an output and a reference, does not turn zero for all possible controllers when plant is given as a non-minimum phase system. Purpose of this research is to derive closed-form expression of the optimal value of l2 norm of the error and its controller. The references for tracking are e.g. step, sine, impulse train, triangle wave and linear combination of these signals. Therefore, we can handle various signals as a reference. Moreover, our results can also characterize impact of the relative degree of plant. Those effectiveness are shown by numerical examples.

著者

岡島 寛 浅井 徹

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.43, no.9, pp.812-820, 2007-09-30 (Released:2013-02-25)

参考文献数

12

被引用文献数

1

---

This paper considers optimal tracking control problems. Our primary objective is to derive analytical solutions of fundamental limitations for a class of references in tracking control problem. It is well known that L2 norm of an error, which is defined by difference between an output and a reference, doesn't go to zero when we consider transient response for non-minimum phase systems. In the existing results, fundamental limitation is derived for each reference signal such as the step reference. In these results, we need consider whether the plant is easy to control or not in each reference. On the other hands, fundamental limitations are derived as functionals of references in this paper. In other words, we derive analytical performance limitation for a class of references. As a result, we can expect to separate contribution of references and that of plants in performance limitations.

著者

久我 創紀 中村 文一 佐藤 康之

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.12, pp.865-871, 2018 (Released:2018-12-18)

参考文献数

19

被引用文献数

1

---

We propose a “static” C∞ differentiable control Lyapunov function (CLF) design method for differentially flat systems by dynamic extension and minimum projection method. For differentially flat systems, “dynamic” CLF with dynamic compensators are designed. Our proposed “static” CLF is obtained by the reduction of the “dynamic” CLF. Then we design a static state feedback controller with the obtained static CLF. Finally we show an example to show that our proposed static CLF based controller can stabilizes the origin of the system.

著者

藤本 健治 佐藤 彰記 福永 修一

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.48, no.2, pp.102-108, 2012 (Released:2012-03-02)

参考文献数

9

---

This paper proposes a parameter estimation method for state-space models based on the variational Bayes method. The proposed algorithm employs the prior and posterior distributions in the same form. This allows us to use it iteratively to obtain accurate estimation whereas the existing algorithms cannot be used iteratively. Furthermore a numerical example demonstrates the effectiveness of the proposed method.

著者

赤井 直紀 モラレス ルイス 洋一 平山 高嗣 村瀬 洋

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.11, pp.745-753, 2019 (Released:2019-11-20)

参考文献数

29

---

This paper presents a localization approach that simultaneously estimates a robot's pose and class of sensor observations, where “class” categorizes the sensor observations as those obtained from known and unknown objects on a given geometric map. The proposed approach is implemented using Rao-Blackwellized particle filtering algorithm. The robot's pose can be robustly estimated utilizing sensor observations obtained from the only known objects by the simultaneous estimation. The proposed approach is efficient in terms of computational complexity because its complexity is same as that of the likelihood field model. Performance of the proposed approach was shown through experiments using a 2D LiDAR simulator.

著者

川谷 亮治 土井 智晴 外川 一仁

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.30, no.11, pp.1408-1410, 1994-11-30 (Released:2009-03-27)

参考文献数

3

---

In this paper, we propose a synthesis approach of nonlinear state observer for inverted pendulum systems based on the quadratic stabilization problem and confirm its validity by simulations.

著者

梅谷 陽二 広瀬 茂男

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.8, no.6, pp.724-731, 1972-12-30 (Released:2009-03-27)

参考文献数

7

被引用文献数

2

---

A biomechanical study on the serpentine locomotion of snakes is presented including both mechanical analysis and its experimental verification with respect to Elaphe quadrivirgata. The mechanical analysis is based on an active linear linkage model, and the theoretical relations of forces induced by antagonistic muscles in straight-forward undulatory movement are obtained. A peculiar mode of snake's movement, which the authors define as the “vertex-lifting locomotion” (as shown Fig. 1), is shown to be optimal for rapid movement. The zoological experiments show good agreement with the theoretical results as well as some assumptions. Thus the authors conclude that this paper will be the first from the biomechanical point of view on snake's locomotion.

著者

杉江 俊治 大須賀 公一 小野 敏郎

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.24, no.4, pp.350-356, 1988-04-30 (Released:2009-03-27)

参考文献数

12

被引用文献数

1

---

This paper presents a robust control law which achieves model following with prescribed accuracy for a class of nonlinear systems which contain bounded unknown disturbances and uncertain nonlinear terms. Our method consists of nonlinear compensation and linear compensation. The former ensures robustness for the plant, the latter achieves both desired model following response and desired initial error convergence. The distinguish feature of our method is that admissible control error bound, smoothness of input, reference model (or desired command response), and initial error response can be specified independently, and that the controller is designed based on the information of the “bounds” of uncertainty terms.

著者

金子 修 中村 岳男 池崎 太一

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.12, pp.857-864, 2018 (Released:2018-12-18)

参考文献数

15

被引用文献数

8 15

---

We propose a new approach to controller parameter tuning in the two-degree-of-freedom control architecture, what is called as Estimated Response Iterative Tuning (ERIT). The idea is very simple in the sense that the feed-forward controller is tuned so as to realize that the estimated response calculated in the off-line is equal to the desired response. This approach is very useful because the required material for the optimization are the obtained data and the available information like the feedback controller, the desired transfer function, and the initial feed-forward controller. Here, we analyze the cost function which appears in the ERIT. To show the validity of the proposed method, we give an illustrative example.

著者

立本 健司 辻 和也 岩城 敏 池田 徹志

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.53, no.11, pp.583-589, 2017 (Released:2017-11-16)

参考文献数

18

---

In this paper we propose a method to improve projection quality of projection robots that work in our daily environments. In previous work we have proposed a robot CAMPRO-RIS which can project from arbitrary place to a specified position and size without distortion. However, there is a problem that projection quality deteriorates as the distance from the robot to the position becomes larger or the angle becomes steeper. To overcome the problem we propose a planning method that considers the projection quality according to the specification of the projector and simultaneously avoids obstacles. By making use of the redundant degree of freedom of the CAMPRO-RIS, our method computes a potential function that navigates the robot to appropriate areas to project while keeping projection to the specified position. We have confirmed the validity of the proposed method based on the simulated experiments and real robot navigation and projection experiments.