Pub Date : 2011-12-01DOI: 10.1109/SII.2011.6147643
Shin-Hung Chen, J. Chou
In this study, an event-based cross-coupling control strategy for a differential driven electric wheelchair powered by rim motors (rim motor wheelchair) was proposed in order to maintain the turning curvature of the desired driving path. When the wheelchair drives on roads with ramps, slopes, or non-homogeneous pavements, unsymmetrical disturbances would cause the unbalanced speed error in each motor, hence affect its performance. Because there is no cross-talk between two speed controllers, lacking of coordination causes wheelchair veering from the intended course and could even lead to loss of control. The modified cross-coupling control strategy is developed to compensate the reference wheel speeds input to the controllers for maintaining the wheelchair in right direction. Besides, we combine the event-based control with the modified cross-coupling control to eliminate the accumulation of compensation error due to the low resolution characteristic of Hall-effect sensors in the rim motors of the wheelchair. The results show that the proposed control approach can enhance the operating performance of the rim motor wheelchair system efficiently under disturbances.
{"title":"Motion control of the electric wheelchair powered by rim motors based on event-based cross-coupling control strategy","authors":"Shin-Hung Chen, J. Chou","doi":"10.1109/SII.2011.6147643","DOIUrl":"https://doi.org/10.1109/SII.2011.6147643","url":null,"abstract":"In this study, an event-based cross-coupling control strategy for a differential driven electric wheelchair powered by rim motors (rim motor wheelchair) was proposed in order to maintain the turning curvature of the desired driving path. When the wheelchair drives on roads with ramps, slopes, or non-homogeneous pavements, unsymmetrical disturbances would cause the unbalanced speed error in each motor, hence affect its performance. Because there is no cross-talk between two speed controllers, lacking of coordination causes wheelchair veering from the intended course and could even lead to loss of control. The modified cross-coupling control strategy is developed to compensate the reference wheel speeds input to the controllers for maintaining the wheelchair in right direction. Besides, we combine the event-based control with the modified cross-coupling control to eliminate the accumulation of compensation error due to the low resolution characteristic of Hall-effect sensors in the rim motors of the wheelchair. The results show that the proposed control approach can enhance the operating performance of the rim motor wheelchair system efficiently under disturbances.","PeriodicalId":243750,"journal":{"name":"2011 IEEE/SICE International Symposium on System Integration (SII)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115407103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/SII.2011.6147460
K. Mayama, W. Skulkittiyut, Y. Ando, T. Yoshimi, M. Mizukawa
In this research, we aim to develop object management system for drawer type object storage furniture that we use in our daily life. This system detects stored object in the object storage case for the available object recognition and detects space that object storage case is stored in (After “space”) for stored object rough positioning by using Radio-Frequency Identification (RFID). Object positioning sensor including RFID reader is put on the near side of each object storage case. This sensor detects object RFID tag ID and space RFID tag ID. These ID is sent with object storage case ID and event ID from object positioning sensor to ID/position converter. ID/position converter makes Robotic Localization Service (RLS) base position data and updates host system position data. RLS is position standardization for robots and defines meta-data of position data mainly. This system enables users and robots to recognize available abject rough position.
{"title":"Proposal of object management system for applying to existing object storage furniture","authors":"K. Mayama, W. Skulkittiyut, Y. Ando, T. Yoshimi, M. Mizukawa","doi":"10.1109/SII.2011.6147460","DOIUrl":"https://doi.org/10.1109/SII.2011.6147460","url":null,"abstract":"In this research, we aim to develop object management system for drawer type object storage furniture that we use in our daily life. This system detects stored object in the object storage case for the available object recognition and detects space that object storage case is stored in (After “space”) for stored object rough positioning by using Radio-Frequency Identification (RFID). Object positioning sensor including RFID reader is put on the near side of each object storage case. This sensor detects object RFID tag ID and space RFID tag ID. These ID is sent with object storage case ID and event ID from object positioning sensor to ID/position converter. ID/position converter makes Robotic Localization Service (RLS) base position data and updates host system position data. RLS is position standardization for robots and defines meta-data of position data mainly. This system enables users and robots to recognize available abject rough position.","PeriodicalId":243750,"journal":{"name":"2011 IEEE/SICE International Symposium on System Integration (SII)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117258192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/SII.2011.6147518
Gerson Beristain, Emilio Gabino, Héctor Vargas, Luis Cuautle
This article proposes a statistical method based on the factorial design to optimize the travel time on a circuit of a mobile robot teleoperated via the Internet. With the application of the method there were found the factors that have a greater influence on the performance of the robot, which improved the remote management strategy. The analysis of the factors discarded the gender factor to select the operator to handle the robot remotely. This method can be applied to teleoperated robots which need to improve performance in their own activities, identifying the factors that most influence in the teleoperation.
{"title":"Factorial Analysis to improve the travel time of a Wheeled Mobile Robot operated via internet","authors":"Gerson Beristain, Emilio Gabino, Héctor Vargas, Luis Cuautle","doi":"10.1109/SII.2011.6147518","DOIUrl":"https://doi.org/10.1109/SII.2011.6147518","url":null,"abstract":"This article proposes a statistical method based on the factorial design to optimize the travel time on a circuit of a mobile robot teleoperated via the Internet. With the application of the method there were found the factors that have a greater influence on the performance of the robot, which improved the remote management strategy. The analysis of the factors discarded the gender factor to select the operator to handle the robot remotely. This method can be applied to teleoperated robots which need to improve performance in their own activities, identifying the factors that most influence in the teleoperation.","PeriodicalId":243750,"journal":{"name":"2011 IEEE/SICE International Symposium on System Integration (SII)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125083910","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/SII.2011.6147428
Nozomi Toyoda, Ryohei Yamamoto, T. Yabuta
This paper describes the experimental analysis of eye movement during the generation of a trajectory by the human upper limb, carried out to elucidate the human mechanism for visual-information recognition. In the experiments preformed, subjects were asked to draw the trajectories of some kinds of images: a complete circle, semicircle, stippled circle. Reflective markers were attached to the subjects for motion capture, and a head-mounted eye-mark recorder was used to record eye movement. The results showed that the subjects adopted an eye-movement pattern called the subgoal travel method (fixating in the vicinity of the fingertip while drawing/tracing) for the complete circle. Subsequently, when the target trajectory was one of incomplete shapes, some subjects continued following the subgoal travel method by drawing the missing part of the target trajectory, while others followed two other eye-movement patterns. The first is called the center-point fixation method, in which subjects consider the center point as the most important point for generating the target-image trajectory, and therefore, fix their gaze at the center point throughout the experiment. The second is called the point-to-point travel method, in which the subjects' gazes shift between the center point of a displayed image and their fingertip. The results showed that the center-point fixation method provides greater visual information than the subgoal travel method. Further, the results confirmed that the eye-movement pattern, movement accuracy, and drawing speed are correlated. Additional experiments clarified the conditions for which different eye-movement patterns are suitable: the subgoal travel method is suitable for high-accuracy drawing; the center-point fixation method is suitable for higher-speed drawing. This study has revealed some interesting points underlying the eye-movement strategy used by humans for generating a trajectory.
{"title":"Clarification of transition conditions for eye movement while generating a trajectory using the upper limb","authors":"Nozomi Toyoda, Ryohei Yamamoto, T. Yabuta","doi":"10.1109/SII.2011.6147428","DOIUrl":"https://doi.org/10.1109/SII.2011.6147428","url":null,"abstract":"This paper describes the experimental analysis of eye movement during the generation of a trajectory by the human upper limb, carried out to elucidate the human mechanism for visual-information recognition. In the experiments preformed, subjects were asked to draw the trajectories of some kinds of images: a complete circle, semicircle, stippled circle. Reflective markers were attached to the subjects for motion capture, and a head-mounted eye-mark recorder was used to record eye movement. The results showed that the subjects adopted an eye-movement pattern called the subgoal travel method (fixating in the vicinity of the fingertip while drawing/tracing) for the complete circle. Subsequently, when the target trajectory was one of incomplete shapes, some subjects continued following the subgoal travel method by drawing the missing part of the target trajectory, while others followed two other eye-movement patterns. The first is called the center-point fixation method, in which subjects consider the center point as the most important point for generating the target-image trajectory, and therefore, fix their gaze at the center point throughout the experiment. The second is called the point-to-point travel method, in which the subjects' gazes shift between the center point of a displayed image and their fingertip. The results showed that the center-point fixation method provides greater visual information than the subgoal travel method. Further, the results confirmed that the eye-movement pattern, movement accuracy, and drawing speed are correlated. Additional experiments clarified the conditions for which different eye-movement patterns are suitable: the subgoal travel method is suitable for high-accuracy drawing; the center-point fixation method is suitable for higher-speed drawing. This study has revealed some interesting points underlying the eye-movement strategy used by humans for generating a trajectory.","PeriodicalId":243750,"journal":{"name":"2011 IEEE/SICE International Symposium on System Integration (SII)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116403668","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/SII.2011.6147546
V. Vakiloroaya, M. Khatibi, Q. Ha, B. Samali
Cooling systems in buildings are required to be more energy-efficient while maintaining the standard air quality. The aim of this paper is to explore the potential of reducing the energy consumption of a central air-conditioned building taking into account comfort conditions. For this, we propose a new hybrid evaporative cooling system for HVAC efficiency improvement. The integrated system will be modeled and analyzed to accomplish the energy conservation and thermal comfort objectives. Comparisons of the proposed hybrid evaporative cooling approach with current technologies are included to show its advantages. To investigate the potential of energy savings and air quality, a real-world commercial building, located in a hot and dry climate region, together with its central cooling plant is used in the case study. The energy consumption and relevant data of the existing central cooling plant are acquired in a typical summer week. The performance with different cooling systems is simulated by using a transient simulation software package. New modules for the proposed system are developed by using collected experimental data and implemented with the transient tool. Results show that more than 52% power savings can be obtained by this system while maintaining the predicted mean vote (PMV) between −1 to +1 for most of summer time.
{"title":"New integrated hybrid evaporative cooling system for HVAC energy efficiency improvement","authors":"V. Vakiloroaya, M. Khatibi, Q. Ha, B. Samali","doi":"10.1109/SII.2011.6147546","DOIUrl":"https://doi.org/10.1109/SII.2011.6147546","url":null,"abstract":"Cooling systems in buildings are required to be more energy-efficient while maintaining the standard air quality. The aim of this paper is to explore the potential of reducing the energy consumption of a central air-conditioned building taking into account comfort conditions. For this, we propose a new hybrid evaporative cooling system for HVAC efficiency improvement. The integrated system will be modeled and analyzed to accomplish the energy conservation and thermal comfort objectives. Comparisons of the proposed hybrid evaporative cooling approach with current technologies are included to show its advantages. To investigate the potential of energy savings and air quality, a real-world commercial building, located in a hot and dry climate region, together with its central cooling plant is used in the case study. The energy consumption and relevant data of the existing central cooling plant are acquired in a typical summer week. The performance with different cooling systems is simulated by using a transient simulation software package. New modules for the proposed system are developed by using collected experimental data and implemented with the transient tool. Results show that more than 52% power savings can be obtained by this system while maintaining the predicted mean vote (PMV) between −1 to +1 for most of summer time.","PeriodicalId":243750,"journal":{"name":"2011 IEEE/SICE International Symposium on System Integration (SII)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116865014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/SII.2011.6147544
Donghyun Kim, Donghui Lee
We consider disassembly leveling and scheduling for multiple product types with parts commonality. Disassembly leveling, one of disassembly process planning decisions, is to determine disassembly structures that specify parts and subassemblies to be obtained from used/end-of-life products, and disassembly scheduling is the problem of determining the timing and quantity of disassembling products and their subassemblies to satisfy the demands of their parts and/or subassemblies. Unlike the previous studies, we consider the two problems at the same time, especially in multi-period version for the objective of minimizing the sum of disassembly setup, disassembly operation and inventory holding costs. In particular, we consider the general case that disassembly levels may be different for products of the same type and different periods. To represent the integrated problem mathematically, an integer programming model is developed. Then, as an initial solution approach, a simple greedy heuristic using a priority rule is suggested and its performance is reported.
{"title":"A heuristic for multi-period disassembly leveling and scheduling","authors":"Donghyun Kim, Donghui Lee","doi":"10.1109/SII.2011.6147544","DOIUrl":"https://doi.org/10.1109/SII.2011.6147544","url":null,"abstract":"We consider disassembly leveling and scheduling for multiple product types with parts commonality. Disassembly leveling, one of disassembly process planning decisions, is to determine disassembly structures that specify parts and subassemblies to be obtained from used/end-of-life products, and disassembly scheduling is the problem of determining the timing and quantity of disassembling products and their subassemblies to satisfy the demands of their parts and/or subassemblies. Unlike the previous studies, we consider the two problems at the same time, especially in multi-period version for the objective of minimizing the sum of disassembly setup, disassembly operation and inventory holding costs. In particular, we consider the general case that disassembly levels may be different for products of the same type and different periods. To represent the integrated problem mathematically, an integer programming model is developed. Then, as an initial solution approach, a simple greedy heuristic using a priority rule is suggested and its performance is reported.","PeriodicalId":243750,"journal":{"name":"2011 IEEE/SICE International Symposium on System Integration (SII)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129804855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/SII.2011.6147636
Y. Fujii, Y. Kuroda
In this paper, we propose an online motion model parameter estimation method. To achieve accurate localization, accurate estimation of motion model parameters is needed. However, the true values of motion model parameters change sequentially according to alteration of surrounding environments. Therefore the online estimation is absolutely imperative. As a typical method to estimate motion model parameters sequentially, Augmented Kalman Filter (AKF) is there. AKF achieves parameter estimation through Kalman filtering algorithm. However, AKF has serious problems to be implemented in real robot operation. These problems are the accuracy of observation and the limitation to motion control of robots. To solve these problems and achieve accurate motion model parameter estimation, proposed method introduces discriminative training. The introduction of discriminative training increases the convergence performance and stability of parameter estimation through AKF. The proposal method achieves accurate motion model parameter estimation in real robot operation. This paper describes the efficiency of our technique through simulations and an outdoor experiment.
{"title":"Robust localization system using online / offline hybrid learning","authors":"Y. Fujii, Y. Kuroda","doi":"10.1109/SII.2011.6147636","DOIUrl":"https://doi.org/10.1109/SII.2011.6147636","url":null,"abstract":"In this paper, we propose an online motion model parameter estimation method. To achieve accurate localization, accurate estimation of motion model parameters is needed. However, the true values of motion model parameters change sequentially according to alteration of surrounding environments. Therefore the online estimation is absolutely imperative. As a typical method to estimate motion model parameters sequentially, Augmented Kalman Filter (AKF) is there. AKF achieves parameter estimation through Kalman filtering algorithm. However, AKF has serious problems to be implemented in real robot operation. These problems are the accuracy of observation and the limitation to motion control of robots. To solve these problems and achieve accurate motion model parameter estimation, proposed method introduces discriminative training. The introduction of discriminative training increases the convergence performance and stability of parameter estimation through AKF. The proposal method achieves accurate motion model parameter estimation in real robot operation. This paper describes the efficiency of our technique through simulations and an outdoor experiment.","PeriodicalId":243750,"journal":{"name":"2011 IEEE/SICE International Symposium on System Integration (SII)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129111848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/SII.2011.6147613
Cheng-Jen Tang, Miau-Ru Dai
Cloud computing clusters distributed computers to provide applications as services and on-demand resources over Internet. From the perspective of average and total energy consumption, such consolidated resource enhances the energy efficiency on both clients and servers. However, cloud computing has a different power consumption pattern from the traditional storage oriented Internet services. The computation oriented implementation of cloud service broadens the gap between the peak power demand and base power demand of a data center. A higher peak demand implies the need of feeder capacity expansion, which requires a considerable investment. This study proposes a computation related approach to lessen the increasing power demand of cloud service data centers. Through appropriated designs, some frequently used computing algorithms can be performed by either clients or servers. As a model presented in this paper, such client-server balanced computation resource integration suggests an energy-efficient and cost-effective cloud service data center.
{"title":"Dynamic computing resource adjustment for enhancing energy efficiency of cloud service data centers","authors":"Cheng-Jen Tang, Miau-Ru Dai","doi":"10.1109/SII.2011.6147613","DOIUrl":"https://doi.org/10.1109/SII.2011.6147613","url":null,"abstract":"Cloud computing clusters distributed computers to provide applications as services and on-demand resources over Internet. From the perspective of average and total energy consumption, such consolidated resource enhances the energy efficiency on both clients and servers. However, cloud computing has a different power consumption pattern from the traditional storage oriented Internet services. The computation oriented implementation of cloud service broadens the gap between the peak power demand and base power demand of a data center. A higher peak demand implies the need of feeder capacity expansion, which requires a considerable investment. This study proposes a computation related approach to lessen the increasing power demand of cloud service data centers. Through appropriated designs, some frequently used computing algorithms can be performed by either clients or servers. As a model presented in this paper, such client-server balanced computation resource integration suggests an energy-efficient and cost-effective cloud service data center.","PeriodicalId":243750,"journal":{"name":"2011 IEEE/SICE International Symposium on System Integration (SII)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129289838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/SII.2011.6147565
Dong-Ik Cheon, Jichul Kim, Ilgyu Choi, Daegyun Choi, H. Oh
Reaction wheel, the satellite attitude actuator provides torque upon satellite body by changing its wheel speed. Accurate speed measurement is necessary for precision attitude control. Based on the conventional digital algorithm, a new speed detection method is suggested using averaging algorithm. The new algorithm is applied on a reaction wheel developed by Spacecraft Control Laboratory in Korea Aerospace University. Based on the mean errors and standard deviations of measurement speed data, the performance of the suggested algorithm is evaluated. The suggested method works well in the speed detection and shows the improved error performance better than the conventional algorithms.
{"title":"An averaging algorithm for speed measurement of SCL/KAU reaction wheel","authors":"Dong-Ik Cheon, Jichul Kim, Ilgyu Choi, Daegyun Choi, H. Oh","doi":"10.1109/SII.2011.6147565","DOIUrl":"https://doi.org/10.1109/SII.2011.6147565","url":null,"abstract":"Reaction wheel, the satellite attitude actuator provides torque upon satellite body by changing its wheel speed. Accurate speed measurement is necessary for precision attitude control. Based on the conventional digital algorithm, a new speed detection method is suggested using averaging algorithm. The new algorithm is applied on a reaction wheel developed by Spacecraft Control Laboratory in Korea Aerospace University. Based on the mean errors and standard deviations of measurement speed data, the performance of the suggested algorithm is evaluated. The suggested method works well in the speed detection and shows the improved error performance better than the conventional algorithms.","PeriodicalId":243750,"journal":{"name":"2011 IEEE/SICE International Symposium on System Integration (SII)","volume":"579 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113966774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/SII.2011.6147478
T. Kobayashi, T. Ozaki, J. Imae
In this paper, we deal with an optimal control problem for nonholonomic systems. We would be confronted with the Hamilton-Jacobi-Bellman (HJB) equation, whenever we try to obtain the feedback solution. Moreover, it is well known that a viscosity solution is necessary for the HJB equations in the case of nonholonomic systems. Generally, it is very difficult to obtain a standard solution for the HJB equations and so it is much more difficult to obtain a viscosity solution. Therefore, in the design methodology for the nonholonomic systems, little research has been reported so far. We introduce an approximation technique for the nonholonomic problems and construct a feedback controller based on the standard solution of the HJB equation, instead of the viscosity solution. Therefore, the existing research results to obtain the standard solution of the HJB equations is usable in our approach. Our control design consists of two steps. First step is to construct a controller using this standard solution. However, it should be noted that the trajectories do not converge to the origin because of the approximation error. Second step is to design a control strategy without performance index in order to let the trajectories converge to the origin from the neighborhood using a characteristic of nonholonomic systems.
{"title":"A new control design for nonholonomic systems based on controllability of linear systems","authors":"T. Kobayashi, T. Ozaki, J. Imae","doi":"10.1109/SII.2011.6147478","DOIUrl":"https://doi.org/10.1109/SII.2011.6147478","url":null,"abstract":"In this paper, we deal with an optimal control problem for nonholonomic systems. We would be confronted with the Hamilton-Jacobi-Bellman (HJB) equation, whenever we try to obtain the feedback solution. Moreover, it is well known that a viscosity solution is necessary for the HJB equations in the case of nonholonomic systems. Generally, it is very difficult to obtain a standard solution for the HJB equations and so it is much more difficult to obtain a viscosity solution. Therefore, in the design methodology for the nonholonomic systems, little research has been reported so far. We introduce an approximation technique for the nonholonomic problems and construct a feedback controller based on the standard solution of the HJB equation, instead of the viscosity solution. Therefore, the existing research results to obtain the standard solution of the HJB equations is usable in our approach. Our control design consists of two steps. First step is to construct a controller using this standard solution. However, it should be noted that the trajectories do not converge to the origin because of the approximation error. Second step is to design a control strategy without performance index in order to let the trajectories converge to the origin from the neighborhood using a characteristic of nonholonomic systems.","PeriodicalId":243750,"journal":{"name":"2011 IEEE/SICE International Symposium on System Integration (SII)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124085025","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：