Pub Date : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8506819
Nan Dong, Yong Zhang, Qinjun Zhao
When people can't get close to identify the number of instruments, the digital area on the display screen can only be transmitted to the computer by the camera, and the digital recognition is realized through the computer's related software and algorithms. After image pre-processing operations, such as geometric correction, gray-scale, threshold and corrosion expansion, the projection method is used to segment the image and the number is identified by the sewing method. Compared with the traditional method of digital recognition, the efficiency of the sewing method is very high. The combination features of the horizontal and vertical thread of the image is used to complete the cascade classification after the character preprocessing operation. In the digital image acquisition and recognition system based on sewing method, 4320 numbers are identified and tested, of which an average of 122 digits can be handled per second. This method performs well in processing speed, recognition accuracy and anti-interference.
{"title":"Digital recognition based on sewing method","authors":"Nan Dong, Yong Zhang, Qinjun Zhao","doi":"10.1109/ICAMECHS.2018.8506819","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8506819","url":null,"abstract":"When people can't get close to identify the number of instruments, the digital area on the display screen can only be transmitted to the computer by the camera, and the digital recognition is realized through the computer's related software and algorithms. After image pre-processing operations, such as geometric correction, gray-scale, threshold and corrosion expansion, the projection method is used to segment the image and the number is identified by the sewing method. Compared with the traditional method of digital recognition, the efficiency of the sewing method is very high. The combination features of the horizontal and vertical thread of the image is used to complete the cascade classification after the character preprocessing operation. In the digital image acquisition and recognition system based on sewing method, 4320 numbers are identified and tested, of which an average of 122 digits can be handled per second. This method performs well in processing speed, recognition accuracy and anti-interference.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130590389","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507018
M. Deng, A. Inoue, A. Yanou, T. Henmi, Shin-ichi Yoshinaga
This paper proposes a method to suppress the effects of disturbance using an extended controller of state feedback and state estimating observer. Model predictive control(MPC) is widely applied in industry and safety is the most important issue. One measure for safety control is a fault tolerant control which controls plants safely even when a fault occurs. In many cases, effects of fault are represented by effects of unknown disturbances and to suppress such effects of unknown disturbances is an effective method of fault tolerant control. Hence, this paper considers a control to suppress the effects of disturbance for model predictive control. Also frequently fault occurs at measurement of outputs and feedback loop is cut and this causes the output being unstable and plant being dangerous. If the poles of controller are designed to be stable, then the unstable output is avoided and a method to specify poles of the controller being stable is also obtained for the fault tolerant GPC. Hence this paper gives a control scheme (1) to suppress the effects of disturbances and (2) to prevent output being unstable when feedback is cut. To ensure these controls, this paper proposes two control schemes, (1) to derive a mathematical expression of the effect of disturbance, (2) to design stable poles of the controller. To design the controller poles, this paper uses an extended generalized controller by state space coprime factorization approach. The extended controller brings additional poles in the closed-loop. Hence, to design fault tolerant control, (3) as the third control schemes, this paper also derives mathematical expressions of the cancelled poles of the closed-loop systems and the poles of the controller. Once, these expressions are obtained, then these poles are easily designed by selecting design parameters in the controller.
{"title":"Disturbance Suppressing Model Predictive Control Using State Space Approach","authors":"M. Deng, A. Inoue, A. Yanou, T. Henmi, Shin-ichi Yoshinaga","doi":"10.1109/ICAMECHS.2018.8507018","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507018","url":null,"abstract":"This paper proposes a method to suppress the effects of disturbance using an extended controller of state feedback and state estimating observer. Model predictive control(MPC) is widely applied in industry and safety is the most important issue. One measure for safety control is a fault tolerant control which controls plants safely even when a fault occurs. In many cases, effects of fault are represented by effects of unknown disturbances and to suppress such effects of unknown disturbances is an effective method of fault tolerant control. Hence, this paper considers a control to suppress the effects of disturbance for model predictive control. Also frequently fault occurs at measurement of outputs and feedback loop is cut and this causes the output being unstable and plant being dangerous. If the poles of controller are designed to be stable, then the unstable output is avoided and a method to specify poles of the controller being stable is also obtained for the fault tolerant GPC. Hence this paper gives a control scheme (1) to suppress the effects of disturbances and (2) to prevent output being unstable when feedback is cut. To ensure these controls, this paper proposes two control schemes, (1) to derive a mathematical expression of the effect of disturbance, (2) to design stable poles of the controller. To design the controller poles, this paper uses an extended generalized controller by state space coprime factorization approach. The extended controller brings additional poles in the closed-loop. Hence, to design fault tolerant control, (3) as the third control schemes, this paper also derives mathematical expressions of the cancelled poles of the closed-loop systems and the poles of the controller. Once, these expressions are obtained, then these poles are easily designed by selecting design parameters in the controller.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"39 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120922841","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507084
Peng Zhang, Tao Shen
This paper considers the robust absolute stability for uncertain mixed neutral and Lur'e systems with time-varying delay and sector-bounded nonlinear. A novel nonlinearity decomposition approach is proposed. By constructing a suitable augmented L-K functional, and combining nonlinearity decomposition approach, Writing-integral inequality and reciprocally convex approach, the new delay-dependent robust stability criteria for uncertainly neutral Lur'e systems are derived in the form of linear matrix inequalities (LMIs). Two numerical examples are presented to show that effectiveness and less conservatism of proposed methods and can improve the existing methods.
{"title":"An improved Robust Stability Criteria of Neutral Lur'e Systems with Time-Varying Delay via Nonlinearity Decomposition Approach","authors":"Peng Zhang, Tao Shen","doi":"10.1109/ICAMECHS.2018.8507084","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507084","url":null,"abstract":"This paper considers the robust absolute stability for uncertain mixed neutral and Lur'e systems with time-varying delay and sector-bounded nonlinear. A novel nonlinearity decomposition approach is proposed. By constructing a suitable augmented L-K functional, and combining nonlinearity decomposition approach, Writing-integral inequality and reciprocally convex approach, the new delay-dependent robust stability criteria for uncertainly neutral Lur'e systems are derived in the form of linear matrix inequalities (LMIs). Two numerical examples are presented to show that effectiveness and less conservatism of proposed methods and can improve the existing methods.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133131880","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507126
Yi-tao Liang, Wenqiang Zhang, Kui-bin Zhao, Yafei Li
The quality of image collected under severe weather such as fog and haze is badly damaged due to the atmospheric scattering. In order to solve the problem that image dehazing algorithms have poor adaptability, which will occur contrast distortion after restoration or cannot eliminating the influence of dense haze, a self-adaption single image dehaze method based on clarity evaluation is proposed to effectively recover the visual effects of the scene. The innovation points of this paper lied in that, first, the haze image is disposed separately according to average value, standard deviation, average gradient, information entropy and other clarity judgment features of the input image; then, the method of self-adaption image quality evaluation and coding decision is introduced to the dehaze results, to output the best effects obtained through comparison of many methods; finally, the clarity judgment is carried out again to output the final results. Experimental results demonstrate that the proposed method can achieve a better dehazing effect, and its chromaticity, luminance and contrast are improved to a certain extent. The universality of dehaze method is further improved.
{"title":"A Self-Adaption Single Image Dehaze Method Based on Clarity-evaluation-function of Image","authors":"Yi-tao Liang, Wenqiang Zhang, Kui-bin Zhao, Yafei Li","doi":"10.1109/ICAMECHS.2018.8507126","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507126","url":null,"abstract":"The quality of image collected under severe weather such as fog and haze is badly damaged due to the atmospheric scattering. In order to solve the problem that image dehazing algorithms have poor adaptability, which will occur contrast distortion after restoration or cannot eliminating the influence of dense haze, a self-adaption single image dehaze method based on clarity evaluation is proposed to effectively recover the visual effects of the scene. The innovation points of this paper lied in that, first, the haze image is disposed separately according to average value, standard deviation, average gradient, information entropy and other clarity judgment features of the input image; then, the method of self-adaption image quality evaluation and coding decision is introduced to the dehaze results, to output the best effects obtained through comparison of many methods; finally, the clarity judgment is carried out again to output the final results. Experimental results demonstrate that the proposed method can achieve a better dehazing effect, and its chromaticity, luminance and contrast are improved to a certain extent. The universality of dehaze method is further improved.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130074976","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507114
N. Bu, Congcong Jia, Wenpeng Li, M. Deng
In this paper, the issue of handling the stability of nonlinear feedback systems by using an operator-based right coprime factorization method is discussed. Based on the isomorphism factorization method, the inverse of the right factor is discussed and the existence domain and the BIBO stability is respectively proposed by matrix inverse lemma and Liptchitz norm. Moreover, the proposed design scheme can be applied to the select and design of the unimodular operator. In addition, a numerical example of Peltier actuated thermal process temperature control is given to illustrate the effectiveness of the proposed method.
{"title":"An operator-based control scheme designed for nonlinear feedback system","authors":"N. Bu, Congcong Jia, Wenpeng Li, M. Deng","doi":"10.1109/ICAMECHS.2018.8507114","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507114","url":null,"abstract":"In this paper, the issue of handling the stability of nonlinear feedback systems by using an operator-based right coprime factorization method is discussed. Based on the isomorphism factorization method, the inverse of the right factor is discussed and the existence domain and the BIBO stability is respectively proposed by matrix inverse lemma and Liptchitz norm. Moreover, the proposed design scheme can be applied to the select and design of the unimodular operator. In addition, a numerical example of Peltier actuated thermal process temperature control is given to illustrate the effectiveness of the proposed method.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130277876","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8506843
Jialu Fan, Z. Li, Yi Jiang, T. Chai, F. Lewis
In this paper, a data-driven output feedback H∞ control algorithm for discrete-time linear systems with unknown dynamics has been proposed. At first, the standard model-based state feedback H∞ controller is formulated. Then, considering the state is not measurable and the system dynamic is unknown for some systems, we reformulate the value function of the H∞ control problem based on historical input and output data. Using the novel value function and adaptive dynamic programming approach, an online data-driven output feedback H∞ control algorithm for linear discrete-time systems is proposed. Different from on-policy reinforcement learning based model-free control algorithms, the proposed algorithm can eliminate the influence of probing noise to guarantee unbiased solutions. A simulation example is employed to verify the effectiveness of the proposed control algorithm.
{"title":"Model-Free Linear Discrete-Time System H∞ Control Using Input-Output Data","authors":"Jialu Fan, Z. Li, Yi Jiang, T. Chai, F. Lewis","doi":"10.1109/ICAMECHS.2018.8506843","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8506843","url":null,"abstract":"In this paper, a data-driven output feedback H∞ control algorithm for discrete-time linear systems with unknown dynamics has been proposed. At first, the standard model-based state feedback H∞ controller is formulated. Then, considering the state is not measurable and the system dynamic is unknown for some systems, we reformulate the value function of the H∞ control problem based on historical input and output data. Using the novel value function and adaptive dynamic programming approach, an online data-driven output feedback H∞ control algorithm for linear discrete-time systems is proposed. Different from on-policy reinforcement learning based model-free control algorithms, the proposed algorithm can eliminate the influence of probing noise to guarantee unbiased solutions. A simulation example is employed to verify the effectiveness of the proposed control algorithm.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116515932","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507145
Yibo Zhang, C. Xiang, Bin Xu
This paper proposes an innovative coaxial aircraft with tandem ducted fans, which has great trafficability and is particularly suitable for passing through narrow spaces. The unconventional structure leads to unknown complicated dynamical characteristics. A comprehensive nonlinear dynamic model is established, considering the special characteristics of duct and coaxial rotors. On this basis, a series of modeling analyses are completed to fully understand the coupling, stability and controllability of the aircraft. The results verify the feasibility of this innovative design and reveal the dynamic differences between it and other conventional aircrafts. Moreover, the results are the prerequisite for future controller design and provide guidance for the controller design process.
{"title":"Modeling and Comprehensive Analysis of an Innovative Coaxial Ducted Fan Aircraft","authors":"Yibo Zhang, C. Xiang, Bin Xu","doi":"10.1109/ICAMECHS.2018.8507145","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507145","url":null,"abstract":"This paper proposes an innovative coaxial aircraft with tandem ducted fans, which has great trafficability and is particularly suitable for passing through narrow spaces. The unconventional structure leads to unknown complicated dynamical characteristics. A comprehensive nonlinear dynamic model is established, considering the special characteristics of duct and coaxial rotors. On this basis, a series of modeling analyses are completed to fully understand the coupling, stability and controllability of the aircraft. The results verify the feasibility of this innovative design and reveal the dynamic differences between it and other conventional aircrafts. Moreover, the results are the prerequisite for future controller design and provide guidance for the controller design process.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134403965","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507015
Shotaro Kubota, M. Deng, Y. Noge
In aging society and decrease of birthrate, the number of workers is decresing and it is an urgent problem to be solved. One way to solve this problem is to use a robot. For this way, we are required to analyze the movement of human and identify the characteristics of the movement. And if we can apply the measured characteristic of the movement to the robot, we can realize human-like movement with robot. In this paper, a robot arm control system is discussed based on the human multi-joint arm viscoelasticity and robust right coprime factorization condition. Specifically, we apply the human multijoint arm viscoelasticity to a tracking controller of the robot arm and confirm that it follows the target trajectory. The effectiveness of the proposed design scheme is verified by simulations.
{"title":"Robot arm control based on human multi-joint arm viscoelasiticity and operator theory","authors":"Shotaro Kubota, M. Deng, Y. Noge","doi":"10.1109/ICAMECHS.2018.8507015","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507015","url":null,"abstract":"In aging society and decrease of birthrate, the number of workers is decresing and it is an urgent problem to be solved. One way to solve this problem is to use a robot. For this way, we are required to analyze the movement of human and identify the characteristics of the movement. And if we can apply the measured characteristic of the movement to the robot, we can realize human-like movement with robot. In this paper, a robot arm control system is discussed based on the human multi-joint arm viscoelasticity and robust right coprime factorization condition. Specifically, we apply the human multijoint arm viscoelasticity to a tracking controller of the robot arm and confirm that it follows the target trajectory. The effectiveness of the proposed design scheme is verified by simulations.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132809387","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8506748
Uma Maheswari Rajagoplan
Recently, the consumption of green tea is on the rise due to its potential positive health effects. The main origin for these effects have been attributed to the presence of two compounds found in tea, caffeine and L-theanine with caffine being related to attention, energy, motivation, self-confidence, alertness and concentration and L-theanine related to relaxation. In this study, a wearable functional Near-Infrared Spectroscopy (fNIRS) device was used to monitor neural activity. The device operating at a wavelength of 810 nm could detect absorption changes in total oxyhemoglobin (HbO) due to neural activity and the current study focused on addressing changes in attention under the consumption of green tea and other beverages. In this pilot study, a total of 6 Japanese undergraduate students (3 males and 3 females) participated and the cognitive tasks included multiplication (M) and word generation (W) game in English. It was found that during both the multiplication and word tasks, the relative decrease in total HbO was smaller for green tea in comparison to both control or no drink and other beverages for almost all the subjects. In conclusion, we suggest for the existence of a correlation between drink type and task performance and this could have implications not only in classrooms and but also form the basis of studying the cognitive effects of different drinks available in the market.
{"title":"Green tea could improve the performance of cognitive tasks: A pilot study with wearable brain imaging device","authors":"Uma Maheswari Rajagoplan","doi":"10.1109/ICAMECHS.2018.8506748","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8506748","url":null,"abstract":"Recently, the consumption of green tea is on the rise due to its potential positive health effects. The main origin for these effects have been attributed to the presence of two compounds found in tea, caffeine and L-theanine with caffine being related to attention, energy, motivation, self-confidence, alertness and concentration and L-theanine related to relaxation. In this study, a wearable functional Near-Infrared Spectroscopy (fNIRS) device was used to monitor neural activity. The device operating at a wavelength of 810 nm could detect absorption changes in total oxyhemoglobin (HbO) due to neural activity and the current study focused on addressing changes in attention under the consumption of green tea and other beverages. In this pilot study, a total of 6 Japanese undergraduate students (3 males and 3 females) participated and the cognitive tasks included multiplication (M) and word generation (W) game in English. It was found that during both the multiplication and word tasks, the relative decrease in total HbO was smaller for green tea in comparison to both control or no drink and other beverages for almost all the subjects. In conclusion, we suggest for the existence of a correlation between drink type and task performance and this could have implications not only in classrooms and but also form the basis of studying the cognitive effects of different drinks available in the market.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133271115","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507068
I. Mizumoto, Shigang Yue
The system is said to be ‘almost strictly positive real (ASPR)’ if there exists a static output feedback such that the resulting closed-loop system is strictly positive real (SPR). The conditions for the system to be ASPR are given by (1) the system is minimum-phase, (2) the system has a relative degree of 1, (3) the high-frequency gain of the system is positive. It is well recognized that, under the ASPR condition, one can easily design stable adaptive output feedback control systems and/or adaptive output tracking control systems which have simple structure utilizing only output of the controlled system. Under the ASPR conditions, the ASPR based adaptive output feedback controls including simple adaptive control (SAC) can reduce the number of adjusting parameters and can design the controller without the knowledge of the order of the controlled system. Therefore, the ASPR based adaptive output feedback controls have strong robustness with respect to system's uncertainties and disturbances so that several kinds of practical applications have been reported. Unfortunately, however, since there are many systems that have relative degree greater than one and/or is not minimum phase, most practical systems do not satisfy these ASPR conditions. One of the simple solution to overcome the problem is to introducing a parallel feedforward compensator (PFC). By introducing the PFC to the controlled system, the difficulty to control uncertain system is drastically alleviated via simple adaptive output feedback based on ASPR properties. In my talk, the basic design concept of the output feedback based adaptive control system is presented and the availability of the PFC is explained. The applicability of the output feedback based adaptive control is also shown with some application results
{"title":"Plenary Speakers: Output Feedback Based Adaptive Control and Parallel Feedforward Compensator - Design and Applications","authors":"I. Mizumoto, Shigang Yue","doi":"10.1109/ICAMECHS.2018.8507068","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507068","url":null,"abstract":"The system is said to be ‘almost strictly positive real (ASPR)’ if there exists a static output feedback such that the resulting closed-loop system is strictly positive real (SPR). The conditions for the system to be ASPR are given by (1) the system is minimum-phase, (2) the system has a relative degree of 1, (3) the high-frequency gain of the system is positive. It is well recognized that, under the ASPR condition, one can easily design stable adaptive output feedback control systems and/or adaptive output tracking control systems which have simple structure utilizing only output of the controlled system. Under the ASPR conditions, the ASPR based adaptive output feedback controls including simple adaptive control (SAC) can reduce the number of adjusting parameters and can design the controller without the knowledge of the order of the controlled system. Therefore, the ASPR based adaptive output feedback controls have strong robustness with respect to system's uncertainties and disturbances so that several kinds of practical applications have been reported. Unfortunately, however, since there are many systems that have relative degree greater than one and/or is not minimum phase, most practical systems do not satisfy these ASPR conditions. One of the simple solution to overcome the problem is to introducing a parallel feedforward compensator (PFC). By introducing the PFC to the controlled system, the difficulty to control uncertain system is drastically alleviated via simple adaptive output feedback based on ASPR properties. In my talk, the basic design concept of the output feedback based adaptive control system is presented and the availability of the PFC is explained. The applicability of the output feedback based adaptive control is also shown with some application results","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116556553","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}
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