Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526974
T. Oki, T. Yamamoto, M. Kaneda
We believe that the simplicity and usefulness of self tuning control systems are the important factors in control performance evaluation. In this paper some self-tuning control systems are studied from the view point of these factors when applying them to a real multivariable plant.
{"title":"A comparison of self-tuning control schemes in applications","authors":"T. Oki, T. Yamamoto, M. Kaneda","doi":"10.1109/SICE.1995.526974","DOIUrl":"https://doi.org/10.1109/SICE.1995.526974","url":null,"abstract":"We believe that the simplicity and usefulness of self tuning control systems are the important factors in control performance evaluation. In this paper some self-tuning control systems are studied from the view point of these factors when applying them to a real multivariable plant.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121860806","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 : 1995-07-26DOI: 10.1109/SICE.1995.526972
S. Tamaki, T. Miyazato, Y. Sakuma, H. Kinjo, T. Yamamoto
This paper presents the optimal digital feedback controller for eliminating stationary disturbance, the design of which is based on the system's impulse response data and the spectral density function of the disturbance signal. This control scheme adopts the Wiener-Hopf criterion which minimizes the frequency-shaped cost function. Since the free parameter of the controller is constructed as a FIR filter, the computation for designing the optimal filter is reduced to solving the finite discrete-time Wiener-Hopf equation. This equation is solved, recursively, increasing the order of the system each time, via the fast algorithm. Furthermore, the stability of the feedback system is guaranteed. The effectiveness of the proposed method is verified both simulations and experiments by application to the oscillation control of a load hanging from a traveling crane.
{"title":"Design of optimal digital controller considering frequency-shaped cost function","authors":"S. Tamaki, T. Miyazato, Y. Sakuma, H. Kinjo, T. Yamamoto","doi":"10.1109/SICE.1995.526972","DOIUrl":"https://doi.org/10.1109/SICE.1995.526972","url":null,"abstract":"This paper presents the optimal digital feedback controller for eliminating stationary disturbance, the design of which is based on the system's impulse response data and the spectral density function of the disturbance signal. This control scheme adopts the Wiener-Hopf criterion which minimizes the frequency-shaped cost function. Since the free parameter of the controller is constructed as a FIR filter, the computation for designing the optimal filter is reduced to solving the finite discrete-time Wiener-Hopf equation. This equation is solved, recursively, increasing the order of the system each time, via the fast algorithm. Furthermore, the stability of the feedback system is guaranteed. The effectiveness of the proposed method is verified both simulations and experiments by application to the oscillation control of a load hanging from a traveling crane.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121266429","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 : 1995-07-26DOI: 10.1109/SICE.1995.526699
Hiroshi Morioka, Kenzo Wada, A. Sabanoviç, Karel Jezernik
We present a design method of online estimator which estimates a part of equivalent control containing a system's nonlinear term, input-matrix uncertainty and unknown disturbance by use of one of a neural network's most powerful ability, that is, function approximation, The controller using that estimated equivalent control is designed to have continuous control to eliminate chattering and to provide sliding mode motion on the selected manifolds in the state space.
{"title":"Neural network based chattering free sliding mode control","authors":"Hiroshi Morioka, Kenzo Wada, A. Sabanoviç, Karel Jezernik","doi":"10.1109/SICE.1995.526699","DOIUrl":"https://doi.org/10.1109/SICE.1995.526699","url":null,"abstract":"We present a design method of online estimator which estimates a part of equivalent control containing a system's nonlinear term, input-matrix uncertainty and unknown disturbance by use of one of a neural network's most powerful ability, that is, function approximation, The controller using that estimated equivalent control is designed to have continuous control to eliminate chattering and to provide sliding mode motion on the selected manifolds in the state space.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128114117","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 : 1995-07-26DOI: 10.1109/SICE.1995.526734
Y. Baba, L. Takano, M. Sano
This paper deals with a synthesis for a nonlinear flight controller using a nonlinear state feedback. This method is called a dynamic inversion theory and is widely used to design a nonlinear flight controller. We show how to choose the control gains for the controller designed by a dynamic inversion theory when inversion is not exact due to the actuator lags.
{"title":"Design of a nonlinear flight controller based on dynamic inversion","authors":"Y. Baba, L. Takano, M. Sano","doi":"10.1109/SICE.1995.526734","DOIUrl":"https://doi.org/10.1109/SICE.1995.526734","url":null,"abstract":"This paper deals with a synthesis for a nonlinear flight controller using a nonlinear state feedback. This method is called a dynamic inversion theory and is widely used to design a nonlinear flight controller. We show how to choose the control gains for the controller designed by a dynamic inversion theory when inversion is not exact due to the actuator lags.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132599816","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 : 1995-07-26DOI: 10.1109/SICE.1995.526650
S. Shinohara, H. Uda, Y. Ichioka, H. Yasui, H. Yoshida, H. Ikeda, M. Sumi
Measuring time of mesa spots and indents on a slowly moving (less than 8 mm/s) is greatly reduced to 3.5 seconds (for 121 points) by utilizing a 3D range image measuring system. In the system, a laser light beam from a range-finding speedometer is mechanically scanned to illuminate a successive point on the object surface. The minimum detectable size of a square mesa or a square indent which is moving 2 times the minimum scanning length (MSL=7.6 mm), and the minimum detectable depth of those was 6 mm-7 mm.
{"title":"Detection of mesa spots and indents on slowly moving object surface by laser-light beam scanning","authors":"S. Shinohara, H. Uda, Y. Ichioka, H. Yasui, H. Yoshida, H. Ikeda, M. Sumi","doi":"10.1109/SICE.1995.526650","DOIUrl":"https://doi.org/10.1109/SICE.1995.526650","url":null,"abstract":"Measuring time of mesa spots and indents on a slowly moving (less than 8 mm/s) is greatly reduced to 3.5 seconds (for 121 points) by utilizing a 3D range image measuring system. In the system, a laser light beam from a range-finding speedometer is mechanically scanned to illuminate a successive point on the object surface. The minimum detectable size of a square mesa or a square indent which is moving 2 times the minimum scanning length (MSL=7.6 mm), and the minimum detectable depth of those was 6 mm-7 mm.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133955601","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 : 1995-07-26DOI: 10.1109/SICE.1995.526656
A. Tamaki, K. Kato, T. Yanaru
It is necessary to evaluate the similarity of figures and to extract the features of figure in image processing. A contour figure can be processed by analyzing the complex valued function which presents the objective contour. The feature function is defined by cross correlation function of an objective contour figure and a standard contour figure. The feature function is also a complex valued function with the same period. The feature function indicates how a part of the contour is similar to a certain shape. We describe the similarity of contour figures by using the feature function. Various feature functions are produced by changing the standard contour. This paper reports the theory and experiment of this method.
{"title":"On the analysis of contour figures by using cross correlation function","authors":"A. Tamaki, K. Kato, T. Yanaru","doi":"10.1109/SICE.1995.526656","DOIUrl":"https://doi.org/10.1109/SICE.1995.526656","url":null,"abstract":"It is necessary to evaluate the similarity of figures and to extract the features of figure in image processing. A contour figure can be processed by analyzing the complex valued function which presents the objective contour. The feature function is defined by cross correlation function of an objective contour figure and a standard contour figure. The feature function is also a complex valued function with the same period. The feature function indicates how a part of the contour is similar to a certain shape. We describe the similarity of contour figures by using the feature function. Various feature functions are produced by changing the standard contour. This paper reports the theory and experiment of this method.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122125002","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 : 1995-07-26DOI: 10.1109/SICE.1995.526970
Jae-kwan Lee, Bo-Hyeok Suh, K. Abe
Develops an indirect adaptive controller using feedback linearization (IACFL). IACFL addresses the problem of designing a robust controller for a nonlinear system with observable nonlinear functions and state variables. IACFL consists of strictly positive real (STR)-Lyapunov synthesis algorithm, Input state feedback linearization (ISFL) algorithm, and model reference adaptive controller (MRAC). IACFL provides that, when estimated parameters of the nonlinear system are given in ISFL repeatedly, the output of nonlinear system can follow that of a stable reference linear model.
{"title":"Model reference adaptive control of nonlinear system using feedback linearization","authors":"Jae-kwan Lee, Bo-Hyeok Suh, K. Abe","doi":"10.1109/SICE.1995.526970","DOIUrl":"https://doi.org/10.1109/SICE.1995.526970","url":null,"abstract":"Develops an indirect adaptive controller using feedback linearization (IACFL). IACFL addresses the problem of designing a robust controller for a nonlinear system with observable nonlinear functions and state variables. IACFL consists of strictly positive real (STR)-Lyapunov synthesis algorithm, Input state feedback linearization (ISFL) algorithm, and model reference adaptive controller (MRAC). IACFL provides that, when estimated parameters of the nonlinear system are given in ISFL repeatedly, the output of nonlinear system can follow that of a stable reference linear model.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134449796","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 : 1995-07-26DOI: 10.1109/SICE.1995.526963
Zhu Bangzhong, Yuan Hangjun
Methods of remote oil films diagnosis using laser induced fluorescence (LIF) spectra are usually based on correlation coefficients between the laboratory sample spectra and acquired in-situ spectra. Research shows that thickness of oil film affects the LIF spectra greatly. In this paper a method, which is independent of the thickness of oil film, is set forth to classify oils on water into three groups (namely lightly refined, crude, heavy residual oils) without using laboratory sample spectra. The method is useful for computer-based oil film spectra diagnosis. The experimental system is described.
{"title":"Classification of oils an water using LIF spectrum parameters independent of the thickness of oil film","authors":"Zhu Bangzhong, Yuan Hangjun","doi":"10.1109/SICE.1995.526963","DOIUrl":"https://doi.org/10.1109/SICE.1995.526963","url":null,"abstract":"Methods of remote oil films diagnosis using laser induced fluorescence (LIF) spectra are usually based on correlation coefficients between the laboratory sample spectra and acquired in-situ spectra. Research shows that thickness of oil film affects the LIF spectra greatly. In this paper a method, which is independent of the thickness of oil film, is set forth to classify oils on water into three groups (namely lightly refined, crude, heavy residual oils) without using laboratory sample spectra. The method is useful for computer-based oil film spectra diagnosis. The experimental system is described.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116469494","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 : 1995-07-26DOI: 10.1109/SICE.1995.526716
F. Takemori, Y. Okuyama
In this paper, we present a design method of MIMO systems by sequential reduction considering frequency ranges. In each frequency ranges, the closed transmittance in a diagonal system can be approximated to the open-loop one by using weighting functions. At the same time, MIMO systems is modified to SISO system by weighting functions, therefore, its controller is easily designed. A simple example is shown to illustrate this method.
{"title":"A design method of multivariable control systems by sequential reduction: considering frequency range","authors":"F. Takemori, Y. Okuyama","doi":"10.1109/SICE.1995.526716","DOIUrl":"https://doi.org/10.1109/SICE.1995.526716","url":null,"abstract":"In this paper, we present a design method of MIMO systems by sequential reduction considering frequency ranges. In each frequency ranges, the closed transmittance in a diagonal system can be approximated to the open-loop one by using weighting functions. At the same time, MIMO systems is modified to SISO system by weighting functions, therefore, its controller is easily designed. A simple example is shown to illustrate this method.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127933834","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 : 1995-07-26DOI: 10.1109/SICE.1995.526733
H. Ebneddin Hamidi, H. Ohta
In this study synthesis of a helicopter trajectory controller is described. Nonlinear transformation theory has been used in the design of the control system to represent nonlinearities in the model of the system. The singular perturbation theory is used to simplify control system structure and a new algorithm has been synthesized for the inverse nonlinear transformation of the control terms. Problem of modeling errors in the system with nonlinear inverse dynamics theory is investigated. The results of simulation show that the control system could track commanded values under the presence of modeling errors and disturbances.
{"title":"Helicopter flight controller design using nonlinear transformation","authors":"H. Ebneddin Hamidi, H. Ohta","doi":"10.1109/SICE.1995.526733","DOIUrl":"https://doi.org/10.1109/SICE.1995.526733","url":null,"abstract":"In this study synthesis of a helicopter trajectory controller is described. Nonlinear transformation theory has been used in the design of the control system to represent nonlinearities in the model of the system. The singular perturbation theory is used to simplify control system structure and a new algorithm has been synthesized for the inverse nonlinear transformation of the control terms. Problem of modeling errors in the system with nonlinear inverse dynamics theory is investigated. The results of simulation show that the control system could track commanded values under the presence of modeling errors and disturbances.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128299258","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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