Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526717
Hong Chen, Y. Okuyama, F. Takemori
In this paper, we describe a graphical method of composing frequency responses for cascade connected plants of control system with model uncertainty and the robust stability of feedback control for such systems, i.e., multiloop control systems. The composition of frequency responses is represented sequentially by a recurrent inequality, and the evaluation of the robust stability is expressed by a series of inequalities provided in the reduction process of the block diagram. A computer-aided system for control system design is constructed on a workstation by using the C language.
{"title":"Composition of frequency responses and robust stability for multi-loop control system with model uncertainty","authors":"Hong Chen, Y. Okuyama, F. Takemori","doi":"10.1109/SICE.1995.526717","DOIUrl":"https://doi.org/10.1109/SICE.1995.526717","url":null,"abstract":"In this paper, we describe a graphical method of composing frequency responses for cascade connected plants of control system with model uncertainty and the robust stability of feedback control for such systems, i.e., multiloop control systems. The composition of frequency responses is represented sequentially by a recurrent inequality, and the evaluation of the robust stability is expressed by a series of inequalities provided in the reduction process of the block diagram. A computer-aided system for control system design is constructed on a workstation by using the C language.","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":"130531302","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.1995.526643
N. Murata, H. Matsuno, A. Morán, M. Hayase
This paper presents the dynamical modeling and nonlinear controller design of inverted pendulum-wheeled cart systems. The controller is a nonlinear observer-based compensator with linear feedback gains. Using a linearized model, the linear feedback gains were determined according to H/sub /spl infin// and H/sub 2/ control theories. A Luenberger-like nonlinear observer was designed to estimate the unmeasured variables required for the control. The performance of the proposed controller was experimentally verified. It was found that the nonlinear controller is able to stabilize the pendulum in a short period of time. Also the controller with H/sub /spl infin// gains requires shorter range of variations of pendulum angle and cart displacement than the controller with H/sub 2/ gains.
{"title":"Control of inverted pendulum-wheeled cart systems using nonlinear observers","authors":"N. Murata, H. Matsuno, A. Morán, M. Hayase","doi":"10.1109/SICE.1995.526643","DOIUrl":"https://doi.org/10.1109/SICE.1995.526643","url":null,"abstract":"This paper presents the dynamical modeling and nonlinear controller design of inverted pendulum-wheeled cart systems. The controller is a nonlinear observer-based compensator with linear feedback gains. Using a linearized model, the linear feedback gains were determined according to H/sub /spl infin// and H/sub 2/ control theories. A Luenberger-like nonlinear observer was designed to estimate the unmeasured variables required for the control. The performance of the proposed controller was experimentally verified. It was found that the nonlinear controller is able to stabilize the pendulum in a short period of time. Also the controller with H/sub /spl infin// gains requires shorter range of variations of pendulum angle and cart displacement than the controller with H/sub 2/ gains.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"73 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":"131572093","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.1995.526651
M. Noto, M. Kurihara, A. Ohuchi
A laboratory assignment algorithm is a procedure that assigns each of the m students to one of the n laboratories. In this paper, we prove the completeness (i.e., termination and confluence) of the algorithm by using the abstract reduction systems theory. Termination guarantees that the computation will not proceed indefinitely, and confluence guarantees that the computational result is unique even in the presence of indeterminacy.
{"title":"Analysis of completeness of laboratory assignment algorithm by abstract reduction systems theory","authors":"M. Noto, M. Kurihara, A. Ohuchi","doi":"10.1109/SICE.1995.526651","DOIUrl":"https://doi.org/10.1109/SICE.1995.526651","url":null,"abstract":"A laboratory assignment algorithm is a procedure that assigns each of the m students to one of the n laboratories. In this paper, we prove the completeness (i.e., termination and confluence) of the algorithm by using the abstract reduction systems theory. Termination guarantees that the computation will not proceed indefinitely, and confluence guarantees that the computational result is unique even in the presence of indeterminacy.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"5 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":"130934582","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.1995.526728
Y. Yamauchi, J. Tan, S. Ishikawa, K. Kato
This paper describes an architecture of realizing an intelligent robots system. First, a multiple robots system is abstracted as an intelligent mechanical system and an architecture of the system is proposed for realizing various intelligent work. The architecture is then applied to a two mobile robots system, and a method of conveying a box in a cooperative way is shown with experimental results.
{"title":"On the development of a cooperative work strategy - carrying a box with mutual communication and image data","authors":"Y. Yamauchi, J. Tan, S. Ishikawa, K. Kato","doi":"10.1109/SICE.1995.526728","DOIUrl":"https://doi.org/10.1109/SICE.1995.526728","url":null,"abstract":"This paper describes an architecture of realizing an intelligent robots system. First, a multiple robots system is abstracted as an intelligent mechanical system and an architecture of the system is proposed for realizing various intelligent work. The architecture is then applied to a two mobile robots system, and a method of conveying a box in a cooperative way is shown with experimental results.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"8 4 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":"132893785","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.1995.526712
Li Jin, A. Watanabe, S. Kawata
By using the Walsh functions an approximate solution is obtained for the linear-quadratic-Gaussian control design problem. An improved formula of Walsh functions is derived for giving a simple expression of products of two or more arbitrary matrix time functions. It is shown that the Riccati matrix equation can directly be solved with the improved formula. Calculation results are presented to illustrate the validity and applicability of this method.
{"title":"The linear-quadratic-Gaussian control design using an improved product formula of Walsh functions","authors":"Li Jin, A. Watanabe, S. Kawata","doi":"10.1109/SICE.1995.526712","DOIUrl":"https://doi.org/10.1109/SICE.1995.526712","url":null,"abstract":"By using the Walsh functions an approximate solution is obtained for the linear-quadratic-Gaussian control design problem. An improved formula of Walsh functions is derived for giving a simple expression of products of two or more arbitrary matrix time functions. It is shown that the Riccati matrix equation can directly be solved with the improved formula. Calculation results are presented to illustrate the validity and applicability of this method.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"28 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":"114160341","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.1995.526739
H. Yamane, M. Kaneko, T. Oyobe
The start of service use of an indigenous FADEC system in a manned aircraft is approaching. The TRDI's FADEC technology has been matured within the JEC-series FADEC R&D programs. Topics are described that have involved Third Research Center, TRDI in the process of the JEC-series programs. The status of the TRDI's technology research and development, which determines the role of the engine control systems group and its research objectives, is briefly overviewed. Some important topics are described that are absorbing the group's research effort in accordance with such status.
{"title":"Recent topics of aircraft engine control systems R&D at TRDI, JDA","authors":"H. Yamane, M. Kaneko, T. Oyobe","doi":"10.1109/SICE.1995.526739","DOIUrl":"https://doi.org/10.1109/SICE.1995.526739","url":null,"abstract":"The start of service use of an indigenous FADEC system in a manned aircraft is approaching. The TRDI's FADEC technology has been matured within the JEC-series FADEC R&D programs. Topics are described that have involved Third Research Center, TRDI in the process of the JEC-series programs. The status of the TRDI's technology research and development, which determines the role of the engine control systems group and its research objectives, is briefly overviewed. Some important topics are described that are absorbing the group's research effort in accordance with such status.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"163 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":"123504713","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.1995.526731
T. Ieko, Y. Ochi, K. Kanai, N. Hori
In the digital redesign approach considering the closed-loop characteristics of the underlying continuous-time (CT) control system, the plant input mapping (PIM) method has previously been proposed based on the plant input transfer function (PITF) discretized by the matched pole-zero model. The authors have subsequently proposed the modified algorithm of this method using the standard H/spl infin/ problem for redesigning into an one-degree-of-freedom (1-DOF) digital control system, and the discretization method of the PITF utilizing the inter-sample responses of the step invariance model for redesigning the multi-input multi-output (MIMO) CT control system. This paper presents its extension to the redesign for the two-degree-of-freedom (2-DOF) CT control system. The simulation studies are performed for the redesign of a digital CCV flight control system to illustrate the effectiveness of the proposed method.
{"title":"PIM digital redesign method and its application to the design of a digital flight controller","authors":"T. Ieko, Y. Ochi, K. Kanai, N. Hori","doi":"10.1109/SICE.1995.526731","DOIUrl":"https://doi.org/10.1109/SICE.1995.526731","url":null,"abstract":"In the digital redesign approach considering the closed-loop characteristics of the underlying continuous-time (CT) control system, the plant input mapping (PIM) method has previously been proposed based on the plant input transfer function (PITF) discretized by the matched pole-zero model. The authors have subsequently proposed the modified algorithm of this method using the standard H/spl infin/ problem for redesigning into an one-degree-of-freedom (1-DOF) digital control system, and the discretization method of the PITF utilizing the inter-sample responses of the step invariance model for redesigning the multi-input multi-output (MIMO) CT control system. This paper presents its extension to the redesign for the two-degree-of-freedom (2-DOF) CT control system. The simulation studies are performed for the redesign of a digital CCV flight control system to illustrate the effectiveness of the proposed method.","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":"130168006","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.1995.526704
M. Nour, E. Abed, N. Hegazi
Tutoring is a linguistic exchange whose goal is to clarify a body of knowledge to which the student has already been exposed. Tutoring also involves directly a dialog so that the responses remain appropriate even when facing errors. This paper presents a proposed algorithm for the student model which can be considered as one of the main modules existing in an intelligent tutoring system. The proposed algorithm takes care of transferring knowledge to the student, pointing out the student errors, and understanding the student belief. This can be done by keeping track of the student status. The student model will also monitor the student behaviour. The monitoring process can be done by analyzing the student answers, comparing them with the correct system generated answers. This comparison will predict the student level of understanding or to recognize the student particular learning style. The student model is supported by a powerful structured knowledge base (KB) which contains a large number of facts and rules of the selected domain. The KB contains diagnostic hypotheses which are able to explain the student behaviour. The student model using that KB can perform logical inference operations to detect the student exploration direction, the student weak points, the student belief, and others.
{"title":"A proposed student model algorithm for an intelligent tutoring system","authors":"M. Nour, E. Abed, N. Hegazi","doi":"10.1109/SICE.1995.526704","DOIUrl":"https://doi.org/10.1109/SICE.1995.526704","url":null,"abstract":"Tutoring is a linguistic exchange whose goal is to clarify a body of knowledge to which the student has already been exposed. Tutoring also involves directly a dialog so that the responses remain appropriate even when facing errors. This paper presents a proposed algorithm for the student model which can be considered as one of the main modules existing in an intelligent tutoring system. The proposed algorithm takes care of transferring knowledge to the student, pointing out the student errors, and understanding the student belief. This can be done by keeping track of the student status. The student model will also monitor the student behaviour. The monitoring process can be done by analyzing the student answers, comparing them with the correct system generated answers. This comparison will predict the student level of understanding or to recognize the student particular learning style. The student model is supported by a powerful structured knowledge base (KB) which contains a large number of facts and rules of the selected domain. The KB contains diagnostic hypotheses which are able to explain the student behaviour. The student model using that KB can perform logical inference operations to detect the student exploration direction, the student weak points, the student belief, and others.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"19 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":"128363894","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.1995.526653
M. Yamamoto, T. Ohyanagi, A. Ohuchi
We present a new theorem proving procedure based on the partial instantiation technique, which is developed by Jeroslow. The proposed procedure is applicable to clausal form formulas in the first-order logic, as well as other resolution-based methods. We also show its completeness, i.e., it can verify that a given set of clauses is unsatisfiable if indeed it is unsatisfiable.
{"title":"Theorem proving based on the partial instatiation technique","authors":"M. Yamamoto, T. Ohyanagi, A. Ohuchi","doi":"10.1109/SICE.1995.526653","DOIUrl":"https://doi.org/10.1109/SICE.1995.526653","url":null,"abstract":"We present a new theorem proving procedure based on the partial instantiation technique, which is developed by Jeroslow. The proposed procedure is applicable to clausal form formulas in the first-order logic, as well as other resolution-based methods. We also show its completeness, i.e., it can verify that a given set of clauses is unsatisfiable if indeed it is unsatisfiable.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"27 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":"125959523","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.1995.526660
K. Sato, M. Oya, Jiachun Fan, T. Kobayashi
A simple adaptive output feedback controller is given for a class of SISO linear systems which are minimum phase and relative degree two or less, with an output-dependent nonlinear disturbance. It is shown that the controller achieves stabilization and output tracking for such a class of systems.
{"title":"Adaptive control of a class of nonlinearly perturbed linear systems of relative degree two or less","authors":"K. Sato, M. Oya, Jiachun Fan, T. Kobayashi","doi":"10.1109/SICE.1995.526660","DOIUrl":"https://doi.org/10.1109/SICE.1995.526660","url":null,"abstract":"A simple adaptive output feedback controller is given for a class of SISO linear systems which are minimum phase and relative degree two or less, with an output-dependent nonlinear disturbance. It is shown that the controller achieves stabilization and output tracking for such a class of systems.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"4 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":"121860223","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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