Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285364
I. Mizumoto, Ikejiri Masataka, K. Ding, Seiya Fujii
This paper deals with a two degree of freedom control system design problem based on the ASPR-based output feedback with a predictive control as a feedforward input. It is well known that one can design a stable output feedback control system with a high gain feedback if the considered controlled system satisfies almost strictly positive real (ASPR) conditions. Unfortunately, however, the ASPR conditions impose a severe restriction to the controlled systems. The introduction of a parallel feedforward compensator is one of the simple strategies to alleviate the ASPR restrictions. In this paper, we propose an output tracking control system design scheme for ASPR augmented systems with the PFC by applying a predictive control input as a feedforward input. A robust design scheme of an output predictor for the proposed predictive feedforward control will also be provided.
{"title":"Output feedback based 2DOF control with a robust predictive feedforward input","authors":"I. Mizumoto, Ikejiri Masataka, K. Ding, Seiya Fujii","doi":"10.1109/SICE.2015.7285364","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285364","url":null,"abstract":"This paper deals with a two degree of freedom control system design problem based on the ASPR-based output feedback with a predictive control as a feedforward input. It is well known that one can design a stable output feedback control system with a high gain feedback if the considered controlled system satisfies almost strictly positive real (ASPR) conditions. Unfortunately, however, the ASPR conditions impose a severe restriction to the controlled systems. The introduction of a parallel feedforward compensator is one of the simple strategies to alleviate the ASPR restrictions. In this paper, we propose an output tracking control system design scheme for ASPR augmented systems with the PFC by applying a predictive control input as a feedforward input. A robust design scheme of an output predictor for the proposed predictive feedforward control will also be provided.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123666282","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285414
K. Hashikura, A. Kojima
Technological developments of GPS and PMU are enabling construction of the centralized PSS scheme which is expected to mitigate damped low frequency inter-area oscillations. Since transmission and processing delays in GPS and PMU units amount to the order of 100 ms, the centralized power systems should be endowed with robustness to those delays. This paper investigates the possibilities of designing a delay-tolerant centralized PSS as an H∞ observer-based predictor. We accommodate uncertain delay length by employing the weighting function technique in the general H∞ control theory. A typical multi-area multi-machine system is adopted as the benchmark target, and the proposed PSS is assessed with respect to the delay variation.
{"title":"Delay-tolerant PSS with discrete-time H ∞ observer-based predictor","authors":"K. Hashikura, A. Kojima","doi":"10.1109/SICE.2015.7285414","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285414","url":null,"abstract":"Technological developments of GPS and PMU are enabling construction of the centralized PSS scheme which is expected to mitigate damped low frequency inter-area oscillations. Since transmission and processing delays in GPS and PMU units amount to the order of 100 ms, the centralized power systems should be endowed with robustness to those delays. This paper investigates the possibilities of designing a delay-tolerant centralized PSS as an H∞ observer-based predictor. We accommodate uncertain delay length by employing the weighting function technique in the general H∞ control theory. A typical multi-area multi-machine system is adopted as the benchmark target, and the proposed PSS is assessed with respect to the delay variation.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121631638","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285341
Yuhu Wu, T. Shen, C. Bae
In this paper, the optimal control scheme for residual gas fraction is proposed considering the stochastic property in engine. Initially, the receding horizon optimal control problem for the stochastic logical dynamical systems with finite states is considered. Based on transition probability and semi-tensor product of matrix, a succinct algebraic expression of dynamic programming algorithm is derived to solve the receding horizon control problem. Then, an optimal controller designed to reduce the variation of residual gas fraction in the framework of stochastic logician dynamical model, in which variable valve timing is taken as the control actuator. Validation results are demonstrated which conducted on a full-scaled gasoline engine test bench.
{"title":"Control design for residual gas fraction in engine based on stochastic logical dynamics","authors":"Yuhu Wu, T. Shen, C. Bae","doi":"10.1109/SICE.2015.7285341","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285341","url":null,"abstract":"In this paper, the optimal control scheme for residual gas fraction is proposed considering the stochastic property in engine. Initially, the receding horizon optimal control problem for the stochastic logical dynamical systems with finite states is considered. Based on transition probability and semi-tensor product of matrix, a succinct algebraic expression of dynamic programming algorithm is derived to solve the receding horizon control problem. Then, an optimal controller designed to reduce the variation of residual gas fraction in the framework of stochastic logician dynamical model, in which variable valve timing is taken as the control actuator. Validation results are demonstrated which conducted on a full-scaled gasoline engine test bench.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"180 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114411136","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285410
S. Yamazaki, Kenji Sugimoto
This paper proposes a vibration control technique using Feedback Error Learning (FEL). In this technique, a feedforward controller is tuned automatically to improve tracking performance while the unknown plant is stabilized by a simple feedback controller. This approach has been theoretically developed for MIMO plant, and verified its effectiveness in terms of numerical simulation. However, few works have treated an actual experiment so far. Viewing this point, we apply FEL to one-link flexible arm based on the concept of mode expansion. Experiment for rotation angle control is carried out to verify its effectiveness to the actual plant.
{"title":"Vibration control for flexible arm by feedback error learning","authors":"S. Yamazaki, Kenji Sugimoto","doi":"10.1109/SICE.2015.7285410","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285410","url":null,"abstract":"This paper proposes a vibration control technique using Feedback Error Learning (FEL). In this technique, a feedforward controller is tuned automatically to improve tracking performance while the unknown plant is stabilized by a simple feedback controller. This approach has been theoretically developed for MIMO plant, and verified its effectiveness in terms of numerical simulation. However, few works have treated an actual experiment so far. Viewing this point, we apply FEL to one-link flexible arm based on the concept of mode expansion. Experiment for rotation angle control is carried out to verify its effectiveness to the actual plant.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123986075","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285516
Zujie Zhang, Takatomi Kubo, Jin Watanabe, T. Shibata, K. Ikeda, T. Bando, K. Hitomi, Masumi Egawa
We propose a classification method based on a binary Gaussian process classifier to classify novice and experienced drivers using eye gaze that can reflect drivers' attention and skill. Gaze behavior during lane changing task were collected from both novice drivers and experienced drivers by using an eye tracking system and a driving simulator in this study. We applied the Gaussian process classifier to the two-dimensional coordination data of the gaze behavior, and compared the performance of Gaussian process classifier with those of Gaussian mixture models that had the different number of components. Our proposed method showed the superiority in classification performance to the methods based on the Gaussian mixture models.
{"title":"A classification method between novice and experienced drivers using eye tracking data and Gaussian process classifier","authors":"Zujie Zhang, Takatomi Kubo, Jin Watanabe, T. Shibata, K. Ikeda, T. Bando, K. Hitomi, Masumi Egawa","doi":"10.1109/SICE.2015.7285516","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285516","url":null,"abstract":"We propose a classification method based on a binary Gaussian process classifier to classify novice and experienced drivers using eye gaze that can reflect drivers' attention and skill. Gaze behavior during lane changing task were collected from both novice drivers and experienced drivers by using an eye tracking system and a driving simulator in this study. We applied the Gaussian process classifier to the two-dimensional coordination data of the gaze behavior, and compared the performance of Gaussian process classifier with those of Gaussian mixture models that had the different number of components. Our proposed method showed the superiority in classification performance to the methods based on the Gaussian mixture models.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124244983","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285444
K. Masuda
We propose an evolutionary computation (EC) based constrained optimization approach for parameter tuning of an extended autoassociative memory. Being motivated to evaluate the capacity of the conventional autoassociative memory model and to go beyond the bound, we developed a series of extended models which have more parameters to increase the degree of flexibility. Meanwhile, optimization of these parameters has also become more difficult to maximize the performance of such models. By the way, we developed a new EC-based constrained optimization method in which all the constraints can be handled effectively by using the so-called “feasibilization operations” in a previous study. Now, we attempt to apply it to the optimization problem of the autoassociative memory.
{"title":"An evolutionary computation based constrained optimization approach for parameter tuning of an extended autoassociative memory model","authors":"K. Masuda","doi":"10.1109/SICE.2015.7285444","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285444","url":null,"abstract":"We propose an evolutionary computation (EC) based constrained optimization approach for parameter tuning of an extended autoassociative memory. Being motivated to evaluate the capacity of the conventional autoassociative memory model and to go beyond the bound, we developed a series of extended models which have more parameters to increase the degree of flexibility. Meanwhile, optimization of these parameters has also become more difficult to maximize the performance of such models. By the way, we developed a new EC-based constrained optimization method in which all the constraints can be handled effectively by using the so-called “feasibilization operations” in a previous study. Now, we attempt to apply it to the optimization problem of the autoassociative memory.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124262864","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285485
M. Kemmotsu, Wataru Akutsu, Lisa Awatsu, Y. Mutoh
For a trajectory tracking control problem of general nonlinear systems, the most basic and classic strategy may be applying linear control technique to a linear time-varying approximate model around some desired trajectory. However, since a time varying controller design method is not necessarily simple, this idea has not been commonly used. The authors proposed the simple design procedure of the pole placement and the state observer for linear time varying systems. Using this techniques, it may become more realistic design method to apply a linear time-varying controller to a trajectory tracking control ploblem for wide class of nonlinear systems. In this paper, we apply the time varying observer based pole placement technique to the trajectory tracking control of 2-link manipulator, to show the applicability of this controller to a practical nonlinear systems.
{"title":"Trajectory tracking control of manipulator using time-varying observer based pole placement technique","authors":"M. Kemmotsu, Wataru Akutsu, Lisa Awatsu, Y. Mutoh","doi":"10.1109/SICE.2015.7285485","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285485","url":null,"abstract":"For a trajectory tracking control problem of general nonlinear systems, the most basic and classic strategy may be applying linear control technique to a linear time-varying approximate model around some desired trajectory. However, since a time varying controller design method is not necessarily simple, this idea has not been commonly used. The authors proposed the simple design procedure of the pole placement and the state observer for linear time varying systems. Using this techniques, it may become more realistic design method to apply a linear time-varying controller to a trajectory tracking control ploblem for wide class of nonlinear systems. In this paper, we apply the time varying observer based pole placement technique to the trajectory tracking control of 2-link manipulator, to show the applicability of this controller to a practical nonlinear systems.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122417605","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285543
Hiroshi Sato
While the cost of making UAV (Unmanned Aerial Vehicle) is dropping, the cost of developing the operator of UAV is the same as before. There is a need for manipulating the flock of UAVs by small number of operators. In the operation of group UAVs, it is important that who the leaders should be and who the followers will be. We use multi agent technique to tackle this problem. This study proposes a mechanism of leader selection based on an approximate manipulability. The approximate manipulability of each agent can be calculated by the movements of neighboring agents against itself. In the proposed method, the leaders are selected dynamically. Simple computer simulation shows the effectiveness of the method.
{"title":"Group control of UAV by influential individuals","authors":"Hiroshi Sato","doi":"10.1109/SICE.2015.7285543","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285543","url":null,"abstract":"While the cost of making UAV (Unmanned Aerial Vehicle) is dropping, the cost of developing the operator of UAV is the same as before. There is a need for manipulating the flock of UAVs by small number of operators. In the operation of group UAVs, it is important that who the leaders should be and who the followers will be. We use multi agent technique to tackle this problem. This study proposes a mechanism of leader selection based on an approximate manipulability. The approximate manipulability of each agent can be calculated by the movements of neighboring agents against itself. In the proposed method, the leaders are selected dynamically. Simple computer simulation shows the effectiveness of the method.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129117392","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285518
S. Masuda, Xianda Kong, K. Udagawa, Y. Matsui
The paper gives a Virtual Feedback Tuning (VRFT) for two degree of freedom controllers using closed-loop step response data in the frequency domain. While the original VRFT uses a data-driven performance index based on input/output data directly, the proposed one derives a frequency domain performance index based on the Fourier transformation of one-shot experimental input-output data. The frequency domain performance index makes the optimal pre-filter be straightforwardly designed without using the spectral density of the collected input signal. Hence, the proposed ones outperforms the original ones when the input and output data is collected from the closed loop step response. The effectiveness of the proposed method is illustrated through a numerical example.
{"title":"Virtual reference feedback tuning for two degree of freedom controllers using closed-loop step response data — Optimal pre-filter design in the frequency domain","authors":"S. Masuda, Xianda Kong, K. Udagawa, Y. Matsui","doi":"10.1109/SICE.2015.7285518","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285518","url":null,"abstract":"The paper gives a Virtual Feedback Tuning (VRFT) for two degree of freedom controllers using closed-loop step response data in the frequency domain. While the original VRFT uses a data-driven performance index based on input/output data directly, the proposed one derives a frequency domain performance index based on the Fourier transformation of one-shot experimental input-output data. The frequency domain performance index makes the optimal pre-filter be straightforwardly designed without using the spectral density of the collected input signal. Hence, the proposed ones outperforms the original ones when the input and output data is collected from the closed loop step response. The effectiveness of the proposed method is illustrated through a numerical example.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121039076","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285511
F. Kimura
Standardization for manufacturing systems is essential for constructing and managing transparent and flexible systems in global competitive environment. In this paper, as a basis for realizing sustainable manufacturing systems in such environment, standardization activity for an environmental influence evaluation method is explained. Background and overview of the standardization are described, and cooperative development with industry is briefly discussed.
{"title":"Standardization for evaluating environmental influence of manufacturing systems toward sustainability and industrial competitiveness","authors":"F. Kimura","doi":"10.1109/SICE.2015.7285511","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285511","url":null,"abstract":"Standardization for manufacturing systems is essential for constructing and managing transparent and flexible systems in global competitive environment. In this paper, as a basis for realizing sustainable manufacturing systems in such environment, standardization activity for an environmental influence evaluation method is explained. Background and overview of the standardization are described, and cooperative development with industry is briefly discussed.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123752309","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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