Pub Date : 2021-01-01DOI: 10.1080/18824889.2021.1938490
Zhihao Yao, Kota Akaike, I. Mizumoto
An output regulation problem under the existence of disturbances is one of the main objectives to design the control system for mechanical systems, and the strategy based on the internal model principle (IMP) is one of the attractive ways to suppress the disturbances. In this paper, we propose an almost strictly positive real (ASPR) based adaptive output feedback control with adaptive internal model for output regulation for systems with uncertain disturbances and reference signals. The stability of the obtained adaptive control system is analysed, and the effectiveness of the proposed method is confirmed through numerical simulations.
{"title":"Adaptive output regulation based on internal model principle for systems, with uncertain disturbances and reference signals","authors":"Zhihao Yao, Kota Akaike, I. Mizumoto","doi":"10.1080/18824889.2021.1938490","DOIUrl":"https://doi.org/10.1080/18824889.2021.1938490","url":null,"abstract":"An output regulation problem under the existence of disturbances is one of the main objectives to design the control system for mechanical systems, and the strategy based on the internal model principle (IMP) is one of the attractive ways to suppress the disturbances. In this paper, we propose an almost strictly positive real (ASPR) based adaptive output feedback control with adaptive internal model for output regulation for systems with uncertain disturbances and reference signals. The stability of the obtained adaptive control system is analysed, and the effectiveness of the proposed method is confirmed through numerical simulations.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122123306","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 : 2021-01-01DOI: 10.1080/18824889.2021.1972266
Tatsuki Ashida, H. Ichihara
This paper considers trajectory tracking control for a nonholonomic mobile robot using integral reinforcement learning (IRL) based on a value functional represented by integrating a local cost. The tracking error dynamics between the robot and reference trajectories takes the form of time-invariant input-affine continuous-time nonlinear systems if the reference trajectory counterpart of the translational and angular velocities are constant. This paper applies integral reinforcement learning to the tracking error dynamics by approximating the value functional from the data collected along the robot trajectory. The paper proposes a specific procedure to implement the IRL-based policy iteration online, including a batch least-squares minimization. The approximate value function updates the control policy to compensate for the translational and angular velocities that drive the robot. Numerical examples illustrate to demonstrate the tracking performance of integral reinforcement learning.
{"title":"Policy iteration-based integral reinforcement learning for online adaptive trajectory tracking of mobile robot","authors":"Tatsuki Ashida, H. Ichihara","doi":"10.1080/18824889.2021.1972266","DOIUrl":"https://doi.org/10.1080/18824889.2021.1972266","url":null,"abstract":"This paper considers trajectory tracking control for a nonholonomic mobile robot using integral reinforcement learning (IRL) based on a value functional represented by integrating a local cost. The tracking error dynamics between the robot and reference trajectories takes the form of time-invariant input-affine continuous-time nonlinear systems if the reference trajectory counterpart of the translational and angular velocities are constant. This paper applies integral reinforcement learning to the tracking error dynamics by approximating the value functional from the data collected along the robot trajectory. The paper proposes a specific procedure to implement the IRL-based policy iteration online, including a batch least-squares minimization. The approximate value function updates the control policy to compensate for the translational and angular velocities that drive the robot. Numerical examples illustrate to demonstrate the tracking performance of integral reinforcement learning.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129953531","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 : 2021-01-01DOI: 10.1080/18824889.2021.1985702
Hiroshi Okajima, Y. Kaneda, N. Matsunaga
The state estimation problem for systems in which observation outputs include outliers is addressed herein. When the observation output has outliers, the accuracy of the state estimation is dramatically worse. To overcome this problem, a novel observer structure using multiple candidates of the estimated state is proposed. First, multiple candidates of the estimated state are created; each candidate uses the sensing output value of a different detection timing. If outliers occur infrequently, eliminating candidates affected by outliers can prevent deterioration in estimation accuracy. Our proposed observer select one from the obtained candidates of the estimated state using a median or a weighted median operation. Through the median operation, the estimated state that does not use the outlier value is selected from these candidates. In addition, a method is provided to design the observer gains of these estimated state candidates based on a reachable set of the estimated state error, using Lyapunov-based inequalities. The effectiveness of the proposed observer is illustrated using numerical examples.
{"title":"State estimation method using median of multiple candidates for observation signals including outliers","authors":"Hiroshi Okajima, Y. Kaneda, N. Matsunaga","doi":"10.1080/18824889.2021.1985702","DOIUrl":"https://doi.org/10.1080/18824889.2021.1985702","url":null,"abstract":"The state estimation problem for systems in which observation outputs include outliers is addressed herein. When the observation output has outliers, the accuracy of the state estimation is dramatically worse. To overcome this problem, a novel observer structure using multiple candidates of the estimated state is proposed. First, multiple candidates of the estimated state are created; each candidate uses the sensing output value of a different detection timing. If outliers occur infrequently, eliminating candidates affected by outliers can prevent deterioration in estimation accuracy. Our proposed observer select one from the obtained candidates of the estimated state using a median or a weighted median operation. Through the median operation, the estimated state that does not use the outlier value is selected from these candidates. In addition, a method is provided to design the observer gains of these estimated state candidates based on a reachable set of the estimated state error, using Lyapunov-based inequalities. The effectiveness of the proposed observer is illustrated using numerical examples.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128422167","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 : 2021-01-01DOI: 10.1080/18824889.2021.1988396
M. Nakamura, H. Ishii, Seyed Mehran Dibaji
In this paper, we develop distributed algorithms for achieving resilient consensus via the maximum value-based approach when adversarial agents may be present in the network. The adversaries intend to prevent the nonfaulty, normal agents from reaching consensus. We extend the class of resilient methods known as the mean subsequence reduced (MSR) algorithms, where the agents make selections on their neighbours' information at the time of their updates so as to reduce the influence of the malicious agents. In particular, the normal agents try to arrive at the maximum value of their initial states. Due to the malicious agents, the exact maximum may not be reached, the advantage of the approach is the finite-time convergence. We present both synchronous and asynchronous versions of the update schemes and characterize graph theoretic conditions for achieving resilient consensus. A numerical example is provided to illustrate our results.
{"title":"Resiliency against malicious agents in maximum-based consensus","authors":"M. Nakamura, H. Ishii, Seyed Mehran Dibaji","doi":"10.1080/18824889.2021.1988396","DOIUrl":"https://doi.org/10.1080/18824889.2021.1988396","url":null,"abstract":"In this paper, we develop distributed algorithms for achieving resilient consensus via the maximum value-based approach when adversarial agents may be present in the network. The adversaries intend to prevent the nonfaulty, normal agents from reaching consensus. We extend the class of resilient methods known as the mean subsequence reduced (MSR) algorithms, where the agents make selections on their neighbours' information at the time of their updates so as to reduce the influence of the malicious agents. In particular, the normal agents try to arrive at the maximum value of their initial states. Due to the malicious agents, the exact maximum may not be reached, the advantage of the approach is the finite-time convergence. We present both synchronous and asynchronous versions of the update schemes and characterize graph theoretic conditions for achieving resilient consensus. A numerical example is provided to illustrate our results.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131868863","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 : 2021-01-01DOI: 10.1080/18824889.2021.1936855
Marco Omainska, J. Yamauchi, Thomas Beckers, T. Hatanaka, S. Hirche, M. Fujita
In this paper, we propose an observer-based visual pursuit control integrating three-dimensional target motion learning by Gaussian Process Regression (GPR). We consider a situation where a visual sensor equipped rigid body pursuits a target rigid body whose velocity is unknown but dependent on the target's pose. We estimate the pose from visual information and propose a Gaussian Process (GP) model to predict the target velocity from the pose estimate. We analyse stability of the proposed control by showing that estimation and control errors are ultimately bounded with high probability. Finally, simulations illustrate the performance of the proposed control schemes even if the visual measurement is corrupted by noise.
{"title":"Gaussian process-based visual pursuit control with unknown target motion learning in three dimensions","authors":"Marco Omainska, J. Yamauchi, Thomas Beckers, T. Hatanaka, S. Hirche, M. Fujita","doi":"10.1080/18824889.2021.1936855","DOIUrl":"https://doi.org/10.1080/18824889.2021.1936855","url":null,"abstract":"In this paper, we propose an observer-based visual pursuit control integrating three-dimensional target motion learning by Gaussian Process Regression (GPR). We consider a situation where a visual sensor equipped rigid body pursuits a target rigid body whose velocity is unknown but dependent on the target's pose. We estimate the pose from visual information and propose a Gaussian Process (GP) model to predict the target velocity from the pose estimate. We analyse stability of the proposed control by showing that estimation and control errors are ultimately bounded with high probability. Finally, simulations illustrate the performance of the proposed control schemes even if the visual measurement is corrupted by noise.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122100719","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 : 2021-01-01DOI: 10.1080/18824889.2021.1947561
Soya Ono, Suguru Sone, Aki Tamai, Shohei Yamashita, Tetsushi Ikeda, S. Iwaki
Conventional mobile guide robots have a problem as they cannot control the positions of people around the robot, and thus the path of the robot is blocked when people gather near the robot. To guide gathered people to move away from the robot, the robot had to give explicit instructions by voice or display, such as “please clear the way” or “please move that way.” Such repeated instructions from robots are not comfortable for humans. This study proposes new guiding behaviours for a projector-equipped mobile robot that naturally leads a person away from the robot without explicit instructions. The proposed method guides a person through a combination of projection movements and scaling based on a person's tendency to move to a position where the projection can be easily viewed. An experiment with 15 participants showed quantitatively that the proposed guiding behaviours could lead people away from the robot without explicit instructions based on human behavioural measurements.
{"title":"Guidance of a person by combining moving and scaling projections from a mobile robot","authors":"Soya Ono, Suguru Sone, Aki Tamai, Shohei Yamashita, Tetsushi Ikeda, S. Iwaki","doi":"10.1080/18824889.2021.1947561","DOIUrl":"https://doi.org/10.1080/18824889.2021.1947561","url":null,"abstract":"Conventional mobile guide robots have a problem as they cannot control the positions of people around the robot, and thus the path of the robot is blocked when people gather near the robot. To guide gathered people to move away from the robot, the robot had to give explicit instructions by voice or display, such as “please clear the way” or “please move that way.” Such repeated instructions from robots are not comfortable for humans. This study proposes new guiding behaviours for a projector-equipped mobile robot that naturally leads a person away from the robot without explicit instructions. The proposed method guides a person through a combination of projection movements and scaling based on a person's tendency to move to a position where the projection can be easily viewed. An experiment with 15 participants showed quantitatively that the proposed guiding behaviours could lead people away from the robot without explicit instructions based on human behavioural measurements.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124269979","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 : 2021-01-01DOI: 10.1080/18824889.2021.1939627
Masato Kawaguchi, A. Tran, H. Okuda, Tatsuya Suzuki
A model predictive controller to perform a lane-merging task is proposed. We consider a hierarchical control structure that consists of an inner and outer control loop. The inner loop is an adaptive cruise controller that gives the acceleration command to the autonomous merging car to follow the designated speed and maintain a relative distance from the preceding vehicle while satisfying the constraints based on explicit optimal control. The outer loop determines the car in the main lane that the autonomous car should follow to maximize the acceptance and clarity of the decision-making of the human drivers in the main lane. The proposed system is implemented on the merging car in a driving simulator, and the human driver evaluates the merging car while driving in the main lane. The validity of the proposed system was determined through objective and subjective evaluations by human drivers.
{"title":"Development and evaluation of driving speed controller for lane merging considering surrounding driver's intention toward stress-free driving","authors":"Masato Kawaguchi, A. Tran, H. Okuda, Tatsuya Suzuki","doi":"10.1080/18824889.2021.1939627","DOIUrl":"https://doi.org/10.1080/18824889.2021.1939627","url":null,"abstract":"A model predictive controller to perform a lane-merging task is proposed. We consider a hierarchical control structure that consists of an inner and outer control loop. The inner loop is an adaptive cruise controller that gives the acceleration command to the autonomous merging car to follow the designated speed and maintain a relative distance from the preceding vehicle while satisfying the constraints based on explicit optimal control. The outer loop determines the car in the main lane that the autonomous car should follow to maximize the acceptance and clarity of the decision-making of the human drivers in the main lane. The proposed system is implemented on the merging car in a driving simulator, and the human driver evaluates the merging car while driving in the main lane. The validity of the proposed system was determined through objective and subjective evaluations by human drivers.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122381354","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 : 2021-01-01DOI: 10.1080/18824889.2021.1874673
Emerico H. Aguilar, Y. Fujisaki
Models of opinion dynamics have been used to depict how the opinions of agents within a social network evolve based on their interconnections and interactions. The collective behaviour of agents ca...
{"title":"Reaching consensus via coordinated groups","authors":"Emerico H. Aguilar, Y. Fujisaki","doi":"10.1080/18824889.2021.1874673","DOIUrl":"https://doi.org/10.1080/18824889.2021.1874673","url":null,"abstract":"Models of opinion dynamics have been used to depict how the opinions of agents within a social network evolve based on their interconnections and interactions. The collective behaviour of agents ca...","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125287947","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 : 2021-01-01DOI: 10.1080/18824889.2020.1863613
Junfang Zhu, T. Hayashi, K. Ogushi
A 2 N dead-weight type force standard machine (DWM) had been developed at the National Metrology Institute of Japan (NMIJ). Modifications of the force transducers and weight receivers of the DWM improved measurement reproducibility with rotational position change. Two modified small-capacity force transducers with rated capacities of 1 and 2 N could be precisely calibrated according to International Organization for Standardization (ISO) 376. The results showed quite smaller uncertainties in the calibration ranges of 100 mN to 1 N and 200 mN to 2 N than the catalogue accuracies of commercial transducers. The validity of the calibration capability of the 2 N DWM was confirmed by comparing it with a 50 N DWM. The results obtained by two DWMs coincided within the uncertainties of calibration.
日本国家计量研究所(NMIJ)研制了一台2n自重式力标准机(DWM)。对DWM的力传感器和重量接收器的改进提高了旋转位置变化的测量再现性。两个改进的小容量力传感器，额定容量为1和2n，可根据国际标准化组织(ISO) 376进行精确校准。结果表明，在100 mN至1 N和200 mN至2 N的校准范围内，与商用传感器的目录精度相比，不确定度要小得多。通过与50 N DWM的对比，验证了2 N DWM定标能力的有效性。两个DWMs得到的结果在校准的不确定度范围内是一致的。
{"title":"Evaluation of small-capacity force transducers using a developed 2 N dead-weight type force standard machine","authors":"Junfang Zhu, T. Hayashi, K. Ogushi","doi":"10.1080/18824889.2020.1863613","DOIUrl":"https://doi.org/10.1080/18824889.2020.1863613","url":null,"abstract":"A 2 N dead-weight type force standard machine (DWM) had been developed at the National Metrology Institute of Japan (NMIJ). Modifications of the force transducers and weight receivers of the DWM improved measurement reproducibility with rotational position change. Two modified small-capacity force transducers with rated capacities of 1 and 2 N could be precisely calibrated according to International Organization for Standardization (ISO) 376. The results showed quite smaller uncertainties in the calibration ranges of 100 mN to 1 N and 200 mN to 2 N than the catalogue accuracies of commercial transducers. The validity of the calibration capability of the 2 N DWM was confirmed by comparing it with a 50 N DWM. The results obtained by two DWMs coincided within the uncertainties of calibration.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124376368","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 : 2021-01-01DOI: 10.1080/18824889.2021.1918372
Hiroshi Okajima, Kakeru Fujinami
ABSTRACT This paper provides an analysis method of a robust invariant set for discrete-time linear switched systems with peak-bounded disturbances. In the case of a switched linear system, it is challenging to analyse the robust invariant set accurately than that of the linear time-invariant system. We propose a novel method to estimate a robust invariant set using a combination of a recursive state updating and an invariant ellipsoid for a common Lyapunov function. The effectiveness of the estimation accuracy by the proposed method is illustrated using numerical examples.
{"title":"Estimation of robust invariant set for switched linear systems using recursive state updating and robust invariant ellipsoid","authors":"Hiroshi Okajima, Kakeru Fujinami","doi":"10.1080/18824889.2021.1918372","DOIUrl":"https://doi.org/10.1080/18824889.2021.1918372","url":null,"abstract":"ABSTRACT This paper provides an analysis method of a robust invariant set for discrete-time linear switched systems with peak-bounded disturbances. In the case of a switched linear system, it is challenging to analyse the robust invariant set accurately than that of the linear time-invariant system. We propose a novel method to estimate a robust invariant set using a combination of a recursive state updating and an invariant ellipsoid for a common Lyapunov function. The effectiveness of the estimation accuracy by the proposed method is illustrated using numerical examples.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123634294","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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