Pub Date : 2022-05-10DOI: 10.1080/18824889.2022.2052628
Ryuichiro Yoshida, Hiroshi Okajima, Takumi Sato
This paper presents a design for a model error compensator with a parallel feedforward compensator for continuous- and discrete-time non-minimum phase multiple input multiple output (MIMO) plants. The model error compensator can easily achieve robustness for several types of control systems. By appending the compensator to the actual plant, the output trajectory of the plant can be made close to that of the control system with the intended nominal model. Our previous study proposed a design for the model error compensator using particle swarm optimization and linear matrix inequalities based on the common Lyapunov function. The compensator design for the plants addresses polytopic-type uncertainties. However, it is challenging to design the appropriate gain for the model error compensator if the plant is a non-minimum phase MIMO system. In this study, a parallel feedforward compensator is attached to the model error compensator to achieve minimum phase characteristics. An evaluation system, including a parallel feedforward compensator, can be derived as a system with polytopic uncertainties via the addition of some assumptions. Thus, it is easy to design the gain of the model error compensator in the proposed method and achieve robust performance. The effectiveness of the proposed design is evaluated using numerical examples.
{"title":"Model error compensator design for continuous- and discrete-time non-minimum phase systems with polytopic-type uncertainties","authors":"Ryuichiro Yoshida, Hiroshi Okajima, Takumi Sato","doi":"10.1080/18824889.2022.2052628","DOIUrl":"https://doi.org/10.1080/18824889.2022.2052628","url":null,"abstract":"This paper presents a design for a model error compensator with a parallel feedforward compensator for continuous- and discrete-time non-minimum phase multiple input multiple output (MIMO) plants. The model error compensator can easily achieve robustness for several types of control systems. By appending the compensator to the actual plant, the output trajectory of the plant can be made close to that of the control system with the intended nominal model. Our previous study proposed a design for the model error compensator using particle swarm optimization and linear matrix inequalities based on the common Lyapunov function. The compensator design for the plants addresses polytopic-type uncertainties. However, it is challenging to design the appropriate gain for the model error compensator if the plant is a non-minimum phase MIMO system. In this study, a parallel feedforward compensator is attached to the model error compensator to achieve minimum phase characteristics. An evaluation system, including a parallel feedforward compensator, can be derived as a system with polytopic uncertainties via the addition of some assumptions. Thus, it is easy to design the gain of the model error compensator in the proposed method and achieve robust performance. The effectiveness of the proposed design is evaluated using numerical examples.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124614965","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 : 2022-05-05DOI: 10.1080/18824889.2022.2055921
T. Fujikawa, K. Yonemoto
Complex nonlinear optimal control problems can have more than a single local solution due to the lack of convexity, and widely-used gradient-based approaches for optimal control have a risk of producing an inferior local solution. Although global optimization methods for optimal control may overcome this difficulty, such existing methods suffer from high computational complexities. This paper presents a novel numerical algorithm for multi-modal optimal control problems based on a saddle-point search method. Starting from an already-found local solution, a saddle-point search algorithm finds a surrounding saddle point of the constrained optimization problem, from which a new local solution is obtained by applying a gradient-based optimizer. By repeating this procedure, multiple locally optimal solutions are explored exhaustively and systematically. Although the developed method is not rigorously guaranteed to produce the global solution, it is applicable to large-scale general optimal control problems with equality and inequality constraints, which makes it a practically beneficial technique. After numerical experiments with an example problem, the ascent trajectory optimization problem of a winged rocket for maximizing apogee altitude is solved by using the proposed method.
{"title":"Finding multiple local solutions to optimal control problems via saddle points and its application to the ascent trajectory of a winged rocket","authors":"T. Fujikawa, K. Yonemoto","doi":"10.1080/18824889.2022.2055921","DOIUrl":"https://doi.org/10.1080/18824889.2022.2055921","url":null,"abstract":"Complex nonlinear optimal control problems can have more than a single local solution due to the lack of convexity, and widely-used gradient-based approaches for optimal control have a risk of producing an inferior local solution. Although global optimization methods for optimal control may overcome this difficulty, such existing methods suffer from high computational complexities. This paper presents a novel numerical algorithm for multi-modal optimal control problems based on a saddle-point search method. Starting from an already-found local solution, a saddle-point search algorithm finds a surrounding saddle point of the constrained optimization problem, from which a new local solution is obtained by applying a gradient-based optimizer. By repeating this procedure, multiple locally optimal solutions are explored exhaustively and systematically. Although the developed method is not rigorously guaranteed to produce the global solution, it is applicable to large-scale general optimal control problems with equality and inequality constraints, which makes it a practically beneficial technique. After numerical experiments with an example problem, the ascent trajectory optimization problem of a winged rocket for maximizing apogee altitude is solved by using the proposed method.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124529581","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 : 2022-05-03DOI: 10.1080/18824889.2022.2061249
Takuya Futagami, N. Hayasaka
In this paper, product region extraction, which can classify the pixels of the product images as product and background regions, is proposed. The proposed method is based on the handcrafted algorithm using both the colour similarity and the saliency detection. Our experiment, which employed 180 product images, clarified that the proposed method increased all the metric for the extraction accuracy compared with conventional methods based on the handcrafted algorithm. The F-measure, which is the comprehensive metric, was significantly increased by 2.20% or more. Our discussion also found that the proposed method also overcame the shortcoming of the conventional method, because the F-measure for the dataset, the accuracy of which was decreased by the conventional method, was significantly improved. In addition, the F-measure was increased by 0.92% or more for each product category. Further comparison and discussion are included in this paper to provide more focused findings.
{"title":"Automatic product region extraction based on colour similarity and saliency detection models","authors":"Takuya Futagami, N. Hayasaka","doi":"10.1080/18824889.2022.2061249","DOIUrl":"https://doi.org/10.1080/18824889.2022.2061249","url":null,"abstract":"In this paper, product region extraction, which can classify the pixels of the product images as product and background regions, is proposed. The proposed method is based on the handcrafted algorithm using both the colour similarity and the saliency detection. Our experiment, which employed 180 product images, clarified that the proposed method increased all the metric for the extraction accuracy compared with conventional methods based on the handcrafted algorithm. The F-measure, which is the comprehensive metric, was significantly increased by 2.20% or more. Our discussion also found that the proposed method also overcame the shortcoming of the conventional method, because the F-measure for the dataset, the accuracy of which was decreased by the conventional method, was significantly improved. In addition, the F-measure was increased by 0.92% or more for each product category. Further comparison and discussion are included in this paper to provide more focused findings.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131496457","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 : 2022-04-11DOI: 10.1080/18824889.2022.2052542
T. Itami, N. Matsui, T. Isokawa, N. Kouda, Takanori Hashimoto
We show an algorithm for the previously proposed quantum computer using classical apparatuses. The target system is not limited to mass points but is a general engineering system that has a more manageable form in equipping terminal edge. After we define such system as “ordinary engineering system,” the method of quantum mechanical optimum feedback control of the nonlinear system is applied. The method makes an ordinary engineering system into a quantum one. As an example that is as stale as possible, a temperature control system is taken. Simulation studies show that our system works as a 1- quantum computer without the special large-scale peripheral equipment required to maintain quantumness. The proposed system is a classic system that is everywhere, so it is easy for anyone to understand. Another advantage is that easy-to-use one-dimensional system can be applied.
{"title":"Algorithm for operating an ordinary engineering system as a quantum bit","authors":"T. Itami, N. Matsui, T. Isokawa, N. Kouda, Takanori Hashimoto","doi":"10.1080/18824889.2022.2052542","DOIUrl":"https://doi.org/10.1080/18824889.2022.2052542","url":null,"abstract":"We show an algorithm for the previously proposed quantum computer using classical apparatuses. The target system is not limited to mass points but is a general engineering system that has a more manageable form in equipping terminal edge. After we define such system as “ordinary engineering system,” the method of quantum mechanical optimum feedback control of the nonlinear system is applied. The method makes an ordinary engineering system into a quantum one. As an example that is as stale as possible, a temperature control system is taken. Simulation studies show that our system works as a 1- quantum computer without the special large-scale peripheral equipment required to maintain quantumness. The proposed system is a classic system that is everywhere, so it is easy for anyone to understand. Another advantage is that easy-to-use one-dimensional system can be applied.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115553330","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 : 2022-03-31DOI: 10.1080/18824889.2022.2048532
Ryoji Sato, Y. Hamada, T. Kaburagi, Y. Kurihara
Recently, the utilization of hyperspectral images containing several hundred wavelength information has been increasing in various fields. If a hyperspectral image can be estimated from a low-cost RGB image that has only R, G, and B wavelength information without using a hyperspectral camera, it would be useful in various fields. Herein, we propose a hyperspectral image estimation method based on RGB images, wherein RGB components and YUV colour space information calculated from the RGB are applied to a neural network for tuning, and the hyperspectral image is estimated by inputting the output from the tuning neural network to a decoding function of the trained autoencoder. To evaluate the estimation accuracy of hyperspectral images based on differences in the combination of RGB and colour space models, we conducted validity experiments for the estimation of hyperspectral images in three scenarios with different colour spaces: RGB and YUV, RGB and HSV, only RGB. The results showed that the scenario with RGB and YUV colour space exhibited the highest estimation accuracy of 0.913 by averaging all similarities for wavelength among the three scenarios; thus, the validity of the proposed method as an estimation method for hyperspectral images was verified.
{"title":"Evaluation of colour space effect on estimation accuracy of hyperspectral image by dimension extension based on RGB image","authors":"Ryoji Sato, Y. Hamada, T. Kaburagi, Y. Kurihara","doi":"10.1080/18824889.2022.2048532","DOIUrl":"https://doi.org/10.1080/18824889.2022.2048532","url":null,"abstract":"Recently, the utilization of hyperspectral images containing several hundred wavelength information has been increasing in various fields. If a hyperspectral image can be estimated from a low-cost RGB image that has only R, G, and B wavelength information without using a hyperspectral camera, it would be useful in various fields. Herein, we propose a hyperspectral image estimation method based on RGB images, wherein RGB components and YUV colour space information calculated from the RGB are applied to a neural network for tuning, and the hyperspectral image is estimated by inputting the output from the tuning neural network to a decoding function of the trained autoencoder. To evaluate the estimation accuracy of hyperspectral images based on differences in the combination of RGB and colour space models, we conducted validity experiments for the estimation of hyperspectral images in three scenarios with different colour spaces: RGB and YUV, RGB and HSV, only RGB. The results showed that the scenario with RGB and YUV colour space exhibited the highest estimation accuracy of 0.913 by averaging all similarities for wavelength among the three scenarios; thus, the validity of the proposed method as an estimation method for hyperspectral images was verified.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115218094","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 : 2022-03-28DOI: 10.1080/18824889.2021.2012398
Hideyuki Nagai, S. Kurahashi
This study reproduces the infection process of 2019 novel coronavirus diseases (COVID-19) in an agent-based model and compares the effects of multiple infection prevention and control measures for a tourism location. In this model, 3200 virtual resident agents live in nine areas where they commute to employment locations or schools and visit stores. This model simulates a spreading infection process, brought by a continuous influx of tourists. The experiments' results showed that an individual infection prevention measure alone or partially combined measures are insufficient. On the other hand, we confirmed that regular PCR testing for tourism business employees and an active epidemiological investigation are effective.
{"title":"Measures to prevent and control the spread of novel coronavirus disease (COVID-19) infection in tourism locations","authors":"Hideyuki Nagai, S. Kurahashi","doi":"10.1080/18824889.2021.2012398","DOIUrl":"https://doi.org/10.1080/18824889.2021.2012398","url":null,"abstract":"This study reproduces the infection process of 2019 novel coronavirus diseases (COVID-19) in an agent-based model and compares the effects of multiple infection prevention and control measures for a tourism location. In this model, 3200 virtual resident agents live in nine areas where they commute to employment locations or schools and visit stores. This model simulates a spreading infection process, brought by a continuous influx of tourists. The experiments' results showed that an individual infection prevention measure alone or partially combined measures are insufficient. On the other hand, we confirmed that regular PCR testing for tourism business employees and an active epidemiological investigation are effective.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"394 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122885201","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 : 2022-03-24DOI: 10.1080/18824889.2022.2095827
Kaito Ito, K. Kashima
Kullback–Leibler (KL) control enables efficient numerical methods for nonlinear optimal control problems. The crucial assumption of KL control is the full controllability of transition distributions. However, this assumption is often violated when the dynamics evolves in a continuous space. Consequently, applying KL control to problems with continuous spaces requires some approximation, which leads to the loss of the optimality. To avoid such an approximation, in this paper, we reformulate the KL control problem for continuous spaces so that it does not require unrealistic assumptions. The key difference between the original and reformulated KL control is that the former measures the control effort by the KL divergence between controlled and uncontrolled transition distributions while the latter replaces the uncontrolled transition by a noise-driven transition. We show that the reformulated KL control admits efficient numerical algorithms like the original one without unreasonable assumptions. Specifically, the associated value function can be computed by using a Monte Carlo method based on its path integral representation.
{"title":"Kullback–Leibler control for discrete-time nonlinear systems on continuous spaces","authors":"Kaito Ito, K. Kashima","doi":"10.1080/18824889.2022.2095827","DOIUrl":"https://doi.org/10.1080/18824889.2022.2095827","url":null,"abstract":"Kullback–Leibler (KL) control enables efficient numerical methods for nonlinear optimal control problems. The crucial assumption of KL control is the full controllability of transition distributions. However, this assumption is often violated when the dynamics evolves in a continuous space. Consequently, applying KL control to problems with continuous spaces requires some approximation, which leads to the loss of the optimality. To avoid such an approximation, in this paper, we reformulate the KL control problem for continuous spaces so that it does not require unrealistic assumptions. The key difference between the original and reformulated KL control is that the former measures the control effort by the KL divergence between controlled and uncontrolled transition distributions while the latter replaces the uncontrolled transition by a noise-driven transition. We show that the reformulated KL control admits efficient numerical algorithms like the original one without unreasonable assumptions. Specifically, the associated value function can be computed by using a Monte Carlo method based on its path integral representation.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134350342","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 : 2022-03-18DOI: 10.1080/18824889.2022.2044641
Motoya Suzuki, O. Kaneko
In this study, we propose a novel data-driven approach for control of two degrees of freedom systems. The proposed method uses one-shot experimental data to derive the reference governor for improving control performance. The reference governor consists of feedback-feedforward controller, desired transfer function, and virtual feedforward controller. Virtual feedforward controller can be obtained using data-driven control approach such as ERIT, FRIT, and VRFT. Since a model is not required in our method, the cost related to modelling can be reduced. Numerical simulations were used to validate the proposed method. Verification results demonstrate that the desired control response was achieved by reference shaping alone, with the feedback and feedforward controllers not requiring any updates. The proposed method can realize the desired control performance in cases where the plant is non-minimum-phase system.
{"title":"Direct data-driven control approach of reference shaping for two degree of freedom control","authors":"Motoya Suzuki, O. Kaneko","doi":"10.1080/18824889.2022.2044641","DOIUrl":"https://doi.org/10.1080/18824889.2022.2044641","url":null,"abstract":"In this study, we propose a novel data-driven approach for control of two degrees of freedom systems. The proposed method uses one-shot experimental data to derive the reference governor for improving control performance. The reference governor consists of feedback-feedforward controller, desired transfer function, and virtual feedforward controller. Virtual feedforward controller can be obtained using data-driven control approach such as ERIT, FRIT, and VRFT. Since a model is not required in our method, the cost related to modelling can be reduced. Numerical simulations were used to validate the proposed method. Verification results demonstrate that the desired control response was achieved by reference shaping alone, with the feedback and feedforward controllers not requiring any updates. The proposed method can realize the desired control performance in cases where the plant is non-minimum-phase system.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132658522","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 : 2022-03-09DOI: 10.1080/18824889.2022.2040268
K. Tagawa, Y. Orito
A novel Constraint-Handling Technique (CHT) for Evolutionary Algorithms (EAs) applied to constrained optimization problems is proposed. It is assumed that the feasible region of the constrained optimization problem is defined by a convex-hull of multiple vertices. On the other hand, without loss of generality, the search space of EA is given by a hyper-cube. The proposed CHT called Convex-Hull Mapping (CHM) transforms the real vector in the search space of EA into the solution in the feasible region. It is also proven that CHM performs a surjective mapping from the search space of EA to the feasible region. Although the proposed CHM can be applied to any EAs, one of the latest EAs, or Adaptive Differential Evolution (ADE), is used in this paper. By using ADE, CHM is compared with conventional CHTs in a real-world optimization problem in the field of finance, namely the portfolio optimization problem. Portfolio optimization is the process of determining the best proportion of investment in different assets according to some objective. Specifically, to reveal the characteristic of CHM depending on the number of the above vertices, three different formulations of the portfolio optimization problem are employed to evaluate the performance of ADE using CHM. Numerical experiments show that CHM is better than conventional CHTs in most cases. Moreover, the hybrid method combining CHM with a conventional CHT outperforms the original CHT.
{"title":"A mapping-based constraint-handling technique for evolutionary algorithms with its applications to portfolio optimization problems","authors":"K. Tagawa, Y. Orito","doi":"10.1080/18824889.2022.2040268","DOIUrl":"https://doi.org/10.1080/18824889.2022.2040268","url":null,"abstract":"A novel Constraint-Handling Technique (CHT) for Evolutionary Algorithms (EAs) applied to constrained optimization problems is proposed. It is assumed that the feasible region of the constrained optimization problem is defined by a convex-hull of multiple vertices. On the other hand, without loss of generality, the search space of EA is given by a hyper-cube. The proposed CHT called Convex-Hull Mapping (CHM) transforms the real vector in the search space of EA into the solution in the feasible region. It is also proven that CHM performs a surjective mapping from the search space of EA to the feasible region. Although the proposed CHM can be applied to any EAs, one of the latest EAs, or Adaptive Differential Evolution (ADE), is used in this paper. By using ADE, CHM is compared with conventional CHTs in a real-world optimization problem in the field of finance, namely the portfolio optimization problem. Portfolio optimization is the process of determining the best proportion of investment in different assets according to some objective. Specifically, to reveal the characteristic of CHM depending on the number of the above vertices, three different formulations of the portfolio optimization problem are employed to evaluate the performance of ADE using CHM. Numerical experiments show that CHM is better than conventional CHTs in most cases. Moreover, the hybrid method combining CHM with a conventional CHT outperforms the original CHT.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133175636","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 : 2022-03-03DOI: 10.1080/18824889.2022.2035925
Nozomu Otakara, Kota Akaike, S. Kunimatsu, I. Mizumoto
This paper deals with a design scheme of adaptive output feedback control system with an adaptive parallel feedforward compensator (PFC) and an adaptive feedforward input based on the cerebellar model articulation controller (CMAC). It is shown that, by applying the CMAC strategy to PFC design, we can obtain a PFC, which makes the resulting augmented system almost strictly positive real approximately, for a nonlinear system. Moreover, an adaptive feedforward input to attain output tracking for the practical output is also provided via CMAC. The stability of the obtained control system will be analysed and the convergence of the mean value of tracking error to a small range will be shown. In addition, the effectiveness of the proposed method will be validated through numerical simulations.
{"title":"Adaptive output feedback control with cerebellar model articulation controller-based adaptive PFC and feedforward input","authors":"Nozomu Otakara, Kota Akaike, S. Kunimatsu, I. Mizumoto","doi":"10.1080/18824889.2022.2035925","DOIUrl":"https://doi.org/10.1080/18824889.2022.2035925","url":null,"abstract":"This paper deals with a design scheme of adaptive output feedback control system with an adaptive parallel feedforward compensator (PFC) and an adaptive feedforward input based on the cerebellar model articulation controller (CMAC). It is shown that, by applying the CMAC strategy to PFC design, we can obtain a PFC, which makes the resulting augmented system almost strictly positive real approximately, for a nonlinear system. Moreover, an adaptive feedforward input to attain output tracking for the practical output is also provided via CMAC. The stability of the obtained control system will be analysed and the convergence of the mean value of tracking error to a small range will be shown. In addition, the effectiveness of the proposed method will be validated through numerical simulations.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124452235","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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