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システム/制御/情報 Vol. 24 (2011), No. 7

ISIJ International
belloff
オンライン版ISSN: 2185-811X
冊子版ISSN: 1342-5668
発行機関: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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キーワードランキング

21 Nov. (Last 30 Days)

システム/制御/情報 Vol. 24 (2011), No. 7

視覚フィードバックによるリーダ追尾型姿勢協調制御

伊吹 竜也, 畑中 健志, 藤田 政之

pp. 155-164

DOI:

10.5687/iscie.24.155

抄録

In this paper we investigate visual feedback attitude synchronization in leader-follower type visibility structures on the Special Euclidean group SE(3). We first define visual robotic networks consisting of the dynamics describing rigid body motion, visibility structures among bodies and visual measurements. We then propose a visual feedback attitude synchronization law combining a vision-based observer with the attitude synchronization law presented in our previous works. We then prove that when the leader does not rotate, the visual robotic network with the control law achieves visual feedback attitude synchronization. Moreover, for a rotating leader, we evaluate the tracking performance of the other bodies. In analysis, we employ the notion of input-to-state stability and L2-gain performance regarding the leader’s angular velocity as an external disturbance. Finally, the validity of the proposed control law and the analysis is demonstrated through simulations.

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視覚フィードバックによるリーダ追尾型姿勢協調制御

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mendeley

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Ris

ポテンシャルゲーム理論的姿勢協調

畑中 健志, 後藤 達彦, 藤田 政之

pp. 165-172

DOI:

10.5687/iscie.24.165

抄録

In this paper we consider potential game theoretic attitude coordination. We especially focus on two ordered configurations: “synchronization” and “balanced circular formation”. We first show that both problems constitute potential games by employing some global and individual objective functions, and a learning algorithm called Restrictive Spatial Adaptive Play (RSAP) leads robots to the ordered configurations with high probability even in the presence of mobility constraints. We moreover show that the problem also constitutes a group-based potential game and convergence of distribution of actions to stationary one can be accelerated. Finally, the effectiveness of the schemes is demonstrated by simulation.

mendeley

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ポテンシャルゲーム理論的姿勢協調

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Ris

ディスクリプタシステムに対するH∞制御のための状態方程式コントローラの直接導出

井上 正樹, 和田 光代, 池田 雅夫, 上里 英輔

pp. 173-180

DOI:

10.5687/iscie.24.173

抄録

This paper proposes a direct design method of state-space controllers for H∞ control of linear time-invariant descriptor systems. We derive a necessary and sufficient condition for the existence of a state-space controller which makes the closed-loop descriptor system regular, impulse-free, stable, and its H∞ norm less than a specified value. The condition is expressed in terms of linear matrix inequalities and their solutions give coefficient matrices of the state-space H∞ controllers.

mendeley

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ディスクリプタシステムに対するH∞制御のための状態方程式コントローラの直接導出

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mendeley

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Ris

クーリング操作を導入した逆正接型トンネリング・アルゴリズムの提案

田邉 雅明, 山内 仁, 小野 孝男, 金川 明弘

pp. 181-183

DOI:

10.5687/iscie.24.181
mendeley

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クーリング操作を導入した逆正接型トンネリング・アルゴリズムの提案

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