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システム/制御/情報 Vol. 30 (2017), No. 10

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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  29. Vol. 9 (1996)

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  30. Vol. 8 (1995)

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  31. Vol. 7 (1994)

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  32. Vol. 6 (1993)

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  33. Vol. 5 (1992)

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  34. Vol. 4 (1991)

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  35. Vol. 3 (1990)

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  37. Vol. 1 (1988)

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キーワードランキング

23 Nov. (Last 30 Days)

システム/制御/情報 Vol. 30 (2017), No. 10

SACと適応PFCを用いた適応制御系のツインロータヘリコプタに対する一構成法とその検証

高木 太郎, 藤田 健汰, 水本 郁朗

pp. 379-385

DOI:

10.5687/iscie.30.379

抄録

This paper deals with a design method of an adaptive control system for a twin-rotor helicopter. The almost strictly positive real (ASPR) based adaptive output feedback control has attracted a great deal of interest as a robust control system with simple structure. Unfortunately, however, the twin-rotor helicopter does not satisfy the ASPR conditions and also it has a nonlinearity. In this paper, adaptive parallel feedforward compensator (PFC) is adopted to overcome this problem, and adaptive control system will be configured. Also, the usefulness of the control system will be confirmed through a numerical simulation.

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SACと適応PFCを用いた適応制御系のツインロータヘリコプタに対する一構成法とその検証

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Bibtex

Ris

入力冗長プラントを対象とした外部信号を印加可能な耐故障適応制御設計

川口 夏樹, 荒木 望, 佐藤 孝雄, 小西 康夫

pp. 386-394

DOI:

10.5687/iscie.30.386

抄録

In this paper, we propose a design of the fault tolerant adaptive control system for the input redundant linear plants which has m input channels with model reference adaptive control scheme. A feature of the proposed control system is to introduce the adaptive allocator which distributes and injects external signals into the plant. We derive adaptive law which ensures stability of output of the plant which has up to (m−1) faults, using a suitable Lyapunov function. Through a numerical simulation, we show the stability and fault-tolerance of the designed MRAC.

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入力冗長プラントを対象とした外部信号を印加可能な耐故障適応制御設計

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Ris

駆動源に飽和を有する移動ロボットのフォーメーション制御

市原 裕之, 中野 晃平

pp. 395-403

DOI:

10.5687/iscie.30.395

抄録

This paper deals with formation control of mobile robots whose actuators are saturated. Each mobile robot has two independent wheels that are driven by their rotational speeds as control input. Each mobile robot also has a virtual vehicle and consensus of all of the virtual vehicles enables us to achieve formation of the mobile robots. If each mobile robot has saturation on their rotational speeds of the wheels, standard consensus protocols cannot achieve formation of the mobile robots as well as consensus of the virtual vehicles. To cope with this issue, this paper discusses a time-varying gain in the consensus protocol that is introduced so as not to saturate the rotational speeds. This paper also proposes a design method of the time-varying gains which are not common for the mobile robots and are able to improve the convergence speed of formation. The paper finally shows an experiment of formation control with hand made mobile robots as well as numerical examples.

mendeley

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駆動源に飽和を有する移動ロボットのフォーメーション制御

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Ris

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23 Nov. (Last 30 Days)

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