Transactions of the Institute of Systems, Control and Information Engineers
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ONLINE ISSN: 2185-811X
PRINT ISSN: 1342-5668

Transactions of the Institute of Systems, Control and Information Engineers Vol. 30 (2017), No. 10

  • A Design Technique of Adaptive Control System of SAC with Adaptive PFC for the Twin-rotor Helicopter and its Verification

    pp. 379-385

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    DOI:10.5687/iscie.30.379

    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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  • A Design of Fault-tolerant Adaptive Control with External Signal Injection for Input-redundant Linear Plant

    pp. 386-394

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    DOI:10.5687/iscie.30.386

    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.
  • Formation Control for Mobile Robots with Saturated Driving

    pp. 395-403

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    DOI:10.5687/iscie.30.395

    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.
  • Stock Index using Median Operation

    pp. 404-406

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    DOI:10.5687/iscie.30.404

  • An Approach for the Antagonistic Control Using the Adaptive Control Allocator

    pp. 407-409

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    DOI:10.5687/iscie.30.407

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