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Transactions of the Institute of Systems, Control and Information Engineers
Vol. 5 (1992), No. 4

Transactions of the Institute of Systems, Control and Information Engineers Vol. 5 (1992), No. 4

Adaptive Speed Control of a Robot Vehicle by Neural Networks

Masami IWATSUKI, Minoru KODAIRA, Takao OHUCHI

pp. 131-138

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Adaptive Speed Control of a Robot Vehicle by Neural Networks

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DOI:10.5687/iscie.5.131

Abstract

This paper proposes an adaptive speed control method for a robot vehicle of which dynamics greatly varies by the steering angle. The proposed system consists of the PID controller and two neural networks, which tune not only a set of PID gain parameters but also a feed-forward compensation. These PID gain tuner and feed-forward compensator generate the adequate PID gains and offset according to steering angles and target speeds.
A computer simulation of vehicle motion is carried out to. show the effectiveness of a proposed control method.
Modal Control for Flexible Arms Subject to Random Disturbance

Junji KANEKO, Hiroyuki KANO

pp. 139-147

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Modal Control for Flexible Arms Subject to Random Disturbance

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DOI:10.5687/iscie.5.139

Abstract

A finite-dimensional control scheme for flexible arms subject to random disturbances has been developed by employing modal control approach. First, the dynamics of flexible one-link arms disturbed by additive noise is formulated as a stochastic evolution equation and its mathematical properties are analyzed. Secondly, a finite-dimensional approximation for infinite-dimensional plant model is introduced by using unconstrained modal method. Then, a feedback control scheme for finite number of low frequency modes including rigid mode is developed by using LQG theory in such a way that the controlled system has preassigned stability. Moreover, the stability of controlled system is analyzed with paying attention to the effects of observation and control spillovers. Finally, the results of numerical simulation experiments are shown.
A Study to Estimate the Density Field of Automobile Traffic Flow by Interpolation

Tsunehiko NAKANISHI, Kazushi SHOUDA, Masayuki IMANISHI, Komyo KARIY

pp. 148-154

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A Study to Estimate the Density Field of Automobile Traffic Flow by Interpolation

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DOI:10.5687/iscie.5.148

Abstract

Analysis of relation between flow speed and jam condition of automobile traffic flow on an express way is necessary to achieve appropriate traffic flow. As it is very difficult to use large number of measuring points as a road network composes a large-scale system, practical methods of analysis have been carried with the measurement of flow conditions on small number of measuring points on a road. It should be noted, however, that there is an important problem on estimated accuracy due to the nonlinear behavior of traffic flow especially on the tail part of jam condition. This papaer reports a graphical interpolation method to estimate the density field of flow concentration. The traffic flow is expressed as compressive flow, and this model is analyzed by the nonlinear partial differential equation. The results are given by the combination of the characteristic lines method and graphical interpolation method.
Quasi-Static Hybrid Position/Force Control of Two-Degree-of-Freedom Flexible Manipulators

Fumitoshi MATSUNO, Toshio ASANO, Nobuhiro ASAI, Yoshiyuki SAKAWA

pp. 155-163

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Quasi-Static Hybrid Position/Force Control of Two-Degree-of-Freedom Flexible Manipulators

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DOI:10.5687/iscie.5.155

Abstract

In this paper, a method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in contact with a surface are controlled. We first derive exact dynamic equations of joint angles, vibration of the flexible links, and contact force by means of Hamilton's principle. Then, a controller for the hybrid position/force control of the flexible manipulator is designed on the basis. of theobtained model. A set of experiments for the hybrid control of the flexible manipulator using a force sensor has been carried out. Several experimental results are shown.
A Hierarchical Representing Method for 3D Environment Using Verbal Representation

Mitsuru TSUKAMOTO, Naoko INUI, Mika KIRIMOTO, Katsuari KAMEI, Kazuo INOUE

pp. 164-166

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A Hierarchical Representing Method for 3D Environment Using Verbal Representation

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DOI:10.5687/iscie.5.164

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Transactions of the Institute of Systems, Control and Information Engineers Vol. 5 (1992), No. 4

Adaptive Speed Control of a Robot Vehicle by Neural Networks

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Modal Control for Flexible Arms Subject to Random Disturbance

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A Study to Estimate the Density Field of Automobile Traffic Flow by Interpolation

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Quasi-Static Hybrid Position/Force Control of Two-Degree-of-Freedom Flexible Manipulators

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A Hierarchical Representing Method for 3D Environment Using Verbal Representation

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