Search results for: Yasuo Konishi
article
IEEJ Transactions on Electrical and Electronic Engineering > 16 > 10 > 1435 - 1437
The dual‐rate control system, in which the sampling interval is an integer multiple of the holding interval, is designed using the null‐space of the steady‐state characteristic of the controlled plant. In the proposed method, a dual‐rate control law is extended independent of the steady‐state discrete‐time output response. As a result, the intersample ripples caused by the input oscillation are eliminated...
article
IEEJ Transactions on Electrical and Electronic Engineering > 15 > 1 > 135 - 139
The present paper discusses a design method for a single‐input single‐output linear time‐invariant dual‐rate sampled‐data control system, where the sampling interval of a plant output is longer than the holding interval of a control input. In such a control system, intersample output oscillation, called ripple, can occur even if the sampled output converges to the reference input. In order to resolve...
article
Artificial Life and Robotics > 2019 > 24 > 4 > 487-493
Solving the inverse kinematics of redundant manipulators is difficult, because knowledge of the manipulators and their evaluation functions is required. To solve this problem, we propose a novel method of enabling a neural network model to learn the inverse kinematics. The method achieves learning independent of the structure of the evaluation function, by combining multiple neural network models...
article
Electronics and Communications in Japan > 102 > 8 > 31 - 35
In this paper, we consider the consensus control of multiagent systems with quantized signal communication. In such a network system, when the static quantizer is used, the control performance is degraded because of the influence of the quantization error. To compensate the quantization error, in a conventional method, a probabilistic quantizer is used. On the other hand, in this paper, the dynamic...
article
IEEJ Transactions on Electrical and Electronic Engineering > 13 > 12 > 1837 - 1838
We propose a new data‐driven method for a single‐input multi‐output dual‐rate system, in which the sampling interval of plant outputs is an integer multiple of the holding interval of a control input. In the proposed method, the dual‐rate system is converted to a multi‐input multi‐output single‐rate system, and controller parameters are optimized using one‐shot closed‐loop data. Furthermore, the ripple‐free...
article
IEEJ Transactions on Electrical and Electronic Engineering > 13 > 8 > 1169 - 1181
This paper presents a proportional‐integral‐derivative (PID) control system design method for discrete‐time first‐order plus dead‐time plants. Because the relation between the tracking performance and the robust stability is the trade‐off, the PID parameters of the PID control system are decided such that the tracking performance is optimized subject to the assigned robust stability, where the reference...
article
IEEJ Transactions on Electrical and Electronic Engineering > 13 > 4 > 654 - 655
This study proposes a new design method for controlling a multi‐input single‐output dual‐rate system, where the sampling interval of the plant output is longer than the hold intervals of the control inputs. Using the lifting technique, the dual‐rate system is converted to the multi‐input multi‐output single‐rate system, and the controller parameters are optimized based on one‐shot closed‐loop data...
chapter
This study discusses a design method for controlling a dual-rate control system, where the sampling interval of the plant output is longer than that hold interval of the control input. Using the lifting technique, the dual-rate system is designed as a multi-input single-output single-rate system, where the sampling interval of the plant output is equivalent to the hold intervals of the control inputs...
chapter
This study discusses a design method for sampled-data multi-rate control systems, in which the sampling interval of the plant output is an integer multiple of the hold interval of the control input. In this study, a desired response in discrete time is assumed to be obtained using a multi-rate control law, and then the multi-rate control law is extended such that an existing discrete-time disturbance...
chapter
This study proposes a new design for generalized predictive control in a multirate system in which the sampling interval of the plant output is an integer multiple of the hold interval of the control input. We design a system with one degree of freedom, and then, for integral action we extend it to two degrees of freedom. Because the integral compensation is revealed only when a modeling error or...
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In the present study, we propose a design method for a dual-rate control system, in which the sampling interval of the plant output is twice the hold interval of the control input. Noniterative correlation-based tuning (NCbT) has been proposed in a single-rate system, in which both the intervals are same. In NCbT, a controller parameter is optimized using a set of input-output data when the plant...
chapter
This study discusses a design method for a sampled-data multi-rate control system in which the sampling interval of the plant output is an integer multiple of the hold interval of the control input. In this study, a pre-designed multi-rate control law is extended such that the sampled behavior is maintained. Using the extended control law, both the transient and steady-state intersample behavior can...
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In this study, a robot rehabilitation system is developed for motor paralysis using a brain -- machine interface (BMI) that estimates a patient's intention of motion from his electroencephalogram (EEG). Then, we consider the forcible movement of the patient's affected parts by an exoskeleton robot in synchronicity with his estimated intention. Further, we considered a motion discrimination method...
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We propose a human -- machine interface based on tongue motion for tetraplegics. The proposed system measures electromyography (EMG) signals in an oral cavity and estimate tongue motions. We measure four channels of intraoral EMG on the gum when a healthy subject moves the tongue in four directions (forward, backward, left, and right). For each EMG signal, we obtain the signal power for five frequency...
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The present study discusses a design method for controlling a weigh feeder. In the present study, a designed control system is assessed, and the control parameters are updated such that the control performance is improved. The proportional-integral (PI) control law is used to obtain a practical control system in industry. In the control system of a weigh feeder, since the steady-state response is...
chapter
The present paper discusses the design of a discrete-time proportional-integral-derivative (PID) control system for a first-order plus dead-time model. The optimal parameters for the desired robustness of the PID control system are determined by using the maximum value of the sensitivity function. We optimized the load-disturbance or the set-point performance in order to achieve the specified robustness...
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We propose a novel method for velocity estimation and detection of a moving object in an image sequence. This purpose is achieved by using discrete wavelet transform and parallel bank of extended complex Kalman filter in the transform/spatio-temporal mixed-domain. In the mixed-domain, image sequence processing is replaced by l-dimensional(l-D) complex signal processing. Then, trajectory signal with...
chapter
In this study, a nonlinear system is controlled using a linear adaptive method. A nonlinear system is approximated a linear model at each operating point, and a control law is designed based on the approximated linear model. To obtain a suitable linear model at each operating point, many linear models are simultaneously identified. However, the computation load for identifying many models is considerably...
chapter
This study discusses a design method for controlling a weigh feeder which has been employed to dispense material at a specified rate. In this study, a proportional-integral (PI) control law is designed based on a generalized minimum variance control (GMVC) law. The control performance of the designed control system is evaluated using a minimum variance index. Based on the evaluated control performance,...
chapter
The present study discusses a model-free design method for control systems using fictitious reference input tuning (FRIT), which was originally designed based on one-shot control data. Moreover, FRIT has been extended to an online tuning method to cope with plant fluctuation. In the present study, the control quality is monitored using online FRIT. In the conventional online FRIT, the control system...
