論文 - 高橋 伸弥
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周期的通信制約をもつネットワーク化制御システムの可到達性 : 出力ホールド回路がない場合
鈴木 達雄, 高橋 伸弥, 横道 政裕, 河野 通夫
システム制御情報学会論文誌 24 ( 3 ) 73 - 75 2011年3月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：一般社団法人 システム制御情報学会
DOI： 10.5687/iscie.24.73
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Observer based control of a manipulator system with structured uncertainty 査読あり
Chikara AIKAWA, Nobuya TAKAHASHI, Osamu SATO and Michio KONO
Proceedings of the 16th International Symposium on Artificial Life and Robotics 91 - 94 2011年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Analysis of manipulator in consideration of collision between link and object 査読あり
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI and Michio KONO
Proceedings of the 16th International Symposium on Artificial Life and Robotics 95 - 98 2011年1月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Analysis of manipulator in consideration of relative motion between tray and object
Sato A., Sato O., Takahashi N., Uekubo A., Kono M.
Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 914 - 917 2010年12月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
In this paper, equations of motion of a manipulator, whose mechanism has a tray installed by passive revolute joint, are derived in consideration of characteristics of driving source. Considering the relative motion between the tray and object, trajectories of velocity for saving energy are calculated by iterative dynamic programming. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are analyzed theoretically. © 2010 ISAROB.
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A study of guaranteed cost control of a manipulator with a passive revolute joint
Takahashi N., Sato O., Kono M.
Artificial Life and Robotics 15 ( 4 ) 482 - 485 2010年12月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
In this article, we consider the robust control problem of a two-link RR manipulator with uncertainty in the joint angle which is caused by several factors. The first purpose is to derive an uncertain linear time-invariant (LTI) system for a two-link RR manipulator which includes uncertainty in the rotational angle of each joint. The uncertainty is expressed in a system structure matrix in an explicit form. For this uncertain system, we apply guaranteed cost control. Finally, we show the effectiveness of our method by a numerical example. © 2010 International Symposium on Artificial Life and Robotics (ISAROB).
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A study of guaranteed cost control of the manipulator with passive revolute joint
Hara J., Takahashi N., Kato J., Sato O., Kono M.
Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 910 - 913 2010年12月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
In this paper, we consider a robust control problem of a two link RR manipulator with uncertainty in the joint angle which is caused by several factors. The first purpose is to derive an uncertain LTI system of a two link RR manipulator which includes uncertainty in a rotational angle of each joint. The uncertainty is expressed in a system structure matrix in an explicit form. For this uncertain system, we apply guaranteed cost control. At last, we show the effectiveness of our method by a numerical example. © 2010 ISAROB.
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Analysis of a manipulator in consideration of the relative motion between a tray and an object
Sato O., Sato A., Takahashi N., Uekubo A., Kono M.
Artificial Life and Robotics 15 ( 2 ) 151 - 155 2010年9月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
In this article, equations of motion of a manipulator, whose mechanism has a tray installed with a passive revolute joint, are derived after consideration of the characteristics of the driving source. Considering the relative motion between the tray and the object, the trajectories of the velocity for saving energy are calculated by iterative dynamic programming. Also, the dynamic characteristics of manipulator control based on the trajectory for saving energy are analyzed theoretically and investigated experimentally. © 2010 International Symposium on Artificial Life and Robotics (ISAROB).
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Analysis of a manipulator in consideration of the relative motion between a tray and an object 査読あり
Osamu SATO, Asaji SATO, Nobuya TAKAHASHI, Akira Uekubo and Michio KONO
Artificial Life and Robotics 15 ( 2 ) 151 - 155 2010年9月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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周期的通信制約をもつネットワーク化制御系のモデル化と構造的性質
河野 通夫, 鈴木 達雄, 高橋 伸弥, 佐藤 治
計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers 46 ( 2 ) 97 - 105 2010年2月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：計測自動制御学会
This paper proposes a new model for a networked control system and considers its structural properties such as controllability, stabilizability, reconstructibilty and detectability. To control a linear time-invariant discrete-time plant via a bus with limited capacity, we introduce a hold device and a communication sequence which follows a given ω-periodic pattern. Incorporating the communication sequences and hold devices into the original plant amounts to extending the original time-invariant state equation to the ω-periodic one which has the higher order. We assume that the communication sequence is admissible. It is shown that controllability and stabilizability of the plant are preserved in the periodic extended system under the assumption that the zeros of the communication characteristic polynomial does not coincide with λ1/ω where λ is the eigenvalue of the plant. On the other hand, reconstructibility(detectability) of the original plant implies that the periodic observability pair of the extended one is reconstructible(detectable) at any time.
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A study of Guaranteed Cost Control of the Manipulator with Passive Revolute Joint 査読あり
Jyunichi HARA, Nobuya TAKAHASHI, Jyunya KATO, Osamu SATO, Michio KONO
Proceedings of the 15th International Symposium on Artificial Life and Robotics 910 - 913 2010年2月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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Analysis of Manipulator in Consideration of Relative Motion between Tray and Object
Asaji SATO, Osamu SATO, Nobuya TAKAHASHI, Akira UEKUBO, Michio KONO
Proceedings of the 15th International Symposium on Artificial Life and Robotics 914 - 917 2010年2月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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周期的通信制約をもつネットワーク化制御系のモデル化と構造的性質
河野 通夫, 鈴木 達雄, 高橋 伸弥, 佐藤 治
計測自動制御学会論文集 46 ( 2 ) 97 - 105 2010年
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：The Society of Instrument and Control Engineers
This paper proposes a new model for a networked control system and considers its structural properties such as controllability, stabilizability, reconstructibilty and detectability. To control a linear time-invariant discrete-time plant via a bus with limited capacity, we introduce a hold device and a communication sequence which follows a given <i>ω</i>-periodic pattern. Incorporating the communication sequences and hold devices into the original plant amounts to extending the original time-invariant state equation to the <i>ω</i>-periodic one which has the higher order. We assume that the communication sequence is admissible. It is shown that controllability and stabilizability of the plant are preserved in the periodic extended system under the assumption that the zeros of the communication characteristic polynomial does not coincide with <i>λ</i><sup>1/<i>ω</i></sup> where <i>λ</i> is the eigenvalue of the plant. On the other hand, reconstructibility(detectability) of the original plant implies that the periodic observability pair of the extended one is reconstructible(detectable) at any time.
DOI： 10.9746/sicetr.46.97
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Robust Control Method for the Inverted Pendulum System with Structured Uncertainty Caused by Measurement Error 査読あり
obuya TAKAHASHI, Osamu SATO, Michio KONO
Artificial Life and Robotics 14 ( 4 ) 574 - 577 2009年12月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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Takahashi N., Moribuko T., Sato O., Kono M.
Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09 754 - 757 2009年12月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09
In this paper, we propose a design method of the inverted pendulum system with structured uncertainty. We consider such uncertainty is caused by a measurement error in the rotation angle of the pendulum and causes to the system structure that can not be included in the nominal parameter. For the obtained uncertain system, we apply the integral tracking control and guaranteed cost control to design a robust stable tracking control system. At the last, we show the effectiveness of our method through numerical example. ©ISAROB 2009.
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Guaranteed cost control of the Uncertain System with Parameter Variations in an Output Matrix
Nobuya TAKAHASHI, Michio KONO, Osamu SATO
Proceedings of the 1st Japan-Korea Joint Symposium on Dynamics & Control 09 ( 208 ) 139 - 142 2009年8月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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A numerical solution of the stochastic discrete algebraic Riccati equation
Takahashi N., Kono M., Suzuki T., Sato O.
Artificial Life and Robotics 13 ( 2 ) 451 - 454 2009年3月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Artificial Life and Robotics
This article proposes two algorithms for solving a stochastic discrete algebraic Riccati equation which arises in a stochastic optimal control problem for a discrete-time system. Our algorithms are generalized versions of Hewer's algorithm. Algorithm I has quadratic convergence, but needs to solve a sequence of extended Lyapunov equations. On the other hand, Algorithm II only needs solutions of standard Lyapunov equations which can be solved easily, but it has a linear convergence. By a numerical example, we shall show that Algorithm I is superior to Algorithm II in cases of large dimensions. © International Symposium on Artificial Life and Robotics (ISAROB). 2009.
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Robust Control Method for the Inverted Pendulum System with Structured Uncertainty caused by Measurement Error 査読あり
Nobuya TAKAHASHI, Tetsuro MORIKUBO, Osamu SATO, Michio KONO
Proceedings of the 14th International Symposium on Artificial Life and Robotics 754 - 757 2009年2月
記述言語：英語 掲載種別：研究論文（国際会議プロシーディングス）
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ω-周期サンプルフィードバックによるω-周期離散時間システムの制御
大森 貴斗, 河野 通夫, 高橋 伸弥, 鈴木 達夫
システム制御情報学会 研究発表講演会講演論文集 9 ( 0 ) 153 - 153 2009年
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：一般社団法人 システム制御情報学会
発表者の一人は、ω-周期離散時間システムにω-周期ゲインの状態フィードバックを適用したとき、閉ループ系のモノドロミー行列の固有値を任意に設定できるための必要十分条件は、制御対象が可到達であることを示した。発表者らは先の発表（第２７回SICE九州支部学術講演会予稿集101A4）において、固定ゲインを用いたω-周期毎の状態のフィードバックによって同様な意味での固有値設定やデッドビート制御ができるための必要十分条件を与え、低次元オブザーバを利用した構成にも言及した。しかしながら、そこでは固定ゲインを用いているとはいえ、ω-周期毎にしか入力を加えておらず、それ以外の時刻では入力を0にしているので、ロバスト性の観点から好ましくない。本発表では、ω-周期の状態サンプルホールドの手法を適用することによりこの点を改善し、固有値設定やデッドビート制御ができるための必要十分条件を与えるとともに、低次元オブザーバを利用した構成にも言及する。
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A Numerical Solution of the Stochastic Discrete Algebraic Riccati Equation
Nobuya TAKAHASHI, Michio KONO, Tatsuo SUZUKI, Osamu SATO
Artificial Life and Robotics 13 451 - 454 2008年12月
記述言語：英語 掲載種別：研究論文（学術雑誌）
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A numerical solution of the stochastic discrete algebraic Riccati equation
Takahashi N., Kono M.
Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08 759 - 762 2008年12月
記述言語：日本語 掲載種別：研究論文（学術雑誌） 出版者・発行元：Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
This paper proposes two algorithms for solving a stochastic discrete algebraic Riccati equation which arises in a stochastic optimal control problem for the discrete-time system. Our algorithms are generalized version of Hower's algorithm. Algorithm I has the quadratic convergence but requires to solve a sequence of extended Lyapunov equation. On the other hand, Algorithm II only needs solutions of standard Lyapunov equations which can be solved easily but it has a linear convergence. By a numerical example, we shall show that Algorithm I is superior to Algorithm II in the case of large dimension. ©ISAROB 2008.