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.
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A study of manipulator with passive revolute joint
Sato A., Sato O., Takahashi N., Kono M.
Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08 730 - 733 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
In this paper, equations of motion of a manipulator, whose mechanism has a passive revolute joint, are derived in consideration of characteristics of driving source. Considering the final condition about displacement and velocity of the passive joint, 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. ©ISAROB 2008.
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An LMI approach to observer-based guaranteed cost control
Miyachi M., Ishitobi M., Takahashi N., Kono M.
Artificial Life and Robotics 12 ( 1-2 ) 276 - 279 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：Artificial Life and Robotics
This article presents a design method for an observer-based guaranteed cost controller for a class of uncertain linear systems, in which full state variables cannot be measured. The perturbations are assumed to be described by structural uncertainties. The linear matrix inequality (LMI) approach is applied to design the observer-based controller. The controller and observer gains are obtained by solving the LMI optimization and feasibility problems, respectively. A numerical example shows the potential of the proposed method. © 2008 International Symposium on Artificial Life and Robotics (ISAROB).
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A study of manipulator with passive revolute joint
Sato A., Sato O., Takahashi N., Kono M.
Artificial Life and Robotics 13 ( 1 ) 31 - 35 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：Artificial Life and Robotics
In this article, equations of motion of a manipulator, whose mechanism has a passive revolute joint, are derived in consideration of the characteristics of driving source. Considering the fi nal condition of displacement and velocity of the passive joint, trajectories of velocity for energy saving are calculated by iterative dynamic programming. And the dynamic characteristics of manipulator control based on the trajectory for energy saving are analyzed theoretically and investigated experimentally. © International Symposium on Artificial Life and Robotics (ISAROB). 2008.
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非駆動ジョイントをもつマニピュレータの投げる動作における省エネルギー軌道
佐藤 治, 佐藤 浅次, 高橋 伸弥, 河野 通夫
精密工学会誌 74 ( 8 ) 859 - 864 2008年8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：公益社団法人精密工学会
For the purpose of enlarging the work space of manipulator, this study proposes the trajectories for saving energy about throwing motion. In this paper, equations of motion of a manipulator, whose mechanism has two actuated joints and a passive revolute joint for a tray, are derived in consideration of characteristics of driving source. In order to prevent the object falling from the tray, the passive joint for the tray is rotated by inertia force about actuated joints. Considering the condition about motion of the tray, trajectories for saving energy of two actuated joints are calculated by iterative dynamic programming. Initial searching region of dynamic programming is a shape which is surrounded by two cosine-wave translated in parallel. This proposed searching region is used as an initial range of the iteration method, and the region is shifted to minimize the energy consumption of the motor. The dynamic characteristics of manipulator controlled based on above mentioned trajectory are analyzed theoretically and investigated experimentally.
DOI： 10.2493/jjspe.74.859
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An LMI approach to observer-based guaranteed cost control 査読あり
Masaaki Miyachi, Mitsuaki Ishitobi, Nobuya Takahashi and Michio Kono
Artificial Life and Robotics 12 ( 1-2 ) 276 - 279 2008年3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 査読あり
Nobuya Takahashi, Michio Kono
roceedings of the 13th international symposium on Artificial Life and Robotics 759 - 762 2008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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A Study of Manipulator with Passive Revolute Joint
Asaji Sato, Osamu Sato Nobuya Takahashi, Michio Kono
Proceedings of the 13th international symposium on Artificial Life and Robotics 730 - 733 2008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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An LMI approach to observer-based guaranteed cost control
Miyachi M., Ishitobi M., Takahashi N., Kono M.
Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07 152 - 155 2007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 12th International Symposium on Artificial Life and Robotis, AROB 12th'07
In this paper, we present the design of observer-based guaranteed cost controller for a class of uncertain linear systems, in which full state cannot be measured. The perturbations are assumed to be described by structural uncertainties. Linear matrix inequality (LMI) approach is used to design the observer-based controller. The controller and observer gains are given from LMI optimization and feasibility problems, respectively. A numerical example shows the potential of the proposed method. ©ISAROB 2007.