Papers - YOKOMICHI Masahiro
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Performance improvement of time-periodic stabilizer for nonholonomic vehicle via time-scale transformation Reviewed
Masahiro Yokomichi
Proceedings of 7th Conference on Artificial Life and Robotics (AROB) 598 - 601 2002.1
Language：English Publishing type：Research paper (international conference proceedings)
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Stereo disparity perception for monochromatic flat slope based on neural net dynamical model Reviewed
華希俊，三樹忠司，横道政裕，唐一兵，北添徹郎
Proceedings of 7th Conference on Artificial Life and Robotics (AROB) 606 - 609 2002.1
Language：English Publishing type：Research paper (international conference proceedings)
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Trajectory tuning for tracking problem of underactuated mechanical systems Reviewed
日高康展，横道政裕，河野通夫
Proceedings of 7th Conference on Artificial Life and Robotics (AROB) 602 - 605 2002.1
Language：English Publishing type：Research paper (international conference proceedings)
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Regular Trajectory Generation for Axisymmetric Underactuated Spacecraft
HITAKA Y., Yokomichi Masahiro, Kono Michio
Proceedings The sixth International Conference on Motion and Vibration Control, 2002 1 289 - 294 2002
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：一般社団法人日本機械学会
We consider the attitude tracking problem of the axisymmetric underactuated spacecraft. It is known that the asymptotic stabilization of the system to any state is possible, and that the system admits flat output. Thus, the asymptotic model matching problem to itself is solvable. However, its flat output given in [6] include a singularity so that the control input which generates the state trajectory may not be unbounded. Tsiotras et al proposed a third order polynominal-type parametarization of the output trajectory which avoids the singularity. In this paper, the authors give a condition such that the given analytic output trajectory can avoid the singularity. Based on the result, we can use the broader class of output trajectories.
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Stereo disparity perception for monochromatic surface by self-organization neural network
Tang Y., Hua X., Yokomichi M., Kitazoe T., Kono M.
ICONIP 2002 - Proceedings of the 9th International Conference on Neural Information Processing: Computational Intelligence for the E-Age 4 1623 - 1628 2002
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：ICONIP 2002 - Proceedings of the 9th International Conference on Neural Information Processing: Computational Intelligence for the E-Age
© 2002 Nanyang Technological University. The stereo correspondence of two retinal images is one of the most difficult problems in stereo vision because the reconstruction of a 3-D scene is a typical visual ill-posed problem. So far there still have been many unsolved problems, one of which is to reconstruct a 3-D scene for a monochromatic surface. We consider this problem with a two layered self-organization neural network to simulate the competitive and cooperative interaction of binocular neurons. A refined pretreatment approach of a similarity map is proposed in order to carry out computation efficiently. We extend our previous neural network model by expanding the cooperation effect from the neighboring region. We are successful in obtaining stereo disparity perception for a monochromatic surface enclosed by random dot region and two vertical stripes. The experimental results with real scenes show that the monochromatic surface between two black vertical stripes is recognized efficiently through our neural network model.
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Risk-sensitive control for hybrid systems.
Nagatomo Koichiro, Yokomichi Masahiro, Kono Michio
SICE Division Conference Program and Abstracts 17 ( 0 ) 8 - 8 2001
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers
The Liner Quadratic Gaussian Poisson(LQGP) problem denotes an optimal control problem with linear dynamics and quadratic costs with Gaussian and Poisson noise disturbances. This paper applies risk-sensitive control to LQGP problem in order to consider influence of large noise(amplitude). The problem is examined with an application to a single stage manufacturing system in an uncertain environment.
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A Numerical Method for Solving a Stochastic Algebraic Riccati Equation
KONO Michio, NAKAI Masaki, YOKOMICHI Masahiro
36 ( 12 ) 1178 - 1179 2000.12
Language：Japanese Publishing type：Research paper (scientific journal)
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確率Riccati方程式の数値解法 Reviewed
中井政樹，河野通夫，横道政裕
計測自動制御学会論文集 36 ( 12 ) 1178 - 1179 2000.12
Language：Japanese Publishing type：Research paper (scientific journal)
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An Approximate Solution of Regulator Equation for Nonlinear Systems by RBF Network
YOKOMICHI Masahiro, SHIMA Masasuke
36 ( 10 ) 819 - 825 2000.10
Language：Japanese Publishing type：Research paper (scientific journal)
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RBFネットワークを用いた非線形出力レギュレーション問題の近似解法 Reviewed
横道政裕，島公脩
計測自動制御学会論文集 36 ( 10 ) 819 - 825 2000.10
Language：Japanese Publishing type：Research paper (scientific journal)
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An Approximate Solution of Regulator Equation for Nonlinear Systems by RBF Network
YOKOMICHI Masahiro, SHIMA Masasuke
Transactions of the Society of Instrument and Control Engineers 36 ( 10 ) 819 - 825 2000
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers
In this paper, the output regulation problem for nonlinear systems is considered. It is known that, this problem is solvable iff there exists a solution of partial differential-algebraic equation (PDAE) associated with the dynamics and the output equation of the systems. In general, it is difficult to solve such PDAE and several approximate solutions have been proposed. The radial basis function (RBF) network is adopted in order to solve the PDE approximately. The effectiveness of the approach is examined by numerical experiment for the well-known <i>ball and beam system</i>.
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A Numerical Method for Solving a Stochastic Algebraic Riccati Equation
KONO Michio, NAKAI Masaki, YOKOMICHI Masahiro
Transactions of the Society of Instrument and Control Engineers 36 ( 12 ) 1178 - 1179 2000
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers
This paper gives a computational method for solving a stochastic continuous algebraic Riccati equation, which arises in stochastic optimal control and in guaranteed cost control. Our algorithm is a generalized version of the Kleinman's one and to solve a sequence of standard Lyapunov equations. It is shown that the iterations are monotonically convergent. To show that our method is efficient, a numerical example is given.
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Another approach to asymptotic model matching problem for nonlinear systems Reviewed
横道政裕，島公脩
International Journal of Robust and Nonlinear Control 8 ( 13 ) 1119 - 1131 1998.11
Language：English Publishing type：Research paper (scientific journal)
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Another approach to asymptotic model matching problem for nonlinear systems
Yokomichi M., Shima M.
International Journal of Robust and Nonlinear Control 8 ( 13 ) 1119 - 1131 1998
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：International Journal of Robust and Nonlinear Control
This paper deals with the asymptotic model matching problem for square nonlinear systems. This problem has been studied by Di Benedetto and Grizzle 1 via geometric approach. We adopt another approach. It is based on an idea that this problem is similar to the nonlinear servomechanism (output regulation) problem. By means of slight modification of the problem statement, a sufficient condition is given. It is described as the solvability of a certain partial differential equation. Its reduction and approximation methods are proposed. © 1998 John Wiley & Sons, Ltd.
DOI： 10.1002/(SICI)1099-1239(1998110)8:13<1119::AID-RNC376>3.0.CO;2-R
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近似入出力線形化手法を用いた"Ball and Plate System"の制御 Reviewed
広地岳，横道政裕，島公脩
計測自動制御学会論文集 31 ( 10 ) 1635 - 1642 1995.10
Language：Japanese Publishing type：Research paper (scientific journal)
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Control of "Ball and Plate System" by Approximate Input-output Linearization Method
HIROCHI Takeshi, YOKOMICHI Masahiro, SHIMA Masasuke
31 ( 10 ) 1635 - 1642 1995.10
Language：Japanese Publishing type：Research paper (scientific journal)
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非線形系のalmostモデル追従制御 Reviewed
上田忠一，横道政裕，石動善久，島公脩
計測自動制御学会論文集 31 ( 9 ) 1383 - 1389 1995.9
Language：Japanese Publishing type：Research paper (scientific journal)
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Almost Model Following Control for Nonlinear Systems
UEDA Tadakazu, YOKOMICHI Masahiro, ISURUGI Yoshihisa, SHIMA Masasuke
31 ( 9 ) 1383 - 1389 1995.9
Language：Japanese Publishing type：Research paper (scientific journal)
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非線形非最小位相系に関する研究 Reviewed
横道政裕
北海道大学 博士（工学） 1995.3
Language：Japanese Publishing type：Research paper (other academic)
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Control of "Ball and Plate System" by Approximate Input-output Linearization Method
HIROCHI Takeshi, YOKOMICHI Masahiro, SHIMA Masasuke
Transactions of the Society of Instrument and Control Engineers 31 ( 10 ) 1635 - 1642 1995
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers
If we apply the ordinary input-output linearization method to the "Ball and Plate System", there appears singularity of the decoupling matrix at the origin. Due to this singularity, the control input diverges the origin. In order to solve this problem approximately, the approximate input-output linearization method proposed by Hauser et al. for nonlinear SISO systems is extened to MIMO system in this paper. It is shown under several applicable assumptions that the error and the state can be made bounded in the output tracking problem. Our method is applied to the "Ball and Plate System" for the case where the spin of the Ball is neglected. Two kinds of approximation method are proposed. Numerical simulations show the effectiveness of our method over the linear approximate approch.