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Motorized Pan/Tilt Head Control Over the Internet
Kiminao Kogiso,Naofumi Hirade,Masanori Tatsumi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper shows a practical design example of the remote control system of a motorized pan/tilthead we made, and illustrates some experimental results to validate the remote control technique of the previous work. The control te chnique utilizes an appropriate quantization of feedback signals, transmitted over network communication links, in order to guarantee both stability of the whole system and constraint satisfaction.
On Less Conservativeness in Approximating Maximal Output Admissible Sets for Online Application
Yuta Doi,Kiminao Kogiso 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This study numerically investigates the reduction of the conservativeness in approximating a maximal output admissible set by a nellipsoid. The significance of the study is an accurate calculation of the maximal output admissible set, which is required in the tracking control of a constrained system under an unknown but bounded constant reference. Through a numerical example, it shows some techniques for improving the approximation accuracy, and then, as an example of the online application, the switching control results are illustrated.
An Approximation of Maximal Output Admissible Sets for Online Application
Yuta Doi,Kiminao Kogiso 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This study numerically considers the approximation of a maximal output admissible set by an ellipsoid in terms of are ference value. The significance of the study is its online calculation of the maximal output admissible set, which is required in the tracking control of a constrained system under an unknown but bounded constant reference. An umerical example is used to show aprocedure for approximating the admissible set and to investigate its online application in conventional constrined control techniques.
Robust multiobjective optimization method using satisficing trade-off method
Masahiro Toyoda,Nozomu Kogiso 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.4
This study proposes a robust multiobjective optimization approach using the satisficing tradeoff method (STOM). STOM is a multiobjectiveoptimization method that obtains a highly accurate single Pareto solution. Conventionally, a robust design is formulated as a single-objective optimization problem, where the objective function is defined as the weighted sum of the mean and standard deviation ofthe performance index. In this study, the mean and standard deviation are formulated as individual objective function. The effect of uncertaintycan be investigated through Pareto surface. In STOM, the multiobjective optimization problem is transformed into the equivalentsingle objective problem by introducing an aspiration level. As the obtained single Pareto solution corresponds to the aspiration levelthat implies the ratio of the designer's desired objective function, the designer can investigate only the desired space in detail throughsetting the aspiration without obtaining full Pareto surfaces. The validity of using STOM for a robust multiobjective optimization problemis discussed using numerical examples.