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Comparison of mdLVs Based Methods for Nonlinear Receding Horizon Control
Shunsuke Matoba,Hisakazu Nakamura,Hirokazu Nishitani 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Receding horizon (RH) control attracts much attention in both the control theory and control applications. For RH control, we have proposed a new computation method for solving simultaneous linear equations by using a Moore-Penrose pseudoinverse and a singular value decomposition (SVD). In our proposed method, SVD is achieved by mdLVs and newly developed simultaneous error correction (SEC) method. However, we did not compare our proposed method with I-SVD that also equips mdLVs. In this paper, we compare our proposed method mdLVs/SEC with I-SVD by theoretical analysis and numerical experiments, and we show SEC needs a much smaller computation cost than I-SVD. Finally, we elucidate advantages of SEC in nonlinear RH control in numerical experiments.
Optimal Grade Transition for Quality Control of Continuous Polymerization Reactor
Qing Guo,Masaru Noda,Hirokazu Nishitani 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
An optimal grade transition policy is essential when several grades of polymers are produced in the same continuous stirred tank reactor. We discuss an optimal grade transition to minimize the raw material and energy costs of the transition operation as well as to shorten the transition time. We show that a combination of regulatory control and dynamic optimization is very effective for the optimal grade transition of a continuous polymerization reactor.
Robust Adaptive Control of Nonlinear Systems with Convex Input Constraints
Yasuyuki Satoh,Hisakazu Nakamura,Nami Nakamura,Hitoshi Katayama,Hirokazu Nishitani 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we propose a control Lyapunov function(CLF)-based robust nonlinear adaptive controller for the magnetic levitation system. The proposed controller consists of a pre-feedback compensator with an adaptive control mechanism and a robust stabilizing controller. By using this controller, again margin for closed loop system is guaranteed. The effectiveness of the proposed controller is confirmed by experiments.