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Kazuhiro Yubai,Hidenori Usami,Junji Hirai 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes the correlation-based model-free controller design method for the tuning of linear time invariant multivariable controllers. In the proposed method, the controller parameters are tuned directly by using the input/output data obtained as often as the input dimension of the controlled plant. In addition, if the controllers are parameterized linearly with respect to the controller parameters, the optimal control parameters can be estimated by least-squares. The effectiveness of the proposed method is experimentally confirmed with the tension-and-speed control apparatus.
Design of a PID Controller based on H<SUB>∞</SUB> Loop Shaping Method using Frequency Responses
Akihiro Doi,Kazuhiro Yubai,Daisuke Yashiro,Junji Hirai 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
Robust control is used for a system with perturbations of a plant and disturbances. Above all, H∞ loop shaping method is known as a method showing a good control performance. However, this method takes designing cost because it needs a mathematical model of the actual plant. In order to reduce the identification cost, we propose a fixed-order controller design method which only uses frequency responses. The proposed method can derive a controller satisfying the better control performance with non-linear optimization.
Masataka Ishizaki,Kazuhiro Yubai,Junji Hirai 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper proposes the model-free multivariable controller tuning method for the H∞ model matching problem based on spectral analysis. This method provides a controller without the plant model by using only Input/Output data. It evaluates the H∞ norm of the difference between the reference model and the achieved closed-loop system. Therefore, this method can design a controller in consideration of the worst-case performance .The proposed method is numerically verified via the experimental apparatus.
Masashi Yamamoto,Kazuhiro Yubai,Junji Hirai 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
The H∞ loop-shaping method is known to be an effective control method, however, it has two drawbacks. The first is that it is difficult to select appropriate loop-shaping weights, and the second is that the resulting controller is very complex. For the first drawback, Lanzon has proposed a suboptimal loop-shaping weight design method. It is formulated as a generalized eigenvalue minimization problem. This suboptimal loop-shaping weight design method provides high order weights, emphasizing the second drawback. To resolve these two drawbacks, a reduced-order loop-shaping weight and a stabilizing controller design methods are proposed in this paper. In the proposed method, the weight structure is first fixed, and the weight is decomposed into the frequency-dependent vector and the parameter matrices characterizing the loop-shaping weight. Since the open-loop constraints are represented as linear matrix inequalities with respect to the parameter matrices, the reduced-order loop-shaping weight design problem is formulated as a generalized eigenvalue minimization problem as well as the Lanzon’s suboptimal loop-shaping weight design method. Moreover, the stabilizing controller is first fixed to the initial stabilizing controller. The initial stabilizing controller is designed for the shaped plant obtained by the reduced-order weight design, by solving linear matrix inequalities. The proposed method can reduce the designer’s burden. The effectiveness of the proposed method is verified experimentally by the gain-scheduling control of a vertical-type inverted pendulum system.
Izumikawa Yu,Yubai Kazuhiro,Hirai Junji The Korean Institute of Power Electronics 2006 JOURNAL OF POWER ELECTRONICS Vol.6 No.1
In this paper, we propose a fault-tolerant control system for the position control and vibration suppression of a flexible arm robot. The proposed control system has a strain gauge sensor signal observer based on a reaction force observer and detects a fault by monitoring an estimated error. In order to improve the estimation accuracy, the plant parameters included in the sensor signal observer are updated by using the strain gauge sensor signal in normal time through the adaptive law. After fault detection, the proposed control system exchanges the faulty sensor signal for the estimated one and switches to a fault mode controller so as to maintain the stability and the control performance. We confirmed the effectiveness of the proposed control system through several experiments.
Yu Izumikawa,Kazuhiro Yubai,Junji Hirai 전력전자학회 2006 JOURNAL OF POWER ELECTRONICS Vol.6 No.1
In this paper, we propose a fault-tolerant control system for the position control and vibration suppression of a flexible arm robot.<br/> The proposed control system has a strain gauge sensor signal observer based on a reaction force observer and detects a fault by monitoring an estimated error. In order to improve the estimation accuracy, the plant parameters included in the sensor signal observer are updated by using the strain gauge sensor signal in normal time through the adaptive law. After fault detection, the proposed control system exchanges the faulty sensor signal for the estimated one and switches to a fault mode controller so as to maintain the stability and the control performance. We confirmed the effectiveness of the proposed control system through several experiments.
Ken Sakakibara,Kazuhiro Yubai,Daisuke Yashiro,Junji Hirai 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
Generalized Internal Model Control (GIMC) structure resolves the problem of trade-off between nominal control performance and robustness. In GIMC structure, while the nominal controller specifies the nominal performance, the Youla parameter improves robustness for uncertainties and/or disturbance rejection. This paper addresses the design method of Youla parameter on GIMC structure with stability constraint by the typical model-free controller design method, VRFT, to avoid complicated system identification and to design a fixed structural controller. However, the designed Youla parameter guarantees the closed-loop stability only at the specific condition where the input/output data is collected. If the load condition changes, the closed-loop stability is no longer guaranteed in the designed Youla parameter. In order to enhance the robustness for the plant perturbation and/or the plant uncertainties, this paper proposes the design method of Youla parameter in consideration of some deviated plants by VRFT. This method uses multiple input/output data sets collected from multiple deviated plants. The effectiveness of the design method is verified experimentally in a belt-driven two-mass system.
Yoshitaka Nishiguchi,Kazuhiro Yubai,Junji Hirai 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper presents a new design approach of a gain-scheduling controller using only frequency responses of the plant without any transfer functions or state space representations of the plant. In this paper, the robust performance condition is approximated by convex constraints with respect to the controller parameters on the Nyquist diagram, and controller parameters that satisfy convex constraints are derived by solving convex optimization problem. A gainscheduling controller is linearly parameterized with respect to a controller parameter vector defined as an affine function of the scheduling parameter. Moreover, the proposed method can reduce conservativeness by design of the optimal nominal model from the obtained frequency responses at the prespecified frequency points. The effectiveness of the proposed method is confirmed through the experiments.
Kazuki Senga,Kazuhiro Yubai,Daisuke Yashiro,Junji Hirai 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
In this paper, the stability condition and the robust performance condition are represented as a set of convex constraints with respect to the parameters of a linearly parameterized multivariable controller in the Nyquist diagram for the prespecified frequency points. This method can directly handle frequency-domain uncertainty without any modeling. Frequency-domain uncertainty can be minimized by appropriately selecting a nominal plant at each frequency point in the proposed approach. This paper proposes the design constraints to assure the desired control bandwidth and stability margin such as phase margin and gain margin to satisfy desired control specifications. The effectiveness of the proposed method is verified by comparison with the model-based approach by using μ-synthesis with the D-K iteration algorithm through an experimental result.
The Multi-rate Sampling Control for A Reconfigurable Robot
Masahiro Kawakita,Kazuhiro Yubai,Junji Hirai 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
The conventional demand on robots in industrial fields has been oriented mainly to mass production, but the demand nowadays is diverse to meet the trend toward high-variation and low-quantity production. To meet this trend change, we have proposed a reconfigurable robot system that can satisfy various demands by easily changing the robot configuration. In this paper, we construct a multi-rate sampling control system for a reconfigurable robot to achieve better performance. The shorter the output sampling period becomes, the better performance is achieved even with a longer input sampling period. Moreover, we can improve the velocity response and accuracy of reproduction of the force more than the conventional single-rate sampling control system. Firstly, we describe the concept of a reconfigurable robot. Secondly, the decentralized control in the system consisting of the local and the central intelligences is explained. Thirdly, we simply describe an acceleration control for a reconfigurable robot. Fourthly, the advantage of the multi-rate sampling control is explained. Lastly, the effectiveness of the proposed system is confirmed by several experimental results.