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Stabilization of Uncertain Equilibrium Points by Dynamic State-Derivative Feedback Control
Takashi Shigekuni,Takashi Takimoto 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
We consider a local stabilization problem of an uncertain equilibrium point existed in a nonlinear continuoustime system by a state-derivative feedback controller. In previous researches, it is investigated that the uncertainty of the equilibrium point results in nonzero steady-state control input so that a different equilibrium point is stabilized. Then, a feedback controllers with steady-state blocking zeros eliminate the dependence on the steady-state. In this paper, we focus on the class of state-derivative feedback control, and develop a design method for a dynamic state-derivative feedback controller with steady-state blocking zeros. The proposed controller can reject the dependence on the uncertainty of equilibrium points. Moreover, we illustrate the effectiveness of the proposed control method by the numerical example which is the stabilization problem of the uncertain equilibrium point. In addition, we show that the poles of the closed-loop system with the proposed dynamic controller can be assigned at the desired locations.
Development of Aerial Photographing System with Throwing Device for Disaster Information Gathering
Sho Katayama,Takashi Takimoto 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Recently, as a disaster information gathering tool, aerial photographing devices which gather photos and videos from the air get much attention. Especially, the aerial photographing method at low altitude below 15 meters is important to the disaster information gathering. As these devices, there are helium gas balloons, radio-controlled helicopters, and pole/crane vehicles. However, these devices have risks that trigger accidental contact and crackup by air stream at low airspace. In order to improve the safety of these devices, in this paper, we have developed a throw type photographing system which consists of an automatically photographing device packaged in a plastic capsule egg and a launching device. The attitude of the photographing device is controlled by the microcomputer with acceleration, gyro and compass sensors. These sensors also used to estimate the time when the device reaches the top of air. Moreover, we have shown the effectiveness of the proposed system by shooting aerial photographs in practice.
Development of Gliding Locomotion Robot by Single Servo Motor
Yasuhiro Fuwa,Takashi Takimoto 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
The gliding locomotion is defined as forward motion by the difference of friction between normal direction and tangential direction. Unlike conventional propulsion, the gliding locomotion method can move on low friction surface. Gliding locomotion robots have a simple mechanism, but it is difficult to control these robots. In previous researches, many gliding locomotion robots have been developed, and most of these robots need some actuators. In this paper, we have considered mechanism of the gliding locomotion which uses only one servo motor. Moreover, we have developed a robot with this mechanism which can move forward and turn. Then, we have shown experimental results that illustrate the effectiveness of the proposed mechanism.
Development of the Support System for Manual Operations of a Multi-rotor Helicopter
Masanori Tsuzaki,Takashi Takimoto 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
In this paper, we consider an operator support system for a class of manual control systems that a human operator manually control a multi-rotor helicopter. The multi-rotor helicopter is used in environmental observations, pesticide applications, disaster damage tracking systems, and so on. However, skillful techniques are required for operations of the multi-rotor helicopter. In fact, serious accidents are caused by human errors. In order to prevent serious accidents, it is important to detect any symptoms of the human error in real time. In this paper, we have proposed a human error detection method and an operator support system which alert the human operator to abnormal operations. The proposed support system is based on the identification method for a smallest model set which are consistent with the input and output data of the manual control system.
Development of the Portable Two-Wheeled Inverted Pendulum Type Personal Vehicle
Hiroki Hata,Takashi Takimoto 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Some inverted pendulum type personal mobility devices, including the Segway have already been invented. However, they cannot go over the obstacles such as stairs or curbs on the road. In order to resolve this problem, we have developed a portable personal vehicle. It looks like a skateboard or snowboard. It is light and small enough to carry in comparison with others. It is maneuvered by detecting the vehicle’s angle with the accelerometer and the gyroscope. When an operator applies the body weight onto a front foot plate, the vehicle leans to the front and its angle is detected, then the vehicle goes forward. Although some of the same type of vehicles have already been developed, the different point of our development vehicle is that it has two wheels on one axle. It makes our vehicle possible to spin in place or to turn tightly. Additionally, because it doesn’t have a handlebar, we can drive it without hands.
Development of Throw Type Automatic Photographing Device
Sho Katayama,Takashi Takimoto 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
In disaster, it is important to photographs and video from the sky. Aerial photographing devices such as helium gas balloons and helicopters have ever been used for information gathering activities at that time. However, these devices have a high risk because they are strongly affected by air stream at low airspace. As the new photographing device improving the above problem, in this paper, we have developed a throw type photographing device packaged in a plastic capsule egg, and proposed an automatic photographing system. The photographing device is controlled by the control circuit with an accelerometer and takes a photograph when it reaches the top of air. The accelerometer is used to calculate the time that the device until photographing. Moreover, we take aerial photographs in practice and show the effectiveness of the proposed system.
Development of the Automatic Line Maker Bobot by the Laser Telemeter
Shotaro Ohno,Takashi Takimoto 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
Line marking take an important role in the official game of sports. In addition, high skill is necessary for processing a line having a long distance. In this paper, We have developed an automatic line marker robot that draws constant and high quality lines. Then, the developed robot can make a straight line and a circle. By recognizing landmarks, this robot can revise the way it is going. The developed robot is attached one motor for steering, two motors for throttle, the manual-type line marker made by molten Corporation, and sensors such as encoders for motors and LiDAR (Light Detection and Ranging). Then, we have shown experimental results that illustrate the effectiveness of the proposed control method.
Development of an Unmanned Autonomous Flying Wing for Aerial Observations
Takumi Fukuda,Takashi Takimoto 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
The unmanned aerial vehicles (UAVs) are the aircraft without a human operator on board. Since operators can control the aircraft without some danger, they are useful as an emergency aerial observation method. In this paper, as one of these UAVs, we focus on the flying wing which is a fixed-wing aircraft. In general, the fixed-wing-type UAV can fly longer time than the helicopter-type one because the lift force is produced by rotation of propeller only. However, since the flying speed is very fast in order to produce lift force, it is difficult to take the stationary picture for the observation. Therefore, we have developed the flying wing which can fly slowly at a small field. Moreover, in order to realize the autonomous flight, we have proposed a target point follow-up control method. Then, the effectiveness of the proposed flying wing is explained by experimental results.
Development of Surface Vehicle with Single Motor by Gliding Locomotion
Yasuhiro Fuwa,Takashi Takimoto 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
The conventional screw propeller is widely used for ships and water vehicles. However, the screw propeller has safety problems that get entangled in the fish net or the algae. In addition, the propulsion by the screw consumes a lot of energy. The goal of our research is the development of an alternative propulsion method for the unmanned surface vehicle to the screw propeller. In this paper, we focus on the gliding locomotion which is defined as the forward motion by the difference of the friction between the normal direction and the tangential direction. In particular, we have considered a mechanism of the surface vehicle propulsion with the gliding locomotion using only single servo motor. Moreover, we have developed a model vehicle with the proposed propulsion which can drive forward and gyrate. Then, we have shown experimental result and consider the performance.