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Dual Mode Control for the Robot with Redundant Degree of Freedom
Yasuchika MORI,Shin NYUDO 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
This paper deals with a dual mode control system design for the starching work robot. From the feature of this work, the robot has redundant degree of freedom. In this paper, we try to split the whole movement of the robot into a gross motion part at a fine motion part so as to achieve a good tracking performance. The preview learning control is applied to the gross motion part. The validity of the dual mode control architecture is demonstrated.
Fitri Yakub,Shihao Lee,Yasuchika Mori 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.8
This paper compares the Model predictive control (MPC) and Linear quadratic control (LQC) of heavy vehicles via active front steering for rollover prevention in inclement environments. In both control methods, a Disturbance rejection control (DRC) that negates the effects of wind and road bank acting on the vehicle is designed. Load transfer ratio (LTR) is applied to judge rollover by mitigating the absolute value of LTR as much as possible. We tested and compared two different controllers, i) MPC with DRC and ii) LQC with DRC. Two types of environmental conditions were considered, i) typhoon and ii) typhoon on a bumpy road. The simulation results demonstrate that MPC was more successfully implemented than LQC during LTR suppression. This paper also proposes an MPC for coordination of active rear steering and differential braking control maneuvers to prevent rollover in inclement environments. For a feasible comparison, the LQC controller was designed using the same approach adopted for the MPC controller. Results show the proposed coordinated control yields better performance for rollover prevention than LQC.
Vehicle Braking Control Using Sliding Mode Control
Misawa Kasahara,Yuki Kanai,Yasuchika Mori 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In recent years, anti-lock brake system and brake-by-wire are proposed in the vehicle control using a brake, and the braking power is expected to be improved more than ever. The researches such as an application to the ABS of Siliding mode control which considered a actuator dynamics [1] and a hybrid control of the brake using model reference adaptive control [2] are done so far. However, in the former case, speed following that be comes a target exists physically impossible situation by saturation of tire frictional force because only speed following is one. In the latter, the model error is caused because the simulation model and the controller design model are different. There fore, there is a problem that an accurate follow can not be done. In this paper, the braking control is performed using the sliding mode control [3] which has high robustness for disturbance that fulfils matching conditions. In so doing, it aims attheachievement of optimal braking control to switch wheel speed following to slip rati o following.
Masayoshi Doi,Tetsuya Takehira,Yasuchika Mori 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a Generalized Minimum Variance Control (GMVC) strategy for Time Varying System (TVS). GMVC is one of the predict control methods, which are effective to Time Delay system. In TVS, polynominals of the model are noncommutative. Then, the cost function cannot be optimized accurately because a noncommutative noise term remains. This paper applies the Direct Pseudocommutation Method to TVS in order to improve the noncommutativity. The proposed pseudocommutation method is durable in time shift of time varying multiplications even though this GMVC strategy holds its simple structure.