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A Note on the Regulation Problem in the Behavioral Framework
Kiyotsugu Takaba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper considers the regulation problem of alinear differential system with a class of exogenous signals from the behavioral point of view. We derive conditions for existence of are gularly stabilizing controller that achieves the regulation requirement via partialinter connection. It turns out the present conditions does not dependonany particular system representations.
Synchronization of linear agents with sector-bounded input nonlinearities
Kiyotsugu Takaba 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper is concerned with the local synchronization of linear agents subject to sector-bounded input nonlinearities over an undirected communication graph. We first derive a sufficient LMI condition for achieving the local synchronization for any nonlinearities satisfying a given sector condition. Based on this analysis, we present a sufficient LMI synthesis condition of a relative state feedback protocol which locally synchronizes the linear agents with arbitrary sector-bounded input nonlinearities. The desired protocol can be efficiently obtained via convex optimization, since the present synthesis condition is convex in the decision variables and is independent of the size of the communication graph.
Robust l<SUP>∞</SUP> stabilization under datarate constraints
Yumiko Ishido,Kiyotsugu Takaba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper is concerned with robust stabilization of an uncertain system over a rate-limited digital channel from the view point of input-out put stability. Because of the quantization in the communication channel, it is impossible to apply the traditional small gain theorem to establish robust stability of the feedback system. To over come this difficulty, we in troduce a new notion of small l<SUP>∞</SUP> signal l<SUP>∞</SUP> stability, and derive a sufficient robust stability condition a gainst l<SUP>∞</SUP> gain-bounded uncertainty based on this notion. Furthermore, for the case of a scalar nominal system, a sufficientd a tarate for the existence of a robustly stabilizing encoder-controller pairis explicitly given.
Formation Control of Mobile Robots with Obstacle Avoidance
Tatsuya Miyazaki,Kiyotsugu Takaba 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper deals with a formation control problem of nonholonomic mobile robots with obstacle avoidance. It is known that the mobile robots can achieve an arbitrary formation asymptotically by using virtual structures of the robots. However, in the presence of some obstacles, the real robots may not be able to avoid them even if the corresponding virtual robots can avoid. In this paper, we improve the virtual structure approach in order to remedy this difficulty. The proposed formation control law for each robot incorporates a potential function of the distance between the robot and obstacles, and takes trade-off between the formation maintainance and the obstacle avoidance by adaptive control switching. The effectiveness of the proposed method is verified by a numerical simulation.
Swing-up Control of an Inverted Pendulum with Limited Pivot Travel
Ryosuke Tatsumi,Kiyotsugu Takaba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a new energy-based control method for swinging up an inverted pendulum under the constraints on pivot travel and control input. For this purpose, we first construct a Lyapunov function which involves the energy of the pendulum as well as the pivot velocity. We then develop a control law which switches the control signals according to the prediction of the pivot travel. The present control law ensures that the Lyapunov function is non-increasing, while fully utilizing the limited pivot travel range without violating the constraints. Simulation and experimental results demonstrate the effectiveness of the present method.
Yasuaki Orita,Kiyotsugu Takaba,Takanori Fukao 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
To enhance search and rescue activities, robots are being introduced at disaster sites. Robotic support also has the potential to contribute to improving work efficiency at fire scenes. Transmission of the on-site situation to a base station is also an important task for disaster response robots. To fill this role, robots need a network for data transfers. In this paper, we present the design and installation of a wireless communication device for use at fire scenes. The device consists of the communicator and the characteristic capsule, which protects a stored module. The protector is waterproof so that it can shelter the module and guarantee data exchange even during water spraying activities. The devices are automatically deployed from a dropping platform mounted on a crawler robot. Multiple devices establish a wireless multi-hop ad hoc network along the path of the robot. The network aims to monitor the position of a searching firefighter inside the site. Some verification studies were performed to examine the waterproof performance of the device. Furthermore, an experiment demonstrated a successful application using the proposed device.
Lyapunov stability analysis of higher-order 2-D systems
C. Kojima,P. Rapisarda,K. Takaba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
We illustrate a Lyapunov function approach to analyze the stability of 2-D systems described by systems of higher-orderlinear partial difference equations.