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Jerk Reduction Control of a Mechanical Transfer System with a Flexible Beam
Takahiro Miura,Masao Ikeda,Kohta Hoshijima 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we deal with a mechanical transfer system with a flexible beam, which is widely used in manufacturing processes. We represent the system as composed of three rigid bodies, that is, a driving unit, a hand, and a work. The driving unit and the hand slide on a smooth floor, and are connected by an elastic link. The hand and the work are connected by a flexible beam. When the driving unit moves on the floor, the work is vibrated not only in the translational motion but also in the bending motion because of the flexibility of the beam. We apply the idea of jerk reduction to the hand for vibration suppression of the work and shortening the settling time in positioning. We show that the jerk reduction control method is effective for this system using numerical simulations for a finite element model.
Parameter and State Estimation for Uncertain Linear Systems by Multiple Observers
Eiichi Muramatsu,Masao Ikeda 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.4
A parameter and state estimation problem is considered for uncertain linear time-invariant systems. Under a certain condition, it is shown that the state of the system can be asymptotically described by a linear combination of state estimates generated by suitable multiple observers, where the weights of the linear combination are the parameters to be estimated. Using this property, a computation method is proposed for simultaneous estimation of the parameters and the state from the output data of the plant and multiple observers.
Stabilization of Linear Time-Varying Descriptor Systems
Masaki Inoue,Teruyo Wada,Masao Ikeda,Eiho Uezato 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper considers stabilization of linear time-varying descriptor systems with continuous and bounded coefficient matrices. First, a necessary and sufficient condition for exponential stability is presented as solvability of a linear matrix differential inequality. Then, the stability condition is utilized to derive a feedback control law for stabilization of the descriptor system. The proposed feedback gain extracts the dynamic component of the descriptor variable. A numerical example is presented.