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An ILMI Approach to Guaranteed Cost Controllers with a Minimal Order Observer
Daisuke Matsunaga,Mitsuaki Ishitobi,Sadaaki Kunimatsu 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a design scheme of a minimal order observer-based guaranteed cost controller for uncertain linear systems, in which some state variables cannot be measured. The perturtations are assumed to be described by structural uncertainties. An iterative linear matrix inequality(ILMI) approach is used to design the observer_based controller. A numerical example is given to illustrate the proposed method.
Sampled-Data Models and ZeroDynamics for Nonlinear Systems
Masatoshi Nishi,Mitsuaki Ishitobi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
For sampled-data controller design of nonlinear continuous-time systems, it is important to derive a good approximate sampled-data model because the exact sampled-data model for nonlinear system sis often unavailable to the controller designers. Recently, Yuz and Good win have proposed an accurate approximate model which includes extrazero dynamics corresponding to the relative degree of the continuou-time nonlinear system. Such extra zero dynamic sarecalled sampling zero dynamics. A more accurate sampled-data modelis, however, required when the relative degree of a continuous-time nonlinear plant is two. The reasonis that the closed-loop system becomes unstable when the more accurate sampled-data model has unstable sampling zero dynamics and a controller design method based on the assump-tion of the stability of the zero dynamics is applied. This paper derives the sampling zero dynamics of the more accurate sampled-data model and shows a condition which assurest he stability of the sampling zero dynamics of the model.
YAW Chi Pin,Mitsuaki ISHITOBI,Masatoshi NISHI 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper deals with a discrete_time design of model following control for a nonlinear one degree of freedom model helicopter using redesign method. Improved Euler model is used instead of simple Euler model for redesign of the controller. Simulation and experiment results of emulation, redesign method based on Euler model and improved Euler model are included to show the performance of each design method. The new redesinged controller based on improved Euler model shows better tracking control results than redesigned controller of Euler model and emulation.
Mixed l<SUB>2</SUB> / l<SUB>∞</SUB> Preview Control for Biped Walking Pattern Generation
Sadaaki Kunimatsu,Takahiro Fukuda,Makoto Kumon,Mitsuaki Ishitobi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we propose mixed l2/l∞ preview control for biped walking pattern generation. First, we propose the mixed l2/l∞ preview control via BMI(Bilinear Matrix Inequality) optimization approach for the system representing ZMP of humanoid robots. Next, we derive a method optimizing the mixed l2/l∞ preview controller by transforming the BMI condition into an iterative LMI(Linear Matrix Inequality) condition. Finally, we show the effectiveness of our proposed method by simulation.