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Fuzzy-Type Nonlinear Systems and Construction of Lyapunov Functions for te Control of Autonomous Robot

Research Project

Project/Area Number 08650504
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field 計測・制御工学
Research InstitutionUniversity of the Ryukyus

Principal Investigator

MIYAGI Hayao  Univ. of the Ryukyus, Faculty of Eng. Professor., 工学部, 教授 (40112445)

Co-Investigator(Kenkyū-buntansha) YAMADA Koji  Univ. of the Ryukyus, Faculty of Eng. Lecturer, 工学部, 講師 (90274886)
YAMASHITA Katsumi  Univ. of the Ryukyus, Faculty OF Eng. Professor., 工学部, 教授 (60158152)
Project Period (FY) 1996 – 1997
Project Status Completed (Fiscal Year 1997)
Budget Amount *help
¥1,700,000 (Direct Cost: ¥1,700,000)
Fiscal Year 1997: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1996: ¥1,100,000 (Direct Cost: ¥1,100,000)
KeywordsAutonomous robot / Fuzzy control / Robust perturbation technique / Fuzzy relation equation / GA / Lyapunov method / Fuzzy inference / Co-evolution approach / ル-リエ形リアプノフ関数 / ファジイ推論 / 競合共進化モデル / 意思決定 / 残留ファジィ測度 / ファジィ型非線形システム / クラシファイアシステム
Research Abstract

1.The report presents a pattern classification for systems with arbitrary nonlinear feedbacks. Classification is carried using the robust nonlineear-perturbation technipue, in which nonlinearities are regarded as the non-linear perturbation of linear stable systems. The results show that the autonomous robot system can keep stable if nonlinearities lie in the robust-stable range.
2. We have proposed an algorithm that solves fuzyy relation equations given by Sup・min or Inf・max composite. The solution is useful to establish fuzzy inference.
3. The genetic algorithm(GA) requires setting a fitness function and evaluat-ing it to solve the probrem. then, for the autonomous acquisition problem of game strategy, it is not easy to apply GA because the fitness function can not be fixed in changeable situation of game. The report gives that the proposed co-evolution approach is useful to the problem.
4. The "antecedent" and "consequent" conditions of fuzzy inference systems are well correlated with input and output of conventional nonlinear feedbacks, respectively. The robust perturbation technique shows that if the nonlinearities are within the robust perturbation limit, the fuzzy control system is verified to be stable according to the stability theorm of Lyapunov. The report has investigated the stability of fuzzy contrl systems using thetechnique.

Report

(3 results)
  • 1997 Annual Research Report   Final Research Report Summary
  • 1996 Annual Research Report
  • Research Products

    (47 results)

All Other

All Publications (47 results)

  • [Publications] Hayao Miyagi: "Stability Analysis of Nonlinear Feedback Systems through the Non-Lure Type Lyapunou Function" International Journal of Problems of Nonlinear Analysis in Engineering Systems. 1-3. 11-20 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 宮城 雅夫: "ロバスト摂動法による非線形フィードバックシステムのパターン類別" 日本機械学会論文集(C編). 62-598. 73-77 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Hayao Miyagi: "Pattern Classification for the Stability of Unknown Nonlinear-Feedback Systems" Proceedings of International Symposium on Modelling,Analysis and Simulation(Lille-France). 1. 71-74 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Naoyuki Taira: "A Method of Constructing Pairwise Comparison Matrix in Decision Making" Proceedings of IEEE International Conference on Systems,Man and Cybernetics(Beijing-china). 4. 2511-2516 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Hayao Miyagi: "Solution of Fuzzy Relation Equations Using the Rule of Exclusion" Proceeding of IEEE International Conference on Systems,Man and Cybenetics(Beijing-China). 4. 2517-2521 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Hayao Miyagi: "Robust Stability of Nonlinear Feedback Systems with Parameter Deviations and Perturbed Nonlinearities" Trans.of the ASME(Journal of Dynamic systems,Measurement and Control). 119. 133-135 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Hayao Miyagi: "Stability Analysis of Fuzzy-Type Nonlinear Systems Using the Method of Lyapunov" Proceedings of ITC-CSCC'97(Okinawa,Japan). 1. 499-502 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Kisho Uehara: "Study on Methods for Deciding Behavior of Mobile Robot" Nonlinear Analysis,Theory,Methods and Applications(Elsevier Science Ltd). 30-5. 2981-2988 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Hayao Miyagi: "Algorithm for Solution of Fuzzy Relation Equations" Proceedings of IEEE International Conference on Systems,Man and Cybernetics(Orland,Florida). 4. 4005-4009 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 宮城 隼夫: "除外のルールを用いたファジィ関係式の解法" 日本ファジィ学会誌. 10-1. 168-174 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Hayao Miyagi: "Stable Pattern Classification of Unknown Nonlinear-Feedback Systems" International Journal of Systems Analysis Mndelling Simulation. (印刷中). (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Yiping Fan: "Multi-Objective Decision-Making Based on the Fuzzy Relation Equations" Proceeding of CESA'98(Hammermet,Tunisia). (印刷中). (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] N.Miyagi: "Pattern Classification of Nonlinear Feedback Systems Using the RobustPerturbation Method" Trans. of the Japan Society of Mec. Engineers. Vol.62, No.598. 73-77 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] H.Miyagi: "Pattern Classification for the Stability of Unknown Nonlinear-Feedback Systems" Pros. of Int. symp. on MAS. Vol.1. 71-74 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] N.Taira: "A Method of Constructing Pairwise Comparison. Matrix in Decision Making" Proc. of IEEE SMC'96. Vol.4. 2511-2516 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] H.Miyagi: "Solution of Fuzzy Relation Equations Using the Rule of Exclusion" Proc.of IEEE SMC'96. Vol.4. 2517-2521 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] M.Nerome: "Competitive Co-evolution Model on the Acquisition of Game Strategy" Asia-Pacific Conf. on Simulated Evolution and Learning. Vol.S8-1. 357-364 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] H.Miyagi: "Robust Stability of Nonlinear Feedback Systems with Parameter Deviations and Pertubed Nonlinearities" Trans. of the ASME, J.of Dynamic Systems, Measurement, and Control. Vol.119. 133-135 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] H.Fukumura: "Study on the Solution of Fuzzy Relation Equation with Interval Values" Proc. of ITC-CSCC'97. Vol.1. 495-498 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] H.Miyagi: "Stability Analysis of Fuzzy-Type Nonlinear Systems Using the Method of Lyapunov" Proc. of ITC-CSCC'97. Vol.1. 499-502 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Y.Fan: "A Study on Calculating the Weight Vector of Inconsistent Pairwise Comparison Matrix" Proc.of ITC-CSCC'97. Vol.1. 491-493 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] M.Nerome: "Competitive Co-evolution Based Game-Strategy Acquisition with Packaging Strategies Mehtod" Proc. of IEEE SMC'97. Vol.4. 4418-4423 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] H.Miyagi: "Algorithm for Solution of Fuzzy Relation Equations" Proc. of IEEE SMC'97. Vol.4. 4005-4009 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] K.Uehara: "Study on Methods for Deciding Behavir of Mobile Robot-Acquisition of Control Rule by Information through Visual Sensor" J.of Nonlinear Analysis, Theory, Methods&Application. Vol, 30, No. 5. 2981-2988 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] H.Miyagi: "Solution of Fuzzy Relation Equation Using the Rule of Exclusion" J.of Japan Society for Fuzzy Theory and Systems. Vol. 10, No.1. 168-174 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Hayao Miyagi: "Robust Stability of Nonlinear Feedback Systems with Parameter Deviations and Perturbed Nonlinearities" Trans.of the ASME,Journal of Dynamic Systems,Measurement,and Control. 119. 133-135 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Hayao Miyagi: "Stability Analysis of Fuzzy-Type Nonlinear Systems Using the Method of Lyapunov" Proceedings of ITC-CSCC'97(Okinawa,Japan). 1. 499-502 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Yiping Fan: "A Study on Calculating the Weight Vector of Inconsistent Pairwise Comparison Matrix" Proceedings of ITC-CSCC'97(Okinawa,Japan). 1. 491-493 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Moeko Nerome: "Competitive Co-evolution Based Game-Strategy Acquisition Using Packaging Strategies Method" Proceedings of ITC-CSCC(Okinawa,Japan). 1. 471-474 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Hayako Fukumura: "Study on the Solution of Fuzzy Relation Equation with Interval Values" Proceedings of ITC-CSCC(Okinawa,Japan). 1. 495-498 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Hayao Miyagi: "Algorithm for Solution of Fuzzy Relation Equations" Proceedings of IEEE International Conference on Systems,Man and Cybernetics(Orland,Florida). 4. 4005-4009 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 宮城 隼夫: "除外のルールを用いたファジィ関係式の解法" 日本ファジィ学会誌. 1(印刷中). (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] Hayao Miyagi: "Stable Pattern Classification of Unknown Nonlinear-Feedback Systems" Systems Analysis Modelling Simulation. (掲載決定). (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] Hajime Asato: "Nonlinear Prediction for Economic Time Series by Neural Networks" Proceedings of CESA'98 in Tunis. (掲載決定). (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] Yiping Fan: "Multi-Objective Decision-Making Based on the Fuzzy Relation Equations" Proceedings of CESA'98 in Tunis. (掲載決定). (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] Katsumi Yamashita: "A Design Method of 2-D Volterra Filter with Lattice Orthogonalization" Proceedings of CESA'98 in Tunis. (掲載決定). (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] Hayao Miyagi: "Stability Analysis of Nonlinear Feedback Systems through the Non-Lure Type Lyapunov Function" International Journal of Problems of Nonlinear Analysis in Engineering Systems. 1-3. 11-20 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 宮城雅夫: "ロバスト摂動法による非線形フィードバックシステムのパターン類別" 日本機械学会論文集(C編). 62-598. 73-77 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Hyao Miyagi: "Pattern Classification of the Stability of Unknown Nonlinear-Feedback Systems" Proceeding of Internasional Symposium on Modelling,Analysis and Simulation (Lille-France). 1. 71-74 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Naoyuki Taira: "A Method of Constructing Pairwise Comparison Matrix in Decision Making" Proceeding of IEEE International Coference on Systems,Man and Cybernetics (Beijing-China). 4. 2511-2516 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Hayao Miyagi: "Solution of Fuzzy Relation Equations Using the Rule of Exclusion" Proceeding of IEEE International Conference on Systems,Man and Cybernetics (Beijing-China). 4. 2517-2521 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Hayao Miyagi: "Robust Stability of Nonlinear Feedback Systems with Parameter Deviations and Perturbed Nonlinearities" Trans. of the ASME (Journal of Dynamic Systems,Measurement oand Control). 119(印刷中). (1997)

    • Related Report
      1996 Annual Research Report
  • [Publications] Kisho Uehara: "Study on Methods for Deciding Behavior of Mobile Robot" Proceedings of WCNA'96 in Athens. (印刷中). (1997)

    • Related Report
      1996 Annual Research Report
  • [Publications] Moeko Nerome: "Competitive Co-evolution Model on the Acquisition of Game Strategy" The First Asia-Pacific Conference on Simulated Evolution and Learning. 1. 357-364 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Koji Yamada: "Adaptive Distributed System of Artificial Cells Using Vibrating Potential Method-An Application to nTSP" Adaptive Distributed Parallel Computing (Ohio,U.S.A). 1. 73-81 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Katsumi Yamashita: "A Design Method of an Adaptive Multichannel IIR Filter with Generalized Lattice Structure" International Technical Conference on Circuits/Systems,Computers and Communications. 1. 812-815 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Katsumi Yamashita: "A Design Method of 3-D Lattice Predictive Modelling" International Technical Conference on Circuits/Systems,Computers and Communications. 1. 820-823 (1996)

    • Related Report
      1996 Annual Research Report

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Published: 1996-04-01   Modified: 2016-04-21  

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