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Control of Variable Structure Mechanical Systems and Its Application to a Biological Inspired Robot

Research Project

Project/Area Number 15560217
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionThe University of Electro-Communications

Principal Investigator

TANAKA Kazuo  UEC, Faculty of Electro-Communications, Professor, 電気通信学部, 教授 (00227125)

Co-Investigator(Kenkyū-buntansha) TANAKA Takayuki  Hokkaido University, Graduate School of Information Science and Technology, Associate Professor, 情報科学研究科, 助教授 (10282914)
Project Period (FY) 2003 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥3,700,000 (Direct Cost: ¥3,700,000)
Fiscal Year 2005: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 2004: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 2003: ¥2,400,000 (Direct Cost: ¥2,400,000)
KeywordsVariable Structure Mechanical Systems / Sector Nonlinearity / Biological Inspired Robot / Linear Matrix Inequality / Stabilization of Lift Force / Nonlinear Model / Nonlinear System / 飛行実験 / 生物型ロボット / 視覚情報 / Sector nonlinearity / 非線形システム / リアプノフ関数
Research Abstract

(1)Development of Variable Structure Mechanical Systems
A class of variable structure mechanical systems is defined by using the concept of sector nonlinearity. A key feature of the systems is to switch different nonlinear dynamics using fuzzy logic.
(2)Control of Variable Structure Mechanical Systems
We consider two kinds of the variable structure mechanical systems. Several design conditions for stabilizing them are derived in terms of linear matrix inequalities.
(3)Development of a Flapping Robot
A flapping robot with membrane wing is developed. We also construct a calculation model of aerodynamic forces for flapping movements for the robot. The optimal aspect ratio for the flapping robot is designed through the calculation model that considers not only aerodynamic forces but also the load of a motor and the mechanical structure. The simulation results show that the flapping efficiency for membrane wing is better than that for rigid wing. The experimental results agree well with the simulation results based on the proposed calculation model of aerodynamic forces.
(4)Improvement of Variable Structure Mechanical Systems Control
We improve the variable structure mechanical systems control developed in (2). In the improvement, switching conditions and conservation laws play an important role of designing a (stabilizing) switching controller for the variable structure mechanical systems. Simulation results show the utility of this control approach.
(5)Stabilization of Lift Force of Flapping Robot
A dynamic model for the lift force of the flapping robot is identified using subspace method. A reference model that realizes an efficient flying is generated. We design a stabilizing controller to control the lift force of the flapping robot. Experimental results demonstrate the utility of our approach.

Report

(4 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • Research Products

    (50 results)

All 2006 2005 2004 2003 Other

All Journal Article (44 results) Publications (6 results)

  • [Journal Article] Switching Model Construction and Stability Analysis for Nonlinear Systems2006

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics Vol.10, No.1

      Pages: 3-10

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Switching Model Construction and Stability Analysis for Nonlinear Systems2006

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics Vol.10,No.1

      Pages: 3-10

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Switching Fuzzy Controller Design based on Switching Lyapunov Function for a Class of Nonlinear Systems2006

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      IEEE transactions on Systems, Man, and Cybernetics Part B Vol.36,No.1

      Pages: 13-23

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Descriptor System Approach to Fuzzy Control System Designs Using Fuzzy Lyapunov Function2006

    • Author(s)
      Kazuo Tanaka
    • Journal Title

      Proceedings of the 2006 American Control Conrefence (Accepted)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Switching Model Construction and Stability Analysis for Nonlinear Systems2006

    • Author(s)
      H.Ohtake, K.Tanaka
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics Vol.10, No.1

      Pages: 3-10

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Switching Fuzzy Controller Design based on Switching Lyapunov Function for a Class of Nonlinear Systems2006

    • Author(s)
      H.Ohtake, K.Tanaka, H.Wang
    • Journal Title

      IEEE Transactions on Systems, Man, and Cybernetics Part B Vol.36, No.1

      Pages: 13-23

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Fuzzy Model-based Control for Dynamic Variable Structure Systems2005

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      Proceedings of the 2005 American Control Conference

      Pages: 496-500

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Fuzzy Model-based Manipulator Control with elbow Joint Constraint2005

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      SICE Annual Conference

      Pages: 1828-1831

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Fuzzy Control System Designs using Redundancy of Descriptor Representation : A Fuzzy Lyapunov Function Approach2005

    • Author(s)
      Kazuo Tanaka
    • Journal Title

      Proceedings of the 2005 American Control Conference

      Pages: 1096-1101

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Fuzzy Model-based Control for Dynamic Variable Structure Systems2005

    • Author(s)
      H.Ohtake, K.Tanaka, H.Wang
    • Journal Title

      Proceedings of the 2005 American Control Conferenc

      Pages: 496-500

    • NAID

      40019587492

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Fuzzy Model-based Manipulator Control with elbow Joint Constraint2005

    • Author(s)
      H.Ohtake, K.Tanaka
    • Journal Title

      SICE Annual Conference

      Pages: 1828-1831

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Fuzzy Control System Designs using Redundancy of Descriptor Representation : A Fuzzy Lyapunov Function Approach2005

    • Author(s)
      K.Tanaka, T.Nebuya, H.Ohtake, H.Wang
    • Journal Title

      Proceedings of the 2005 American Control Conference

      Pages: 1096-1101

    • Related Report
      2005 Annual Research Report
  • [Journal Article] A Practical Design Approach to Stabilization for 3DOF RC Heliconter2004

    • Author(s)
      Kazuo Tanaka
    • Journal Title

      IEEE Transactions on Control Systems Technologies Vol.12, No.2

      Pages: 315-325

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Acrobatic Control of a Pendubot2004

    • Author(s)
      Wei Li
    • Journal Title

      IEEE Transactions on Fuzzy Systems Vol.12, No.4

      Pages: 549-552

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary 2004 Annual Research Report
  • [Journal Article] 可変迎角機構をもつサイクロジャイロ型飛行ロボットの提案2004

    • Author(s)
      田中一男
    • Journal Title

      日本ロボット学会 Vol.22, No.7

      Pages: 920-923

    • NAID

      10013651393

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Recursive Pointwise Design for Nonlinear Systems2004

    • Author(s)
      Kazuo Tanaka
    • Journal Title

      2004 American Control Conference

      Pages: 470-475

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary 2004 Annual Research Report
  • [Journal Article] ファジィモデルに基づく動的可変構造システムの安定制御2004

    • Author(s)
      大竹 博
    • Journal Title

      第20回ファジイシステムシンポジウム

      Pages: 112-115

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 可変迎角機構をもつ飛行ロボットの開発2004

    • Author(s)
      鈴木 良平
    • Journal Title

      ロボティクス・メカトロニクス講演会 (CD)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary 2004 Annual Research Report
  • [Journal Article] サイクロジャイロ型飛行ロボットの飛行性能実験2004

    • Author(s)
      鈴木 良平
    • Journal Title

      第22回ロボット学会学術講演会 (CD)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary 2004 Annual Research Report
  • [Journal Article] ファジィリアプノブ関数を用いたディスクリプタシステムの制御2004

    • Author(s)
      根布谷岳志
    • Journal Title

      第14回インテリジェント・システム・シンポジウム

      Pages: 177-1822

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 極標型ファジィモデルの安定化制御器の設計2004

    • Author(s)
      大竹 博
    • Journal Title

      第14回インテリジェント・システム・シンポジウム

      Pages: 189-192

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Derivation of LMI Conditions in Switching Fuzzy Control2004

    • Author(s)
      Hiroshi Ohtaka
    • Journal Title

      43^<rd>IEEE Conference on Decision and Control

      Pages: 5100-5105

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] ファジィモデルに基づく動的可変構造システムの安定制御2004

    • Author(s)
      大竹 博
    • Journal Title

      第20回ファジィシステムシンポジウム

      Pages: 112-115

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary 2004 Annual Research Report
  • [Journal Article] ディスクリプタ表現の冗長性を利用したファジィ制御器の設計2004

    • Author(s)
      根布谷岳志
    • Journal Title

      第20回ファジィシステムシンポジウム

      Pages: 94-97

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Practical Design Approach to Stabilization for 3DOF RC Helicopter2004

    • Author(s)
      Kazuo Tanaka
    • Journal Title

      IEEE Transactions on Control Systems Technologies Vol.12,No.2

      Pages: 315-325

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Acrobatic Control of a Pendubot2004

    • Author(s)
      Wei Li
    • Journal Title

      IEEE Transactions on Fuzzy Systems Vol.12,No.4

      Pages: 549-552

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Derivation of LMI Conditions in Switching Fuzzy Control2004

    • Author(s)
      Hiroshi Ohtaka
    • Journal Title

      43^<rd> IEEE Conference on Decision and Control

      Pages: 5100-5105

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary 2004 Annual Research Report
  • [Journal Article] A Practical Design Approach to Stabilization for 3DOF RC Helicopter2004

    • Author(s)
      Kazuo Tanaka
    • Journal Title

      IEEE Transactions on Control Systems Technologies Vol.12, No.2

      Pages: 315-325

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 可変迎角機構をもつサイクロジャイロ型飛行ロボットの提案2004

    • Author(s)
      田中一男
    • Journal Title

      日本ロボット学会誌 Vol.22, No.7

      Pages: 920-923

    • NAID

      10013651393

    • Related Report
      2004 Annual Research Report
  • [Journal Article] ファジイモデルに基づく動的可変構造システムの安定制御2004

    • Author(s)
      大竹 博
    • Journal Title

      第20回ファジィシステムシンポジウム

      Pages: 112-115

    • Related Report
      2004 Annual Research Report
  • [Journal Article] ファジィリアプノフ関数を用いたディスクリプタシステムの制御系設計2004

    • Author(s)
      根布谷岳志
    • Journal Title

      第14回インテリジェント・システム・シンポジウム

      Pages: 177-1822

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 極標型ファジィモデルの安定化制御気の設計2004

    • Author(s)
      大竹 博
    • Journal Title

      第14回インテリジェント・システム・シンポジウム

      Pages: 189-192

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Multiple Lyapunov Function Approach to Stabilization of Fuzzy Control Systems2003

    • Author(s)
      Kazuo Tanaka
    • Journal Title

      IEEE Transactions on Fuzzy Systems Vol.11, No.4

      Pages: 582-589

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Switching Fuzzy Control for Nonlinear Systems2003

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      2003 American Control Conference

      Pages: 1914-1919

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 膜翼を有する羽ばたき機の試作2003

    • Author(s)
      川畑 章司
    • Journal Title

      日本ロボット学会誌 Vol21, No.8

      Pages: 916-922

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Piecewise Nonlinear Control2003

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      42^<nd> IEEE Conference on Decision and Control

      Pages: 4735-4740

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Switching Fuzzy Control for Nonlinear Systems2003

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      2003 IEEE International Symposium on Intelligent Control

      Pages: 281-286

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Stable Control for Polar Coordinate Fuzzy Systems2003

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      2003 IEEE International Conference on Systems, Man & Cybernetics

      Pages: 810-815

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Multiple Lyapunov Function Approach to Stabilization of Fuzzy Control Systems2003

    • Author(s)
      Kazuo Tanaka
    • Journal Title

      IEEE Transactions on fuzzy Systems Vol.11,No.4

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Stable Control for Polar Coordinage Fuzzy Systems2003

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      2003 IEEE International Conference on Systems, Man & Cybernetics

      Pages: 810-815

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Switching Fuzzy Controller Design based on Switching Lyapunov Function for a Class of Nonlinear Systems

    • Author(s)
      Hiroshi Ohtake
    • Journal Title

      IEEE Transactions on Systems, Man, and Cybernetics Part B (Accepted)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Descriptor System Approach to Fuzzy Control System Design via Fuzzy Lyapunov Functions

    • Author(s)
      Kazuo Tanaka
    • Journal Title

      IEEE Transactions on Fuzzy Systems (Accepted)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Descriptor System Approach to Fuzzy Control System Design via Fuzzy Lyapunov Functions

    • Author(s)
      Kazuo Tanaka
    • Journal Title

      IEEE Transactions on Fuzzy Systems (Accepted)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Descriptor System Approach to Fuzzy Control System Design via Fuzzy Lyapunov Functions

    • Author(s)
      K.Tanaka, H.Ohtake, H.Wang
    • Journal Title

      IEEE Transactions on Fuzzy Systems Accepted

    • Related Report
      2005 Annual Research Report
  • [Publications] Kazuo Tanaka: "A Multiple Lyapunov Function Approach to Stabilization of Fuzzy Control Systems"IEEE Transactions on Fuzzy Systems. 11・4. 582-589 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Kazuo Tanaka: "A Practical Design Approach to Stabilization for 3DOF RC Helicopter"IEEE Transactions on Control Systems Technologies. (掲載確定). (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] 川畑 章司: "膜翼を有する羽ばたき機の試作"日本ロボット学会誌. 121・8. 916-922 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Hiroshi Ohtake: "Switching Fuzzy Control for Nonlinear Systems"2003 American Control Conference. 1914-1919 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Hiroshi Ohtake: "Piecewise Nonlinear Control"42^<nd> IEEE Conference on Decision and Control. 4735-4740 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 長谷 拓也: "可変迎角機構をもつ飛行ロボットの提案"第21回ロボット学会学術講演会. (in CD). 3B-22 (2003)

    • Related Report
      2003 Annual Research Report

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Published: 2003-04-01   Modified: 2016-04-21  

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