Robust Control of Actuator based on Input Disturbance Estimation Observer designed in Frequency Domain

• Project/Area Number: 16078201
• Research Category: Grant-in-Aid for Scientific Research on Priority Areas
• Allocation Type: Single-year Grants
• Review Section: Science and Engineering
• Research Institution: Ibaraki University
• Principal Investigator: SHIRAISHI Masatake Ibaraki University, 理事・副学長(教育) (10091860)
• Project Period (FY): 2004 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥22,500,000 (Direct Cost: ¥22,500,000); Fiscal Year 2008: ¥2,200,000 (Direct Cost: ¥2,200,000); Fiscal Year 2007: ¥2,100,000 (Direct Cost: ¥2,100,000); Fiscal Year 2006: ¥6,200,000 (Direct Cost: ¥6,200,000); Fiscal Year 2005: ¥5,800,000 (Direct Cost: ¥5,800,000); Fiscal Year 2004: ¥6,200,000 (Direct Cost: ¥6,200,000)
• Keywords: 周波数領域設計 / ロバスト性 / 入力外乱推定オブザーバ / 軸の振れ / モデル位置決め / アクチュエータ / 入出力外乱推定オブザーバ / ロバスト制御 / アクチュエータの位置決め / 一軸位置決め制御系 / 部分空間法 / ARXモデル / プローブ先端制振 / 部分空間法モデル / 周波数領域オブザーバ / 予見制御 / 制振制御 / 脳波信号 / マニピュレータ / 車椅子 / 三軸系

Research Abstract

精密三軸位置決め系(三次元測定機)の縦軸に焦点を絞り、その軸先端の振動抑制を主目的とした。具体的には、提案した周波数領域設計でのオブザーバ(推定器)が振動外乱に対しその抑制にどれだけロバスト推定が可能かを、部分空間法モデルを用いたシミュレーションと実機による検証を行った。その結果、オブザーバ設計の3ステップにおけるパラメータの適宜設定により、振動抑制に十分なロバスト性が得られることが確認された。

Research Products

• [Journal Article] Advanced Graduate Course Lecture on Mechatronics (2008)
  • Author(s): M. Shiraishi
  • Journal Title: Technical University of Munhen (Lecture Note)
• [Journal Article] Manipulator Control Based on New Observer (2008)
  • Author(s): M. Shiraishi
  • Journal Title: Florida International University (Lecture Note)
• [Journal Article] In-Process Diameter Measure- ment of Turned Workpiece with Curvatures by Using Sensor Positioning, Trans. ASME (2006)
  • Author(s): M. Shiraishi, H. Sumiya and S. Aoshima
  • Journal Title: Manufacturing Science and Engng. Vol.128 Pages: 188-193
  • Peer Reviewed
• [Journal Article] Is It Possible To Control Air Flow By Using Laser Photon Pressure? (2006)
  • Author(s): M.Shiraishi
  • Journal Title: Proc.of 4^<th> ASME Int. Conf.On Nanochannels, Microchannels, and Minichannels, Limerick Univ.Ireland (CD-ROM)
• [Journal Article] Advanced Lecture Note on Mechatoronics (2006)
  • Author(s): M.Shiraishi
  • Journal Title: University of Ottawa, EMP, Department of Mechanical Eng. (Lecture Note)
• [Journal Article] ヒトにやさしい感情成分導入ロボット制御法と誘発性視覚効果の検証 (2006)
  • Author(s): 川上太郎, 住谷秀保, 白石昌武
  • Journal Title: 日本機械学会関東支部茨城講演会講演論文集 Pages: 39-41
• [Journal Article] 脳波利用によるヒトにやさしい動作を考慮したマニピュレータ駆動の心理的効果 (2006)
  • Author(s): 坂啓太, 住谷秀保, 白石昌武
  • Journal Title: 日本機械学会関東支部茨城講演会講演論文集 Pages: 41-42
• [Journal Article] Volitional Eye Movement Detection Using Wavelet Transform (2006)
  • Author(s): J.Matkowski, H.SUMIYA, S.LABERGE, M.Shiraishi
  • Journal Title: 日本機械学会関東支部茨城講演会講演論文集 Pages: 43-44
• [Journal Article] ロバストオブザーバを併合したサーボ系の外乱ロバスト性 (2005)
  • Author(s): 伊藤彰啓、白石昌武
  • Journal Title: 日本機械学会論文集(C編) Vol. 71, No. 702 Pages: 561-566
  • NAID: 110006264566
  • Peer Reviewed
• [Journal Article] Sensory operation of robot manipulator by using brain-wave signals (2005)
  • Author(s): M.shiraishi
  • Journal Title: Proc. Of 6^<th> IEEE Symp. on Computational Intelligence in Robotics and Automation, Helsinki, Finland (CD-ROM)
• [Journal Article] Robot Manipulator Operetion by Using Brain-Wave Signals (2005)
  • Author(s): M.shiraishi
  • Journal Title: Proc.Of IEEE/RSJ Int.Conf.on Intellgent Robots and Systems, Edmonton, Canada (CD-ROM)
• [Journal Article] 小径ドリルにおける加工状態の推定制御 (2004)
  • Author(s): 菊池誠,白石昌武
  • Journal Title: 日本機械学会論文集(C編) Vol. 70, No. 699 Pages: 3266-3270
  • Peer Reviewed
• [Journal Article] Control Structure and Relative Displacement Occurrence in Multi-inertia System (2004)
  • Author(s): T. Yamagiwa and M. Shiraishi
  • Journal Title: J. of JSPE Vol. 70, No. 12 Pages: 895-899
  • Peer Reviewed
• [Journal Article] 小径ドリルにおける加工状態の推定制御 (2004)
  • Author(s): 菊池 誠
  • Journal Title: 日本機械学会論文集 70.699 Pages: 3266-3270
• [Journal Article] Positioning Stability on Operative Force Feedback Micromanipulator (2004)
  • Author(s): M.Kikuchi
  • Journal Title: Proc.of Int.Conf.on Positioning Technology C0-1 Pages: 153-157
• [Journal Article] Robust Stability of Low-order Robust Pole Placement at Load Fluctuations in Mechatronics System (2004)
  • Author(s): A.Ito
  • Journal Title: Proc.of Int.Conf.on Positioning Technology CO-2 Pages: 158-163
• [Journal Article] Control Structure and Method for Reducing Relative Displacement In a Scanning Mechanism (2004)
  • Author(s): T.Yamagiwa
  • Journal Title: Proc.of Int.Conf.on Positioning Technology CO-4 Pages: 170-175
• [Journal Article] Optical In-Process Prediction of Drill Breakage (2004)
  • Author(s): M.Shiraishi
  • Journal Title: Proc.of Japan-USA Symposium on Flexible Automation July(CD-ROM)
• [Presentation] Is it possible to control robot manipulator by human brain wave signal? (2008)
  • Author(s): M. Shiraishi and H. Sumiya
  • Organizer: Proc. of 12^<th> Int. Conf. on Artificial Intelligence & Soft Computing
  • Place of Presentation: Spain, パルマ, マヨルカ国際会務場
  • Year and Date: 2008-09-02
• [Presentation] (2008)
  • Author(s): M. Shiraishi
  • Organizer: Advanced Graduate Course Lecture on Mechatronics (Lecture Note)
  • Place of Presentation: Technical University of Munhen
• [Presentation] Mechatoronic Systems based on Emotional Conditions (2007)
  • Author(s): M., Shiraishi
  • Organizer: Advanced Lecture Note
  • Place of Presentation: University of Canterbury
  • Year and Date: 2007-11-08
• [Presentation] 視覚補助のためのステレオ画像RGBに基ずく深度マップ生成高速化 (2007)
  • Author(s): 増田佳之・住谷秀保・白石昌武
  • Organizer: 日本機会学会茨城講演会
  • Place of Presentation: 茨城大学工学部
  • Year and Date: 2007-09-27
• [Presentation] Robot Manipulator Operation Based on Brain-Wave Signal (2007)
  • Author(s): M., Shiraishi
  • Organizer: Advanced Lecture Note
  • Place of Presentation: Technical University of Berlin
  • Year and Date: 2007-05-04
• [Presentation] (2007)
  • Author(s): M. Shiraishi
  • Organizer: Seminar on Manipulator Control by Using Human Emotion (Lecture Note)
  • Place of Presentation: University of Canterbury
• [Presentation] (2006)
  • Author(s): M. Shiraishi
  • Organizer: Advanced Lecture on New Observer (Lecture Note)
  • Place of Presentation: Sydney Institute of Technology
• [Presentation] Is It Possible To Control Air Flow By Using Laser Photon (2006)
  • Author(s): M. Shiraishi
  • Organizer: Proc. 4th ASME Int. Conf. on Nanochannels, Microchannnels, and Minichannels, CD-ROM
  • Place of Presentation: Ireland
• [Presentation] (2006)
  • Author(s): M. Shiraishi
  • Organizer: Advanced Lecture on Mechtronics, IEEE (Lecture Note)
  • Place of Presentation: Canada
• [Presentation] ヒトにやさしい感情成分導入ロボット制御法と誘発性視覚効果の検証 (2006)
  • Author(s): 川上太郎、住谷秀保、白石昌武
  • Organizer: 日本機械学会関東支部講演会、39-41
• [Presentation] 脳波利用によるヒトにやさしい動作を考慮したマニプレータ駆動の心理的効果 (2006)
  • Author(s): 坂啓太、住谷秀保、白石昌武
  • Organizer: 日本機械学会関東支部講演会、41-42
• [Presentation] LABERGE and M. Shiraishi, Volitional Eye Movement Detection Using Wavelet Transform (2006)
  • Author(s): J. Matokowski, H. Sumiya, S.
  • Organizer: 日本機械学会関東支部講演会、43-44
• [Presentation] Sensory operation of robot manipulator by using brain-wave signals (2005)
  • Author(s): M. Shiraishi
  • Organizer: Proc. IEEE Symp. On Computational Intelligence in Robotics and Automation, CD-ROM.
  • Place of Presentation: Finland
• [Presentation] Robot Manipulator Operation by Using Brain-Wave Signal (2005)
  • Author(s): M. Shiraishi
  • Organizer: Proc. IEEE/RSJ Int. Conf. on Intelligent Robot and Systems, CD-ROM.
  • Place of Presentation: Canada
• [Presentation] Positioning Stability on Operative Force Feedback Micro-manipulator (2004)
  • Author(s): M. Kikuchi and M. Shiraishi
  • Organizer: Proc. Int. Conf. on Positioning Technology, CD-1, 153-157
  • Place of Presentation: Hamamatsu
• [Presentation] Robust Stability of Low-order Robust Pole Placement at Load Fluctuations in Mechtronics System (2004)
  • Author(s): A. Ito and M. Shiraishi
  • Organizer: Proc. Int. Conf. on Positioning Technology, CD-2, 158-163
  • Place of Presentation: Hamamatsu
• [Presentation] Optical In-Process Prediction of Drill Breakage (2004)
  • Author(s): M. Shiraishi
  • Organizer: Proc. Japan-USA Symp. On Flexible Automation. CD-ROM
  • Place of Presentation: Denver
• [Presentation] Control Structure and Method for Reducing Relative Displacement In a Scanning Mechanism (2004)
  • Author(s): T. Yamagiwa and M. Shiraishi
  • Organizer: Proc. Int. Conf. on Positioning Technology, CD-4, 170-175
  • Place of Presentation: Hamamatsu
• [Book] 実用精密位置決め技術辞典 (2008)
  • Author(s): 白石昌武(共著)
  • Publisher: (株)産業技術サービスセンター(精密工学会編)
• [Book] 実用精密位置決め技術辞典 (2008)
  • Author(s): 白石昌武(共著)
  • Total Pages: 596
  • Publisher: (株)産業技術サービスセンター(精密工学会超位置決め専門委員会編)
• [Book] 入門現代制御理論(改訂12版) (2007)
  • Author(s): 白石昌武
  • Total Pages: 195
  • Publisher: 日刊工業新聞社
• [Book] 入門現代制御理論(改訂版) (2006)
  • Author(s): 白石昌武
  • Total Pages: 183
  • Publisher: 日刊工業新聞社
• [Book] 入門現代制御理論(改訂版) (2005)
  • Author(s): 白石 昌武
  • Total Pages: 195
  • Publisher: 日刊工業新聞社
• [Book] アクチュエータ工学 (2004)
  • Author(s): アクチュエータシステム技術企画委員会(分担執筆)
  • Total Pages: 228
  • Publisher: 養賢堂
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