Extend research of model error compensator for satisfying robust control systems

• Project/Area Number: 16K06419
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Kumamoto University
• Principal Investigator: Okajima Hiroshi 熊本大学, 大学院先端科学研究部(工), 准教授 (40452883)
• Co-Investigator(Kenkyū-buntansha): 松永 信智 熊本大学, 大学院先端科学研究部(工), 教授 (10363508)
• Project Period (FY): 2016-04-01 – 2020-03-31
• Project Status: Completed (Fiscal Year 2019)
• Budget Amount: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000); Fiscal Year 2019: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2018: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2017: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
• Keywords: ロバスト制御 / モデル誤差 / 制御工学 / モデル誤差抑制補償器 / 混合感度問題

Outline of Final Research Achievements

We research "model error compensator" to minimize the effect of the modeling error and the disturbance for the plant.

Academic Significance and Societal Importance of the Research Achievements

提案しているモデル誤差抑制補償器は，制御対象とモデルとのギャップが小さくなるような補償に特化するため制御構成が簡単な点が本研究の独創的な点である．また，本研究はモデル化誤差の抑制のみに特化しているため，既存のロバスト制御と異なり他の制御手法と併用しやすい利点を持つ．具体的には，本研究の補償器を含むシステムを制御対象とみなして制御することで，他の制御手法と本補償器の良いとこ取りができる．このとき，性能は維持したままモデルの不確かさや外乱に強い制御系を構築できること，「制御性能」，「ロバスト性」が分離されて設計の見通しが良く，考え方が難しくないことからも実応用，産業応用にも向いている．

Research Products

• [Journal Article] Robust Velocity Compensation of Inverted Pendulum Robot with Model Error Compensator (2019)
  • Author(s): Okajima Hiroshi、Okumura Kosuke、Matsunaga Nobutomo
  • Journal Title: IEEJ Transactions on Electronics, Information and Systems Volume: 139 Issue: 3 Pages: 219-226
  • DOI: 10.1541/ieejeiss.139.219
  • NAID: 130007605838
  • ISSN: 0385-4221, 1348-8155
  • Year and Date: 2019-03-01
  • Peer Reviewed
• [Journal Article] Analysis and Design of MCV Observer Based on Robust Invariant Set for Overcoming Observed Outputs with Outliers and Noises (2019)
  • Author(s): OKAJIMA Hiroshi
  • Journal Title: Transactions of the Society of Instrument and Control Engineers Volume: 55 Issue: 12 Pages: 823-829
  • DOI: 10.9746/sicetr.55.823
  • NAID: 130007761133
  • ISSN: 0453-4654, 1883-8189
• [Journal Article] Analysis of Robust Performance of Model Error Compensator for Polytopic-type Uncertain Continuous-time Linear Time Invariant Systems (2019)
  • Author(s): OKAJIMA Hiroshi
  • Journal Title: Transactions of the Society of Instrument and Control Engineers Volume: 55 Issue: 12 Pages: 800-807
  • DOI: 10.9746/sicetr.55.800
  • NAID: 130007761135
  • ISSN: 0453-4654, 1883-8189
• [Journal Article] Formulation of Control Systems Design Problem for Low Cost Individual Customization (2018)
  • Author(s): Okajima Hiroshi、Kawawaki Osamu
  • Journal Title: Transactions of the Institute of Systems, Control and Information Engineers Volume: 31 Issue: 11 Pages: 392-399
  • DOI: 10.5687/iscie.31.392
  • NAID: 130007595667
  • ISSN: 1342-5668, 2185-811X
  • Year and Date: 2018-11-15
  • Peer Reviewed / Open Access
• [Journal Article] Signal Limitation Filter to Satisfy Velocity and Acceleration Limits (2018)
  • Author(s): OKAJIMA Hiroshi、NAKABAYASHI Yuta、MATSUNAGA Nobutomo
  • Journal Title: Transactions of the Society of Instrument and Control Engineers Volume: 54 Issue: 1 Pages: 146-152
  • DOI: 10.9746/sicetr.54.146
  • NAID: 130006394579
  • ISSN: 0453-4654, 1883-8189
  • Peer Reviewed
• [Journal Article] 任意信号に対して速度·加速度を制約する信号制限フィルタの設計 (2018)
  • Author(s): 岡島寛，中林佑多，松永信智
  • Journal Title: 計測自動制御学会論文集 Volume: Vol.54,No.1 Pages: 146-152
  • NAID: 130006394579
  • Peer Reviewed / Open Access
• [Journal Article] センサノイズ環境下でのモデル誤差抑制補償器の設計 (2017)
  • Author(s): 奥村洸佑，岡島寛，松永信智
  • Journal Title: システム制御情報学会論文誌 Volume: Vol.30，No.4 Pages: 153-155
  • NAID: 130005773945
  • Peer Reviewed / Open Access
• [Presentation] Inter-Vehicle Distance Stabilization in Adaptive Cruise Control Using Signal Limitation Filter (2018)
  • Author(s): Yuta Nakabayashi, Hiroshi Okajima, Nobutomo Matsunaga
  • Organizer: Proceeding of 2018 IEEE International Conference on Systems, Man, and Cybernetics, pp.1985-1990 (2018)
  • Int'l Joint Research
• [Presentation] 信号制限フィルタを用いた隊列走行制御系における車間距離安定化 (2018)
  • Author(s): 中林佑多，岡島寛，松永信智
  • Organizer: 第5回制御部門マルチシンポジウム
• [Presentation] Signal limitation filter to satisfy velocity and acceleration constraints for arbitrary input signals (2017)
  • Author(s): Y. Nakabayashi, H. Okajima and N. Matsunaga
  • Organizer: SICE Annual Conference 2017
  • Int'l Joint Research
• [Presentation] モデル誤差抑制補償器を用いた車輪型倒立振子のロバスト走行 (2016)
  • Author(s): 奥村洸祐
  • Organizer: 第35回計測自動制御学会九州支部学術講演会
  • Place of Presentation: 佐賀大学
  • Year and Date: 2016-11-26
• [Presentation] モデル誤差抑制補償器を用いた空気圧アクチュエータの制御 (2016)
  • Author(s): 山下智理
  • Organizer: 第35回計測自動制御学会九州支部学術講演会
  • Place of Presentation: 佐賀大学
  • Year and Date: 2016-11-26
• [Remarks] 研究紹介
  • URL: http://ictrl.cs.kumamoto-u.ac.jp/researchcore.html