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Practical Applications of Linear Matrix Inequality Techniques to Controller Design of 2-Degrees-Of-Freedom High-Precision Positioning

Research Project

Project/Area Number 23560288
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionNagoya Institute of Technology

Principal Investigator

IWASAKI Makoto  名古屋工業大学, 工学(系)研究科(研究院), 教授 (10232662)

Project Period (FY) 2011 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2011: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Keywordsメカトロニクス / 高精度位置決め制御 / モーションコントロール / 位置決め制御 / 線形行列不等式
Research Abstract

In the research project, a pioneering design scheme has been originally proposed as the applications of linear matrix inequality techniques to the 2-Degrees-Of-Freedom high-precision controller for mechatronic positioning devices. In the design, the optimization approaches have been theoretically applied under the given control constrains that was formulated by linear matrix inequalities, which have provided the positioning system with the required performance.
The proposed design has promising capabilities to expand the application fields in mechatronic design for the precision positioning as well as the general motion control.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (37 results)

All 2014 2013 2012 2011 Other

All Journal Article (21 results) (of which Peer Reviewed: 12 results) Presentation (13 results) Book (2 results) Remarks (1 results)

  • [Journal Article] Circle Condition-Based Feedback Controller Design for Fast and Precise Positioning2014

    • Author(s)
      Yoshihiro Maeda and Makoto Iwasaki
    • Journal Title

      IEEE Trans. on Industrial Electronics

      Volume: Vol.61, No.2 Pages: 1113-1122

    • Related Report
      2013 Annual Research Report 2013 Final Research Report
  • [Journal Article] Mode Switching Feedforward Compensation Considering Rolling Friction Characteristics for Fast and Precise Positioning2014

    • Author(s)
      Yoshihiro Maeda and Makoto Iwasaki
    • Journal Title

      IEEE Trans. on Industrial Electronics

      Volume: Vol.61, No.2 Pages: 1123-1132

    • Related Report
      2013 Annual Research Report 2013 Final Research Report
  • [Journal Article] Improvement of Bending Vibration Suppression Performance for Galvano Mirror by Self-Sensing Actuation2014

    • Author(s)
      Kenta Seki and Makoto Iwasaki
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 3 Issue: 1 Pages: 10-17

    • DOI

      10.1541/ieejjia.3.10

    • NAID

      130003388500

    • ISSN
      2187-1094, 2187-1108
    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Simultaneous Optimization of Feedforward and Feedback Compensators Considering Multi-Stroke Conditions and Cost Reduction in Controller Implementation2014

    • Author(s)
      加藤孝宜, 前田佳弘, 岩崎誠, 平井洋武
    • Journal Title

      IEEJ Transactions on Industry Applications

      Volume: 134 Issue: 2 Pages: 220-228

    • DOI

      10.1541/ieejias.134.220

    • NAID

      130003391795

    • ISSN
      0913-6339, 1348-8163
    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Feedforward Compensation by Specified Step Settling with Frequency Shaping of Position Reference2014

    • Author(s)
      Kenta Seki, Yuya Tsuchimoto, and Makoto Iwasaki
    • Journal Title

      IEEE Trans. on Industrial Electronics

      Volume: 61 Issue: 3 Pages: 1552-1561

    • DOI

      10.1109/tie.2013.2259778

    • NAID

      10030324732

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Rolling Friction Model-Based Analyses and Compensation for Slow Settling Response in Precise Positioning2013

    • Author(s)
      Yoshihiro Maeda and Makoto Iwasaki
    • Journal Title

      IEEE Trans. on Industrial Electronics

      Volume: Vol.60, No.12 Pages: 5841-5853

    • Related Report
      2013 Annual Research Report 2013 Final Research Report
  • [Journal Article] Initial Friction Compensation Using Rheology-Based Rolling Friction Model in Fast and Precise Positioning2013

    • Author(s)
      Yoshihiro Maeda and Makoto Iwasaki
    • Journal Title

      IEEE Trans. on Industrial Electronics

      Volume: Vol.60, No.9 Pages: 3865-3876

    • Related Report
      2013 Annual Research Report 2013 Final Research Report
  • [Journal Article] Improvement of Settling Performance by Mode Switching Control with Split Initial Value Compensation Based on Input Shaper2013

    • Author(s)
      Yoshihiro Maeda, Masatake Wada, Makoto Iwasaki, and Hiromu Hirai
    • Journal Title

      IEEE Trans. on Industrial Electronics

      Volume: Vol.60, No.3 Pages: 979-987

    • Related Report
      2013 Final Research Report 2012 Research-status Report
  • [Journal Article] フィードフォワード・フィードバック補償器の連成設計による2自由度ロバスト制振位置決め制御系の設計2013

    • Author(s)
      加藤,前田,岩崎,平井
    • Journal Title

      電気学会論文誌

      Volume: Vol.133-D, No.3 Pages: 290-299

    • NAID

      10030324763

    • Related Report
      2013 Final Research Report
  • [Journal Article] 荷重制御装置における入力飽和による共振振動抑制を考慮した2段アクチュエータ制御系設計2013

    • Author(s)
      篠原悠作, 関健太, 岩崎誠, 珍田寛, 高橋昌樹
    • Journal Title

      日本機械学会論文誌C編

      Volume: 79 Pages: 1883-1892

    • NAID

      130003375070

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Practical Estimation and Compensation for Parameter Variations in Galvano Scanners Based on Position Settling Waveforms2013

    • Author(s)
      遠山聡一, 関健太, 岩崎誠, 平井洋武
    • Journal Title

      IEEJ Transactions on Industry Applications

      Volume: 133 Issue: 7 Pages: 729-737

    • DOI

      10.1541/ieejias.133.729

    • NAID

      10031182709

    • ISSN
      0913-6339, 1348-8163
    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Robust 2-Degrees-Of-Freedom Vibration Suppression Controller Design Based on Simultaneous Optimization between Feedforward and Feedback Compensators2013

    • Author(s)
      加藤孝宜, 前田佳弘, 岩崎誠, 平井洋武
    • Journal Title

      IEEJ Transactions on Industry Applications

      Volume: 133 Issue: 3 Pages: 290-299

    • DOI

      10.1541/ieejias.133.290

    • NAID

      10031155372

    • ISSN
      0913-6339, 1348-8163
    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] High Precision Motion Control Techniques -A Promissing Approach to Improving Motion Perfromance2012

    • Author(s)
      Makoto Iwasaki, Kenta Seki, and Yoshihiro Maeda
    • Journal Title

      IEEE Industrial Electronics Magazine

      Volume: Vol.6, No.1 Pages: 32-40

    • Related Report
      2013 Final Research Report
  • [Journal Article] GA-Based Practical Auto-Tuning Technique for Industrial Robot Controller with System Identification2012

    • Author(s)
      Eui-Jin Kim, Kenta Seki, Makoto Iwasaki, and Sang-Hun Lee
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 1 Issue: 1 Pages: 62-69

    • DOI

      10.1541/ieejjia.1.62

    • NAID

      130001929149

    • ISSN
      2187-1094, 2187-1108
    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] Fast and Precise Positioning by Adaptive Feedforward Disturbance Compensation Using Interference Force Modeling2012

    • Author(s)
      前橋 亘, 伊藤 和晃, 池田 純, 岩崎 誠
    • Journal Title

      IEEJ Transactions on Industry Applications

      Volume: 132 Issue: 7 Pages: 764-775

    • DOI

      10.1541/ieejias.132.764

    • NAID

      10030778641

    • ISSN
      0913-6339, 1348-8163
    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] 波動歯車装置を含む位置決め機構の厳密な線形化手法による非線形補償2012

    • Author(s)
      岩崎 誠, 飼沼 諒, 山元 純文, 沖津 良史
    • Journal Title

      精密工学会論文誌

      Volume: Vol.78 Pages: 624-630

    • NAID

      130003369723

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] 波動歯車の角度伝達誤差に起因する共振振動の可変ノッチフィルタによる制振制御2012

    • Author(s)
      岩崎 誠, 中村 紘之
    • Journal Title

      精密工学会論文誌

      Volume: Vol.78 Pages: 887-893

    • NAID

      130003369671

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] High-Precision Motion Control Techniques2012

    • Author(s)
      M. Iwasaki, K. Seki, and Y. Maeda
    • Journal Title

      IEEE Industrial Electronics Magazine

      Volume: Vol. 6 Issue: 1 Pages: 32-40

    • DOI

      10.1109/mie.2012.2182859

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] 2自由度ロバスト制振位置決め制御系のフィードフォワード・フィードバック補償器の連携設計2011

    • Author(s)
      加藤,前田,岩崎,平井
    • Journal Title

      電気学会論文誌

      Volume: Vol.131-D, No.12 Pages: 1416-1423

    • NAID

      10030531548

    • Related Report
      2013 Final Research Report
  • [Journal Article] LMIを用いた2自由度ロバスト制振位置決め制御系の制御系の設計2011

    • Author(s)
      加藤,前田,岩崎,平井
    • Journal Title

      電気学会論文誌

      Volume: Vol.131-D, No.1 Pages: 93-101

    • Related Report
      2013 Final Research Report
  • [Journal Article] Coordinate Design between Feedforward and Feedback Compensators for Robust 2-Degrees-Of-Freedom Positioning System2011

    • Author(s)
      加藤, 前田, 岩崎, 平井
    • Journal Title

      IEEJ Transactions on Industry Applications

      Volume: 131 Issue: 12 Pages: 1416-1423

    • DOI

      10.1541/ieejias.131.1416

    • NAID

      10030531548

    • ISSN
      0913-6339, 1348-8163
    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Presentation] Combined Luenberger State and Disturbance Observer for Semi-dual Loop Control of Two-mass Actuator System2014

    • Author(s)
      Michael Ruderman and Makoto Iwasaki
    • Organizer
      International Workshop on Advanced Motion Control
    • Place of Presentation
      Yokohama
    • Related Report
      2013 Annual Research Report
  • [Presentation] Modeling and Compensation for Hysteresis Properties in Piezoelectric Actuators2014

    • Author(s)
      Kenta Seki, Michael Ruderman, and Makoto Iwasaki
    • Organizer
      International Workshop on Advanced Motion Control
    • Place of Presentation
      Yokohama
    • Related Report
      2013 Annual Research Report
  • [Presentation] Circle Condition-Based PID Controller Design Considering Robust Stability Against Plant Perturbations2013

    • Author(s)
      Yoshihiro Maeda and Makoto Iwasaki
    • Organizer
      Proc. of the 39th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Vienna
    • Related Report
      2013 Final Research Report
  • [Presentation] Adaptive Deadbeat Feedforward Compensation for Robust Positioning Performance Against Plant Perturbations2013

    • Author(s)
      Souichi Toyama, Yousuke Okado, Yoshihiro Maeda, Makoto Iwasaki, and Hiromu Hirai
    • Organizer
      Proc. of IEEE International Conference on Mechatronics
    • Place of Presentation
      Vicenza
    • Related Report
      2013 Final Research Report
  • [Presentation] Circle Condition-Based PID Controller Design Considering Robust Stability Against Plant Perturbations2013

    • Author(s)
      Yoshihiro Maeda and Makoto Iwasaki
    • Organizer
      39th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Vienna
    • Related Report
      2013 Annual Research Report
  • [Presentation] Semi-dual Loop Control of Two-Mass Actuator System using Luenberger State Observer2013

    • Author(s)
      Michael Ruderman, Wataru Maebashi, and Makoto Iwasaki
    • Organizer
      39th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Vienna
    • Related Report
      2013 Annual Research Report
  • [Presentation] Design of Disturbance Compensation Signals Aided by Multi-Body Dynamics Software in Shaking Table Systems2013

    • Author(s)
      Kenta Seki, Kazuhiro Sugita, and Makoto Iwasaki
    • Organizer
      39th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Vienna
    • Related Report
      2013 Annual Research Report
  • [Presentation] Adaptive Deadbeat Feedforward Compensation for Robust Positioning Performance Against Plant Perturbations2013

    • Author(s)
      Souichi Toyama, Yousuke Okado, Yoshihiro Maeda, Makoto Iwasaki, and Hiromu Hirai
    • Organizer
      IEEE International Conference on Mechatronics
    • Place of Presentation
      Vicenza, Italy
    • Related Report
      2012 Research-status Report
  • [Presentation] 複数ストローク条件を考慮した2自由度制御系の連成設計による高速・高精度2013

    • Author(s)
      加藤孝宜,前田佳弘,岩崎誠,平井洋武
    • Organizer
      電気学会産業計測制御研究会
    • Place of Presentation
      千葉大学
    • Related Report
      2012 Research-status Report
  • [Presentation] A Coordinate Design of Two-Degrees-Of-Freedom Controller for Fast and Precise Positioning2012

    • Author(s)
      Takanori Kato, Yoshihiro Maeda, Makoto Iwasaki, and Hiromu Hirai
    • Organizer
      Proc. of International Workshop on Advanced Motion Control
    • Place of Presentation
      Sarajevo
    • Related Report
      2013 Final Research Report
  • [Presentation] フィードフォワード・フィードバック補償器の連成設計による2自由度ロバスト制振位置決め制御系の設計2012

    • Author(s)
      加藤孝宜,前田佳弘,岩崎誠,平井洋武
    • Organizer
      電気学会産業計測制御研究会
    • Place of Presentation
      横浜国立大学
    • Related Report
      2011 Research-status Report
  • [Presentation] Improvement of Settling Performance by Mode Switching Feedback Compensation in Fast and Precise Positioning2011

    • Author(s)
      Yoshihiro Maeda and Makoto Iwasaki
    • Organizer
      Proc. of the 37th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Melbourne
    • Related Report
      2013 Final Research Report
  • [Presentation] Improvement of Settling Performance by Mode Switching Control with Split Initial Value Compensation Based on Input Shaper2011

    • Author(s)
      Yoshihiro Maeda, Masatake Wada, Makoto Iwasaki, and Hiromu Hirai
    • Organizer
      Proc. of IEEE International Symposium on Industrial Electronics
    • Place of Presentation
      Gdansk
    • Related Report
      2013 Final Research Report
  • [Book] Advances in High-Performance Motion Control of Mechatronic Systems", Chapter 3,"Transient Control Using Initial Value Compensation"2013

    • Author(s)
      Makoto Iwasaki(分担執筆)
    • Publisher
      CRC Press
    • Related Report
      2013 Final Research Report
  • [Book] Advances in High-Performance Motion Control of Mechatronic Systems2013

    • Author(s)
      Makoto Iwasaki, et al.
    • Total Pages
      200
    • Publisher
      CRC Press
    • Related Report
      2013 Annual Research Report
  • [Remarks]

    • URL

      http://mechatronics.web.nitech.ac.jp/

    • Related Report
      2013 Final Research Report

URL: 

Published: 2011-08-05   Modified: 2019-07-29  

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