Development of Control Theory for Almost-Periodic Motions - Aimed at Practical Human Assist Technology

• Project/Area Number: 24560549
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Control engineering
• Research Institution: Okayama University (2014); Nara Institute of Science and Technology (2012-2013)
• Principal Investigator: HIRATA Kentaro 岡山大学, 自然科学研究科, 教授 (00293902)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000); Fiscal Year 2014: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2013: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2012: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
• Keywords: 周期運動 / エネルギー効率

Outline of Final Research Achievements

Repetitive control with varying time delay length is investigated first. Then, feed forward strategies based on adaptive estimation of almost-periodic signals are examined. Unknown input observer for the generator of almost-periodic signals, periodic disturbance observer based on LPV systems theory and Time-Varying Seasonal Auto Regressive Model (TVSAR model) are studied. Adaptive controller design based on adaptive notch filters is also considered.

Research Products

• [Journal Article] Spectrum of Monodromy Operator for a Time-Delay System with Application to Stability Analysis (2015)
  • Author(s): Jung Hoon Kim, Tomomichi Hagiwara and Kentaro Hirata
  • Journal Title: IEEE TAC Volume: NA
  • Peer Reviewed
• [Journal Article] ある種の切り替え系に対する繰返し制御の局所安定解析 (2013)
  • Author(s): 平田健太郎, 高橋健太郎
  • Journal Title: 計測自動制御学会論文集 Volume: 49
  • NAID: 10031182160
  • Peer Reviewed
• [Journal Article] Numerical Methods for Spectrum Computation of Monodromy Operators via Non-Causal Hold Discretization (2013)
  • Author(s): Kentaro Hirata, Tomomichi Hagiwara and Atsushi Itokazu
  • Journal Title: SICE JCMSI Volume: 6
  • NAID: 10031140164
  • Peer Reviewed
• [Journal Article] 規則向波中を航行する船舶における低燃費フィードバックエンジン回転数制御 (2013)
  • Author(s): 畑田 和良, 平田 健太郎
  • Journal Title: 計測自動制御学会論文集 Volume: 49
  • NAID: 10031155001
  • Peer Reviewed
• [Journal Article] ある種の切り替え系に対する繰返し制御の局所安定解析 (2013)
  • Author(s): 平田 健太郎, 高橋 健太郎
  • Journal Title: 計測自動制御学会論文集 Volume: 49
  • NAID: 10031182160
  • Peer Reviewed
• [Presentation] Power Assisting Method for Almost-Periodic Motions Based on Motion Prediction (2015)
  • Author(s): Kazuyohi Hatada, Kentaro Hirata and Takuma Sato
  • Organizer: IEEE ICIT 2015
  • Place of Presentation: Seville, Spain
  • Year and Date: 2015-03-17 – 2015-03-19
• [Presentation] 周波数変動外乱の推定に基づくパワーアシスト制御の検討 (2014)
  • Author(s): 佐藤拓磨, 平田健太郎, 畑田和良, 杉本謙二
  • Organizer: 第15回計測自動制御学会SI部門大会
  • Place of Presentation: 東京ビッグサイト, 東京
  • Year and Date: 2014-12-15 – 2014-12-17
• [Presentation] 運動予測に基づく概周期運動に対するパワーアシスト制御法の検討 (2014)
  • Author(s): 畑田和良, 平田健太郎, 佐藤拓磨
  • Organizer: 第15回計測自動制御学会SI部門大会
  • Place of Presentation: 東京ビッグサイト, 東京
  • Year and Date: 2014-12-15 – 2014-12-17
• [Presentation] ドラムブレーキ機構と空気圧人工筋を用いた肩部姿勢保持用パワーアシストスーツの開発 (2014)
  • Author(s): 長山陸, 佐々木大輔, 平田健太郎, 高岩昌弘
  • Organizer: 第15回計測自動制御学会SI部門大会
  • Place of Presentation: 東京ビッグサイト, 東京
  • Year and Date: 2014-12-15 – 2014-12-17
• [Presentation] 拇指対立運動補助機能を有する装着型手指動作支援装置の開発 (2014)
  • Author(s): 佐々木寛史 佐々木大輔, 平田健太郎, 高岩昌弘
  • Organizer: 第15回計測自動制御学会SI部門大会
  • Place of Presentation: 東京ビッグサイト, 東京
  • Year and Date: 2014-12-15 – 2014-12-17
• [Presentation] On Numerical Computation of the Spectrum of Monodromy Operators via Higher-Order Hold Discretization (2014)
  • Author(s): Yoichiro Masui, Kentaro Hirata and Tomomichi Hagiwara
  • Organizer: MTNS 2014
  • Place of Presentation: Groningen, The Nethrlands
  • Year and Date: 2014-07-07 – 2014-07-11
• [Presentation] Eigenvalue Structure of the Predictor Feedback for Discrete-time LTI Systems (2014)
  • Author(s): Lolynn Asuncion Mateo and Kentaro Hirata
  • Organizer: IEEE ICIT 2014
  • Place of Presentation: Haeundae Grand Hotel, Busan, Korea
• [Presentation] Power Assisting Control for Electric Bicycles Using an Adaptive Filter (2014)
  • Author(s): Kazuyoshi Hatada and Kentaro Hirata
  • Organizer: IEEE ICIT 2014
  • Place of Presentation: Haeundae Grand Hotel, Busan, Korea
• [Presentation] On Numerical Computation of the Spectrum of Monodromy Operators via Higher-Order Hold Discretization (2014)
  • Author(s): Yoichiro Masui, Kentaro Hirata and Tomomichi Hagiwara
  • Organizer: MTNS 2014
  • Place of Presentation: University of Groningen, Groningen, The Netherlands
• [Presentation] 高次ホールド離散化によるモノドロミ作用素のスペクトル計算について (2013)
  • Author(s): 増井詠一郎，平田健太郎, 萩原朋道
  • Organizer: 第57回システム制御情報学会研究発表講演会
  • Place of Presentation: 兵庫県民会館, 神戸市, 兵庫県
• [Presentation] A Study on the Spectrum of Monodromy Operator for a Time-Delay System (2013)
  • Author(s): Jung Hoon Kim, Tomomichi Hagiwara and Kentaro Hirata
  • Organizer: Asian Control Conference 2013
  • Place of Presentation: Cultural Center of Askeri Muze, Istanbul, Turkey
• [Presentation] A Study on the Spectrum of Monodromy Operator for a Time-Delay System (2013)
  • Author(s): Jung Hoon Kim, Tomomichi Hagiwara and Kentaro Hirata
  • Organizer: Asian Control Conference 2013
  • Place of Presentation: Istanbul, Turkey
• [Presentation] 高次ホールド離散化によるモノドロミ作用素のスペクトル計算について (2013)
  • Author(s): 増井詠一郎，平田健太郎, 萩原朋道
  • Organizer: 第57回システム制御情報学会研究発表講演会
  • Place of Presentation: 兵庫県民会館
• [Presentation] State Estimation of State-Dependent Delay Systems Based on Discretized Switching Model
  • Author(s): Kenichi Kato, Akiyuki Kawaguchi and Kentaro Hirata
  • Organizer: IEEE ICIT 2013
  • Place of Presentation: Cape Town, South Africa
• [Presentation] 未知入力オブザーバを用いたペダリングトルクの推定
  • Author(s): 武部雄一郎，平田健太郎，畑田知良
  • Organizer: 第13回計測自動制御学会制御部門大会
  • Place of Presentation: アクロス福岡
• [Presentation] ヒトのペダリング動作の計測とゆらぎの解析
  • Author(s): 武部雄一郎，畑田知良，平田健太郎
  • Organizer: 第56回 システム制御情報学会研究発表講演会
  • Place of Presentation: 京都テルサ