Analysis and synthesis of expert systems using piecewise bilinear models

• Project/Area Number: 26330285
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Soft computing
• Research Institution: Tokai University
• Principal Investigator: TANIGUCHI Tadanari 東海大学, 情報教育センター, 准教授 (70392032)
• Research Collaborator: SUGENO Michio
• Project Period (FY): 2014-04-01 – 2017-03-31
• Project Status: Completed (Fiscal Year 2016)
• Budget Amount: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000); Fiscal Year 2016: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2015: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2014: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
• Keywords: 区分的モデル / フィードバック誤差学習 / 追従制御 / 非線形制御 / 区分的システム / 脳型制御 / 非ホロノミックシステム / 軌道制御 / ハイブリッド制御

Outline of Final Research Achievements

This research deals with the expert system analysis and synthesis via piecewise bilinear models. We propose a feedback error learning method and a look-up-table type controller using piecewise bilinear models. We realize the system identification, the controller design and the inverse model learning at the same time. We propose an inverse model less than the conventional one using the system dynamics.
We construct the piecewise models of some non-holonomic system and design the piecewise controller using dynamic feedback linearization. We realize the stabilizations of nonlinear system with singularities via switching piecewise bilinear models and realize the tracking controls of arbitrary path with elliptical orbits.

Research Products

• [Int'l Joint Research] ヴァランシエンヌ大学(フランス)
• [Journal Article] Nonlinear control systems using piecewise models (2016)
  • Author(s): Tadanari Taniguchi
  • Journal Title: Journal of Global Tourism Research Volume: 1 Pages: 93-96
  • NAID: 130007791101
• [Presentation] Trajectory Tracking Controller Design for A Tricycle Robot Using Piecewise Multi-Linear Models (2017)
  • Author(s): Tadanari Taniguchi and Michio Sugeno
  • Organizer: The International MultiConference of Engineers and Computer Scientists 2017
  • Place of Presentation: The Royal Garden Hotel (Hong Kong)
  • Int'l Joint Research
• [Presentation] 区分的多重線形モデルを用いたフィードバック誤差学習による追従制御 (2016)
  • Author(s): 谷口唯成，菅野道夫
  • Organizer: 第32回ファジィシステムシンポジウム
  • Place of Presentation: 佐賀大学（佐賀県）
• [Presentation] Quadrotor Control Using Dynamic Feedback Linearization Based on Piecewise Bilinear Models (2014)
  • Author(s): Tadanari Taniguchi, Luka Eciolaza and Michio Sugeno
  • Organizer: IEEE Symposium Series on Computational Intelligence 2014
  • Place of Presentation: Orlando, USA
  • Year and Date: 2014-12-11
• [Presentation] 区分的双線形モデルによる自動車型ロボットの追従制御 (2014)
  • Author(s): 谷口唯成，菅野道夫
  • Organizer: 第３０回ファジィシステムシンポジウム
  • Place of Presentation: 高知城ホール（高知）
  • Year and Date: 2014-09-02
• [Presentation] PB Model-Based FEL and Its Application to Driving Pattern Learning (2014)
  • Author(s): Luka Eciolaza, Tadanari Taniguchi, Michio Sugeno, Dimitar Filev, Yan Wang and John Michelini
  • Organizer: 19th World Congress of the International Federation of Automatic
  • Place of Presentation: Cape Town, South Africa
  • Year and Date: 2014-08-27
• [Presentation] Switching Piecewise Bilinear Control of Nonlinear Systems with Singularities (2014)
  • Author(s): Tadanari Taniguchi, Luka Eciolaza and Michio Sugeno
  • Organizer: 19th World Congress of the International Federation of Automatic
  • Place of Presentation: Cape Town, South Africa
  • Year and Date: 2014-08-26
• [Presentation] Model Following Control of A Unicycle Mobile Robot via Dynamic Feedback Linearization Based on Piecewise Bilinear Models (2014)
  • Author(s): Tadanari Taniguchi, Luka Eciolaza and Michio Sugeno
  • Organizer: 15th International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems
  • Place of Presentation: Montpellier, France
  • Year and Date: 2014-07-18
• [Presentation] An anti-windup scheme for PB based FEL (2014)
  • Author(s): Luka Eciolaza, Tadanari Taniguchi and Michio Sugeno
  • Organizer: 15th International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems
  • Place of Presentation: Montpellier, France
  • Year and Date: 2014-07-18
• [Presentation] Tracking Control for a Non-Holonomic Car-Like Robot Using Dynamic Feedback Linearization Based on Piecewise Bilinear Models (2014)
  • Author(s): Tadanari Taniguchi, Luka Eciolaza and Michio Sugeno
  • Organizer: 2014 IEEE World Congress on Computational Intelligence
  • Place of Presentation: Beijing, China
  • Year and Date: 2014-07-11
• [Presentation] Brain Style Control Scheme: Simultaneous Forward and Inverse Model Identification and Controller Design (2014)
  • Author(s): Luka Eciolaza, Tadanari Taniguchi and Michio Sugeno
  • Organizer: 2014 IEEE World Congress on Computational Intelligence
  • Place of Presentation: Beijing, China
  • Year and Date: 2014-07-11