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1999 Fiscal Year Final Research Report Summary

Intelligent Controller Emulating Human Control Abilities

Research Project

Project/Area Number 09045043
Research Category

Grant-in-Aid for Scientific Research (C).

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionTOHOKU UNIVERSITY

Principal Investigator

INOOKA Hikaru  Graduate School of information Sciences, Tohoku University, Professor, 大学院・情報科学研究科, 教授 (20006191)

Co-Investigator(Kenkyū-buntansha) ONO Takahiko  Graduate School of Engineering, Tohoku University, Research Associate, 大学院・工学研究科, 助手 (20312613)
SAGAWA Koichi  Graduate School of information Sciences, Tohoku University, Research Associate, 大学院・情報科学研究科, 助手 (30272016)
ISHIHARA Tadashi  Graduate School of information Sciences, Tohoku University, Associate Professor, 大学院・情報科学研究科, 助教授 (10134016)
Project Period (FY) 1997 – 1999
KeywordsHuman / Manual control / Intelligent controller / Cart / Invert pendulum / General use / Joy stick / Emulation
Research Abstract

This project proposes a Human Simulating Intelligent Control (HSIC) theory which simulates human control abilities and enables effective control of a nonlinear system whose parameters are unknown or uncertain. A car-pendulum system moving on a restricted track and driven by a single motor is selected as a target system of the HSIC. At first, we investigated the mechanism of the former HSIC theory, it's performance and the difference between the HSIC theory and the other control methods by the computer simulation, then we confirmed that the HSIC theory shows high performance to simulate the manual control of human. Then, we employed a two-link arm system to develop a new HSIC theory. A human operator applies a torque to the second joint of the arm to controlled the position of the arm. The HSIC theory was revised by using the control output of the human operator. Finally, based on the proposed HSIC theory, the cart-pendulum system was designed and controlled. The whole control process consists of two steps : swinging-up and stabilizing. In swinging-up process, asymmetrical Bang-Bang control is employed to gather energy for the system. In stabilizing process, multi-variable PD control with positive feedback coordinating de-coupling is employed. The HSIC controller switches the control modes by means of online characteristic identifying. A real-time intelligent control system, which is designed based on our studies, successfully accomplished swing-up and stabilizing control of the car-pendulum system. The experiments prove that the control system is very stable even though the length of the pendulum varies or mass of it varies or the shape changes like "L". This project proves that the HSIC theory can effectively control the nonlinear, multi-variable and strong-coupling system such as swinging-up and stabilizing a cart-pendulum system without knowing its mathematical model.

  • Research Products

    (24 results)

All Other

All Publications (24 results)

  • [Publications] Muhammad Arif: "Investigation of Iterative Learning Control by Human Operator"Proceedings of the IEEE Conference on System, Man and Cvbernetics. 2626-2631 (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yuuki Ito: "Swinging-Up of Two Pendulums by Manual Control"Proceedings of the 6th IEEE International Workshop on Robot and Human Communication. 266-271 (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Kee-Ho Yu: "Position Control of an Underactuated Manipulator Using Joint Friction"International Journal of Non-Linear Mechanics. 33-4. 607-614 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 小野貴彦: "コントローラの演算時間による遅れを考慮した離散時間可変構造オブザーバの設計"日本機械学会論文集(C編). 64-620. 190-195 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Xuemei Li: "Positioning of the Two-link Arm by Manual Control"Interdisciplinary Information Sciences. 4-2. 149-156 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Muhammad Arif: "Experimental Study of Human Performance in High Precision Tracking Task Using Iterative Learning Technique"Interdisciplinary Information Sciences. 5-1. 73-85 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Muhammad Arif: "Iterative Learning Control Using Information Database(ILCID)"Journal of Intelligent and Robotic Systems. 25. 27-41 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yuuki Ito: "Swinging-Up of Two Pendulums by Manual Control with Computer Assistance"Interdisciplinary Information Sciences. 5-2. 117-124 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Muhammad Arif: "Human Learning Characteristics in The Tracking Tasks of Iterative Nature"International Journal of Neural Systems. 9-4. 300-310 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Muhammad Arif: "Iterative Manual Control Model of Human Operator"Biological Cybernetics. 81. 445-455 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Muhammad Arif: "Iterative Learning Control Utilizing the Error Prediction Method"Journal of Intelligent and Robotic Systems. 25. 95-108 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Chaotao Li: "Research on Swinging-up Control and Robustness of the Cart-Pendulum System by Human Simulating Intelligent Control(HSIC)Method"Proceedings of the 3rd International Workshop on Advanced Mechatronics. 248-253 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Muhammad Arif: "Investigation of Iterative Learning Control by Human Operator"Proceedings of the IEEE Conference on System, Man and Cybernetics. 2626-2631 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yuuki Ito: "Swinging-Up of Two Pendulums by Manual Control"Proceedings of the 6th IEEE International Workshop on Robot and Human Communication. 266-271 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Kee-Ho Yu: "Position Control of an Underactuated Manipulator Using Joint Friction"International Journal of Non-Linear Mechanics. Vol.33, No.4. 607-614 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takahiko Ono: "Design of a Variable Structure Observer for Discrete-Time Systems Considering the Computation Delay"Transactions of the Japan Society of Mechanical Engineers. Vol64(C), No.620. 190-195 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Xuemei Li: "Positioning of the Two-link Arm by Manual Control"Interdisciplinary Information Sciences. Vol.4, No.2. 149-156 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Muhammad Arif: "Experimental Study of Human Performance in High Precision Tracking Task Using Iterative Learning Technique"Interdisciplinary Information Sciences. Vol.5, No.1. 73-85 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Muhammad Arif: "Iterative Learning Control Using Information Database (ILCID)"Journal of Intelligent and Robotic Systems. Vol.25. 27-41 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yuki Ito: "Swinging-Up of Two Pendulums by Manual Control with Computer Assistance"Interdisciplinary Information Sciences. Vol.5, No.2. 117-124 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Muhammad Arif: "Human Learning Characteristics in The Tracking Tasks of Iterative Nature"International Journal of Neural Systems. Vol.9, No.4. 300-310 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Muhammad Arif: "Iterative manual control model of human operator"Biological Cybernetics. vol.81. 445-455 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Muhammad Arif: "Iterative Learning Control Utilizing the Error Prediction Method"Journal of Intelligent and Robotic Systems. Vol.25. 95-108 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Chaotao Li: "Research on Swinging-up Control, and Robustness of the Cart-Pendulum System by Human Simulating Intelligent Control (HSIC) Method"Proceedings of the 3rd International Workshop on Advanced Mechatronics. 248-253 (1999)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2001-10-23  

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