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2000 Fiscal Year Final Research Report Summary

Research on Adaptive Identification Systems to Estimate Dynamic Behaviors of Moving Objects

Research Project

Project/Area Number 10650436
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionOita University

Principal Investigator

MATSUO Takami  Oita University, Dept.of Human Welfare Eng., Associate Prof., 工学部, 助教授 (90181700)

Project Period (FY) 1998 – 2000
KeywordsAdaptive Control / Adaptive Identification / Robust Control / Visual Feedback / Parameter Adjustment Law / PID Controller / Riccati Equation / Fuzzy Adaptive Identification
Research Abstract

In this research, we derived the adaptive parameter adjustment law to estimate and control of dynamic behavior of nonlinear systems. We used a dynamic error system which satisfied a Riccati equation instead of the Lurie' equations, and showed the boundedness of the error system using σ-modification-like parameter adjustment law. Using the proposed We desinged the fuzzy adaptive identifier for unknown stable plants with unknown input nonlinearities, and designed a fuzzy identifier and a controller for the ball-plate apparatus which has two inputs and two outputs. The ball-plate system is the educational kit produced by Tequipment Inc., which consists of a plate pivoted at its center such that the slope of the plate can be manipulated in two perpendicular directions and which has the intelligent vision system for measurement of a ball position. First, a nonlinear model, called the fuzzy approximator expanded by the fuzzy basis functions, of the ball-plate system is given. The obtained fuzzy model contains the product of the system parameters and regressor signals consist of the fuzzy basis functions. Next, to estimate the unknown system parameters in the fuzzy model, the linear identifier for plant parameters is added to the fuzzy identifier for input nonlinearities. Finally, the performance of the proposed fuzzy identifier is investigated by the MATLAB simulation and the experiment.

  • Research Products

    (13 results)

All Other

All Publications (13 results)

  • [Publications] T.Matsuo,K.Nakano: "Robust Stabilization of Closed-Loop Systems by PID+Q Controller"International Journal of Control. 70・4. 631-650 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 松尾孝美,中野和司: "Riccati方程式に基づくパラメータ調整則とその性質"計測自動制御学会論文集. 35・12. 1631-1633 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 松尾孝美,瀧田祐作: "アクチュエータに非線形性をもつプラントのファジィ適応同定"電気学会論文誌C分冊. 120C・7. 1035-1042 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 松尾孝美,安田武政,末光治雄,岡田英彦: "リッカチ方程式に基づく電力系統の適応安定化制御"電気学会論文誌C分冊. 121C・2. 366-374 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Takami Matsuo,Kenshi Tsuruta,Haruo Suemitsu: "Fuzzy Adaptive Identification Method Based on Riccati Equation and Its Application to Ball-Plate Control System"Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, Tokyo. VI. 162-167 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Takami Matsuo,Ryoichi Yoshino,Haruo Suemitsu: "Robust Anti-Sway Control of Crane Lifter with Visual Measurement by PID+Q COntroller"Proceedings of IMEKO-XV World Congress, Osaka. X. 41-48 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Takami Matsuo, Kazushi Nakano: "Robust Stabilization of closed-loop Systems by PID+Q Controller"International Journal of Control. vol.70-4. 631-650 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takami Matsuo, Kazushi Nakano: "On the Adaptive Parameter Adjustment Law Based on a Riccati Equation"Trans.on SICE. 35-12. 1631-1633 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takami Matsuo, Yusaku Takita: "Fuzzy Adaptive Identification of Plants \ with Actuator Nonlinearities"Trans.on IEEJ-C. 120C-7. 1035-1042 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takami Matsuo, Takemasa Yasuda, Haruo Suemitsu: "Adaptive Stabilizer for Power Systems Based on Riccati Equation"Trans.on IEEJ-C. 121-C-2. 366-374 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takami Matsuo, Kenshi Tsuruta, Haruo Suemitsu: "Fuzzy Adaptive Identification Method Based on Riccati Equation and Its Application to Ball-Plate Control System"Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, Tokyo. VI-162-VI-167 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takami Matsuo, Ryoichi Yoshino, Haruo Suemitsu: "Robust Anti-Sway Control on Crane Lifter with Visual Measurement by PID+Q Controller"Proceedings of IMEKO-XV World Congress, Osaka. Vol.X. 41-48 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takami Matsuo, Wataru Matsuzaki, Haruo Suemitsu, Kazushi Nakano: "Robust Adaptive Control Based on Riccati Equation and Its Application to DC Servomotor"Proceedings of IEEE, IECON'. (CD-ROM). 446-451 (2000)

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

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Published: 2002-03-26  

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