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2018 Fiscal Year Research-status Report

既存の制御系の性能を保持しつつロバスト性を付加する特化型補償器の発展研究

Research Project

Project/Area Number 16K06419
Research InstitutionKumamoto University

Principal Investigator

岡島 寛  熊本大学, 大学院先端科学研究部(工), 准教授 (40452883)

Co-Investigator(Kenkyū-buntansha) 松永 信智  熊本大学, 大学院先端科学研究部(工), 教授 (10363508)
Project Period (FY) 2016-04-01 – 2020-03-31
Keywordsロバスト制御
Outline of Annual Research Achievements

非線形制御システムに対するモデル誤差抑制補償器の研究を進めた.特に,車輪型倒立振子の研究を進め,小型ビークルへの適用を行った結果をまとめた.さらに,モデル誤差抑制補償器の構造に習って設計した信号制限フィルタの研究が想定以上に進んだ.このフィルタは,入力信号が制約を満たさない場合に制約を満たすように整形し,満たしている場合にはフィルタとして働かない特殊なフィルタであり,過去に例を見ないものである.

Current Status of Research Progress
Current Status of Research Progress

1: Research has progressed more than it was originally planned.

Reason

当初の計画通りに進んだ上に,本テーマの延長的な内容として信号制限フィルタを提案し,その設計論および有用性について研究をまとめた.

Strategy for Future Research Activity

離散時間系についての理論展開を行う予定である.また,信号制限フィルタについても引き続き進めていく.

Causes of Carryover

学会費の支払い時期がずれたため。

  • Research Products

    (4 results)

All 2019 2018

All Journal Article (3 results) (of which Peer Reviewed: 3 results,  Open Access: 1 results) Presentation (1 results) (of which Int'l Joint Research: 1 results)

  • [Journal Article] Robust Velocity Compensation of Inverted Pendulum Robot with Model Error Compensator2019

    • Author(s)
      Okajima Hiroshi、Okumura Kosuke、Matsunaga Nobutomo
    • Journal Title

      IEEJ Transactions on Electronics, Information and Systems

      Volume: 139 Pages: 219~226

    • DOI

      https://doi.org/10.1541/ieejeiss.139.219

    • Peer Reviewed
  • [Journal Article] Signal Limitation Filter to Satisfy Velocity and Acceleration Limits2018

    • Author(s)
      OKAJIMA Hiroshi、NAKABAYASHI Yuta、MATSUNAGA Nobutomo
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 54 Pages: 146~152

    • DOI

      https://doi.org/10.9746/sicetr.54.146

    • Peer Reviewed
  • [Journal Article] Formulation of Control Systems Design Problem for Low Cost Individual Customization2018

    • Author(s)
      Okajima Hiroshi、Kawawaki Osamu
    • Journal Title

      Transactions of the Institute of Systems, Control and Information Engineers

      Volume: 31 Pages: 392~399

    • DOI

      https://doi.org/10.5687/iscie.31.392

    • Peer Reviewed / Open Access
  • [Presentation] Inter-Vehicle Distance Stabilization in Adaptive Cruise Control Using Signal Limitation Filter2018

    • Author(s)
      Yuta Nakabayashi, Hiroshi Okajima, Nobutomo Matsunaga
    • Organizer
      Proceeding of 2018 IEEE International Conference on Systems, Man, and Cybernetics, pp.1985-1990 (2018)
    • Int'l Joint Research

URL: 

Published: 2019-12-27  

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