Lazy制御理論の構築と受動2足歩行制御への適用

• Project/Area Number: 14702040
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Single-year Grants
• Research Field: Control engineering
• Research Institution: Tokyo Denki University
• Principal Investigator: 鈴木 聡 東京電機大学, 21世紀COEプロジェクト推進室, 講師 (20328537)
• Project Period (FY): 2002 – 2004
• Project Status: Completed (Fiscal Year 2004)
• Budget Amount: ¥8,580,000 (Direct Cost: ¥6,600,000、Indirect Cost: ¥1,980,000); Fiscal Year 2004: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2003: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000); Fiscal Year 2002: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
• Keywords: lazy制御 / 可変構造制御 / 歩行 / 状態依存リカッチ / 最小干渉支援 / 習熟 / スライディングセクタ / 状態依存リカッチ方程式 / 受動歩行 / 衝突制御

Research Abstract

【非線形lazy制御理論】
スライディングセクター可変構造制御のlazy性(最小限の入力干渉とその低減)と、状態依存リカッチ制御による非線形システムヘの拡張性を融合させ、非線形システム安定化制御器の一設計方法を示した。倒立振子の振り上げ/倒立安定化に適用し、ロバスト性の向上と、状態依存制御単体では達成不十分だった制御入力の低減が達成でき、提案手法の有効性を実証できた。
【人間動作からのlazy原理の探求】
lazy理論の別の定式化に関する研究として人間のlazy性の解明に着手。lazy性と熟達は等価との仮説に基づき、人間の機械操作時の熟達化とその支援制御系理論について取り組んだ。力帰還型操縦装置を用いて人間の機械操作動作を計測、その熟達度を機械が推測して必要最小限度の干渉で操作者を支援するlazyアシスト制御系を提案。初心者に対する検証試験により習熟が促進されることを確認した。
さらにlazy理論に関する萌芽的研究として、不慣れなタスクを実行している人間の脳の賦活状態の分析を実施。慣れとともにworking memoryの賦活が低下することが確認され、判断指標として使用できる可能性を確認した。以上により、習熟支援法としてのlazy制御の新たな方向性を提示した。
【拘束条件に注目したモデリング手法の活用】
サブシステム間の拘束力に注目したモデリング手法を活用し、拘束条件の不連続切替を含むエンジン機構部のモデリングに適用し、既提案手法の応用を示した。ピストン/クランク運動は、衝突を含む繰返し運動であり歩行運動とほぼ等価なので、歩行リミットサイクルのlazy安定化手法各種が適用できる。機構部以外の動的要素も加えてエンジンシミュレータを構築。実機現象を十分な精度で再現可能であることを確認でき、本申請研究の他分野への応用可能性を示せた。

Research Products

• [Journal Article] 状態依存リカッチ制御の理論と実用性 (2005)
  • Author(s): 鈴木 聡
  • Journal Title: 計測と制御 44・2 Pages: 147-152
• [Journal Article] Invariant sliding sector for variable structure control (2005)
  • Author(s): S.Suzuki, Y.Pan, K.Furuta, S.Hatakeyama
  • Journal Title: Asian Journal of control (accept)
• [Journal Article] Overview of Human Adaptive Mechatronics and Assist-control to Enhance Human's Proficiency (2005)
  • Author(s): Satoshi Suzuki, Katsuhisa Furuta, Fumio Harashima
  • Journal Title: Proceedings of International Conference on Control, Automation and Systems (ICCAS 2005) (accept)
• [Journal Article] Brain Activation in the Development of Drawing Skills Measured by Near-Infrared Spectroscopy (2005)
  • Author(s): Harumi Kobayashi, Tetsuya Yasuda, Hiroki Takase, Satoshi Suzuki
  • Journal Title: 11th Annual Organization for Human Brain Mapping Meeting (HBM2005) (accept)
• [Journal Article] Near-Infrared Spectroscopy and an example of HAM Study: Brain Activation in the Development of Manipulative Skills (2005)
  • Author(s): Hiroki Takase, Harumi Kobayashi, Tetsuya Yasuda, Satoshi Suzuki
  • Journal Title: Proceedings of International Conference on Control, Automation and System (ICCAS 2005) (accept)
• [Journal Article] Voluntary operation assistance based on Human Adaptive Mechatronics (HAM) concept (2004)
  • Author(s): Satsohi Suzuki, Yaodong Pan, Keiichi Kurihara
  • Journal Title: 8th International Conference on Mechatronis Technology (ICMT'04) Pages: 569-574
• [Journal Article] Human Adaptive Mechatronics (HAM) for Haptic System (2004)
  • Author(s): K.Kurihara, S.Suzuki, F.Harashima, K.Furuta
  • Journal Title: Proceedings of the 30th Annual Conference of the IEEE Industrial Electronics Society (IECON'04) (in CD-ROM)
• [Journal Article] Skill Evaluation based on State-Transition Model for Human Adaptive Mechatronics (HAM) (2004)
  • Author(s): S.Suzuki, N.Tomomatsu, F.Harashima, Katsuhisa Furuta
  • Journal Title: Proceedings of the 30th Annual Conference of the IEEE Industrial Electronics Society (IECON'04) (in CD-ROM)
• [Journal Article] Engine Modeling Based on Projection Method and Conservation Laws (2004)
  • Author(s): A.Ohata, A.Sugiki, Y.Ohta, S.Suzuki, K.Furuta
  • Journal Title: Proceedings of IEEE Conference on Control Applications (in CD-ROM)
• [Journal Article] Variable Structure Control for Hybrid System with Sliding Sector (2004)
  • Author(s): Y.Pan, S.Suzuki, K.Furuta
  • Journal Title: Proceedings of APCCM'2004,6th Asia-Pacific Conference on Control and Measurement (in CD-ROM)
• [Journal Article] Rotational Control of Double Pendulum (2004)
  • Author(s): T.Komine, M.Iwase, S.Suzuki, K.Furuta
  • Journal Title: Proceedings of the 3rd International Federation of Automatic Control (IFAC) Symposium on Mechatronics Systems Pages: 331-336
• [Journal Article] Nonlinear Optimal Constraint-Force Control and Application to Swing-up/Stabilization of Pendulum (2004)
  • Author(s): S.Suzuki, K.Furuta, A.Sugiki, S.Hatakeyama
  • Journal Title: Transaction of the ASME: Journal of dynamics systems, measurement and control 126 Pages: 568-573
• [Journal Article] VS-control with Time-Varying Sliding Sector -Design and Application to Pendulum- (2004)
  • Author(s): S.Suzuki, Y.Pan, K.Furuta, S.Hatakeyama
  • Journal Title: Asian Journal of Control 6・3 Pages: 307-316
• [Publications] Satoshi Suzuki, Katsuhisa Furuta, Yaodong Pan: "Walking control by chattering-free VS servo using passive walking trajectory"International Journal of Control, in the 65th birthday special issue for Professor V.Utkin. 76-9/10. 1034-1046 (2003)
• [Publications] Satoshi Suzuki, Katsuhisa Furuta, Shinya Shiratori: "Adaptive impact shot control by pendulum-like juggling system"JSME International Journal, series C. 46-3. 973-981 (2003)
• [Publications] S.Suzuki, Y.Pan, K.Furuta, S.Hatakeyama: "VS-control with Time-Varying Sliding Sector -Design and Application to Pendulum-"Asian Journal of Control. 6-3(Printing). (2004)
• [Publications] S.Suzuki, K.Furuta, S.Hatakeyama: "Passive walking toward running"Mathematical and Computer Modeling of Dynamics Systems. (Accepted). (2004)
• [Publications] S.Suzuki, K.Furuta, A.Sugiki, S.Hatakeyama: "Nonlinear Optimal Constraint-Force Control and Application to Swing-up/Stabilization of Pendulum"Transaction of the ASME : Journal of dynamics systems, measurement and control. (Accepted). (2003)
• [Publications] S.Suzuki, K.Furuta, Y.Pan: "State-dependent sliding-sector VS-control and application to swing-up control of pendulum"Proceedings of the 42nd IEEE Conference on Decision and Control, Hawaii, USA. 251-256 (2003)
• [Publications] Terashima, S., Iwase, M., Furuta, K., Hatakeyama, S., Suzuki, S.: "A Design of Servo Controller for Nonlinear Systems Using State Dependent Riccati Equation"Proceedings of the 42nd IEEE Conference on Decision and Control, Hawaii, USA. 3864-3869 (2003)
• [Publications] Shinya SHIRATORI, Satoshi SUZUKI, Katsuhisa FURUTA: "Impact Control considering Estimation of Coefficient of Reflection"SICE Annual Conference in Fukui, August. 1858-1861 (2003)
• [Publications] Takehisa MIYATA, Satoshi SUZUKI, Katsuhisa FURUTA: "Passive-like running control by mechanical energy"SICE Annual Conference in Fukui, August. 1849-1852 (2003)
• [Publications] N.SATO, S.KOBAYASHI, S.SUZUKI, K.FURUTA: "Multi-Inputs Stabilization of Pendulum on Flexible Base"SICE Annual Conference in Fukui, August. 1862-1866 (2003)
• [Publications] 久田 岳夫, 鈴木 聡, 古田 勝久: "仮想内部モデル追従型マスタースレーブ制御を用いた車両型移動ロボットの遠隔制御"第46回自動制御連合講演会. 407-410 (2003)
• [Publications] 小林 寿光, 鈴木 聡, 岩瀬 将美, 古田 勝久: "SDREを用いた二重倒立振子の振上げ倒立安定制御"第46回自動制御連合講演会. 208-210 (2003)
• [Publications] 荒井 一樹, 鈴木 聡, 古田 勝久: "SDREを用いたマニピュレータのインピーダンス制御"第46回自動制御連合講演会. 200-203 (2003)
• [Publications] 小峯 考吉, 岩瀬 将美, 鈴木 聡, 古田 勝久: "極配置を用いた機械系の運動制御"第46回自動制御連合講演会. 215-216 (2003)
• [Publications] S.Suzuki, K.Furuta: "Enhancement of stabilization for passive walking by chaos control approach"Proceedings of 15th IFAC World Congress on Automatic Control, 21st-26th July 2002, Barcelona, SPAIN. (In CD-ROM). (2002)
• [Publications] T.Takahashi, K.Furuta, S.Hatakeyama, S.Suzuki, A.Sugiki: "Swing-up control of inverted pendulum by periodic input"Proceedings of 15th IFAC World Congress on Automatic Control, 21st-26th July 2002, Barcelona, SPAIN. (In CD-ROM). (2002)
• [Publications] Seiichi Kobayashi, Satoshi Suzuki, Katsuhisa Furuta: "Adaptive VS Differentiator"7th IEEE International Workshop on Variable Structure Systems (VSS'2002) Sarajevo, Bosnia and Herzegovina. 35-45 (2002)
• [Publications] Satoshi Suzuki, Katsuhisa Furuta, Takeshi Hayakawa: "ADAPTIVE IMPACT SHOT CONTROL BY PENDULUM-LIKE JUGGLING SYSTEM"Proceedings of the Sixth International Conference on Motion and Vibration Control(MOVIC2002). 361-366 (2002)
• [Publications] Satoshi Suzuki, Katsuhisa Furuta, Yaodong Pan: "Walking control by chattering-free VS servo using passive walking trajectory"International Journal of Control, in the 65th birthday special issue for Professor V.Utkin. (Now printing). (2003)
• [Publications] T.Kobayashi, T.Komine, S.Suzuki, M.Iwase, K.Furuta: "Swing-up and Balancing Control of Acrobot"SICE Annual Conference 2002. (no.0691 in CD-ROM). (2002)
• [Publications] I.Arai, Y.Kurota, S.Suzuki, K.Furuta: "Application of Virtual Internal Model to Remote Manipulation"SICE Annual Conference 2002. (no.0676 in CD-ROM). (2002)
• [Publications] S.Terashima, M.Iwase, K.Furuta, S.Suzuki, S.Hatakeyama: "A design of servo controller with SDRE for nonlinear systems"SICE Annual Conference. (no.0099 in CD-ROM). (2002)
• [Publications] 黒田 幸宏, 小林 誠一, 鈴木 聡, 古田 勝久: "振動台上の振子の制御"第45回自動制御連合講演会. 2P1-H2 (2002)