研究者詳細 - 大竹　博

論文 - 大竹　博

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マルチコプタのためのパッシブ姿勢安定化機構の検討

鈴木克洋, 大竹博

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2018 ( 0 ) 1P1 - A11 2018年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

<p>In this research, we investigate a mechanism that can passively stabilize multicopter. Multicopter basically has an unstable structure and is stabilized by control software. In order to stabilize the multicopter by the mechanical mechanism, not the software, we propose a passive attitude stabilization mechanism. By computer simulation, we consider the effect of the passive attitude stabilization mechanism.</p>

DOI： 10.1299/jsmermd.2018.1P1-A11

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/130007551126

Two-Dimensional Obstacle Avoidance Behavior Based on Three-Dimensional Environment Map for a Ground Vehicle 査読有り

Hiroki Bingo, Hiroshi Ohtake

Proceedings of the 12th International Conference on Innovative Computing, Information and Control ICICIC2017-174 2017年08月

周囲の環境変化に影響を受けにくい脳波判別手法の開発

諸富明日翔, 大竹博

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 33 ( 0 ) 177 - 180 2017年01月

畳み込みニューラルネットワークを用いた多思考脳波判別手法の開発

藤中雄大, 大竹博

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 33 ( 0 ) 173 - 176 2017年01月

鳥型羽ばたき飛行系ロボティクス

大竹　博

日本ロボット学会誌 ( 一般社団法人日本ロボット学会 ) 34 ( 1 ) 14 - 18 2016年01月

「飛行ロボット研究の最前線Ⅰ」特集について招待有り

大竹　博,藤川太郎

日本ロボット学会誌 ( 一般社団法人日本ロボット学会 ) 34 ( 1 ) 1 - 1 2016年01月

「飛行ロボット研究の最前線Ⅱ」特集について

藤川太郎, 大竹博

日本ロボット学会誌 ( 一般社団法人日本ロボット学会 ) 34 ( 2 ) 73 - 73 2016年01月

A Simple, Natural and Effective Framework of Nonlinear Systems Control and Its Application to Aerial Robots(共著) 査読有り

Motoyasu Tanaka, Hiroshi Ohtake, Kazuo Tanaka

Journal of Robotics and Mechatronics 26 ( 2 ) 140 - 147 2014年04月

A simple, natural and effective framework of nonlinear systems control and its application to aerial robots 査読有り

Tanaka M., Ohtake H., Tanaka K.

Journal of Robotics and Mechatronics 26 ( 2 ) 140 - 147 2014年04月

記述言語：英語掲載種別：研究論文（学術雑誌）

This paper presents a simple, natural and effective framework of nonlinear systems control and its application to aerial robots. First, we present a framework of Takagi-Sugeno fuzzy model-based control and also discuss its feature. Next, a number of design problems for the control framework are formulated as numerically feasibility problems of representing in terms of linear matrix inequalities. Finally, we provide two applications of the control framework to aerial robots. The control results of aerial robots show the utility of the control framework.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84899792053&origin=inward

Brief paper discrete polynomial fuzzy systems control 査読有り

Chen Y., Tanaka M., Tanaka K., Ohtake H., Wang H.

IET Control Theory and Applications 8 ( 4 ) 288 - 296 2014年03月

記述言語：英語掲載種別：研究論文（学術雑誌）

This study presents a sum-of-squares (SOS) approach to stable control and guaranteed cost control of discrete polynomial fuzzy systems. The SOS framework presented in this paper offers a new paradigm over the existing linear matrix inequality (LMI) approaches to discrete Takagi-Sugeno (T-S) fuzzy models. At first, this study, newly introduces a discrete polynomial fuzzy model that is more general and effective than the well-known discrete T-S fuzzy model. With considering the operating domain, stable control design conditions are then derived based on state-dependent Lyapunov functions that contain quadratic Lyapunov functions as a special case. Hence, the design approach discussed in this study could be more general than the LMI design approaches based on quadratic Lyapunov functions. Moreover, this study also discusses a guaranteed cost control design which is carried out by minimising the upper bound of a given performance function. All the design conditions derived in this study can be represented in terms of SOS and are symbolically and numerically solved via the SOSOPT and the SeDuMi, respectively. Finally, the ball-and-beam system is provided as an example to illustrate the utility of the proposed SOS-based design approach. ©The Institution of Engineering and Technology 2014.

DOI： 10.1049/iet-cta.2013.0645

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84894556531&origin=inward

A nonmonotonically decreasing relaxation approach of Lyapunov functions to guaranteed cost control for discrete fuzzy systems 査読有り

Chen Y., Tanaka M., Inoue K., Ohtake H., Tanaka K., Guerra T., Kruszewski A., Wang H.

IET Control Theory and Applications 8 ( 16 ) 1716 - 1722 2014年01月

記述言語：英語掲載種別：研究論文（学術雑誌）

© The Institution of Engineering and Technology 2014. This study presents a nonmonotonically decreasing relaxation approach of Lyapunov functions to guaranteed cost control for discrete Takagi-Sugeno (T-S) fuzzy systems. First, the authors summarise the previous results on a relaxation of nonmonotonically decreasing of Lyapunov functions, and newly derive one lemma based on the previous results. Based on the newly derived lemma, they propose guaranteed cost control design for discrete T-S fuzzy systems. The design conditions can be represented in terms of linear matrix inequalities and provide more relaxed results than the existing approach. A design example is included to demonstrate the relaxation effectiveness of the proposed approach in guaranteed cost control.

DOI： 10.1049/iet-cta.2013.1132

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84908462457&origin=inward

1P1-R06 ロボコンプロデュース2013(ロボカップ・ロボットコンテスト)

田中孝之, 河村隆, 大竹博

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2014 ( 0 ) _1P1 - R06_1-_1P1-R06_3 2014年01月

記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

This paper describes the robot contest produce competition and its purpose on creativity education. In this competition, participants plan an original robot contest for children including the rule book, the field, the robots for demonstration and the promotion video. Then, they present the robot contest as the trial management. This competition aims to promote their creativity, especially the problem-raising ability and the problem segmentation ability, and presentation ability too. The robot contest produce competition 2013 is also reported as an embodiment.

DOI： 10.1299/jsmermd.2014._1P1-R06_1

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/110009966740

A study on Classification of Respiration Rates based on Plethysmogram Data 査読有り

Akira Sakoda, Hiroshi Ohtake, Kazuo Tanaka

Proceedings of the 14th International Symposium on Advanced Intelligent Systems S1c-2 2013年11月

A Takagi-Sugeno fuzzy model approach to vision-based control of a micro helicopter 査読有り

Tanaka K., Ohtake H., Tanaka M., Wang H.

Proceedings of the IEEE Conference on Decision and Control 6217 - 6222 2012年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper presents hovering control of an indoor micro helicopter only using single visual sensor feedback. The control technique is based on the parallel tracking and mapping (PTAM), a kind of visual simultaneous localization and mapping, using a small single wireless camera on the helicopter. The six degree of freedom of the helicopter is detected via the PTAM. The nonlinear dynamics of the helicopter is converted to a Takagi-Sugeno fuzzy model. To design the guaranteed cost (stable) controller, a Takagi-Sugeno fuzzy model-based design is carried out via a linear matrix inequality approach. The hovering control results demonstrate the utility of our approach even though single wireless vision sensor based stabilization is extremely a difficult task in practice. © 2012 IEEE.

DOI： 10.1109/CDC.2012.6425910

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84874262637&origin=inward

Relaxed Stabilization Criterion for T-S Fuzzy Systems by Minimum-type Piecewise Lyapunov Function Based Switching Fuzzy Controller (共著) 査読有り

Ying-Jen Chen, Hirsohi Ohtake, Kazuo Tanaka, Wen-June Wang, Hua O. Wang

IEEE Transactions on Fuzzy Systems 20 ( 6 ) 1166 - 1173 2012年12月

Polynomial Fuzzy Observer Designs:A Sum of Squares Approach (共著) 査読有り

Kazuo Tanaka, Hiroshi Ohtake, Toshiaki Seo, Motoyasu Tanaka, Hua O. Wang

IEEE Transactions on Systems, Man, and Cybernetics 42 ( 5 ) 1330 - 1342 2012年10月

Relaxed Stabilization Criterion for Discrete T-S Fuzzy Systems by Minimum Type Piecewise Non-quadratic Lyapunov Function (共著) 査読有り

Ying-Jen Chen, Hirsohi Ohtake, Kazuo Tanaka, Wen-June Wang, Hua O. Wang

IET Control Theory & Applications 6 ( 12 ) 1918 - 1925 2012年08月

Shared Nonlinear Control in Wireless-Based Remote Stabilization:A Theoretical Approach 査読有り

Kazuo Tanaka, Motoyasu Tanaka, Hiroshi Ohtake, and Hua O. Wang

IEEE/ASME Transactions on Mechatronics 17 ( 3 ) 443 - 453 2012年06月

Wireless Vision-based Stabilization of Indoor Micro Helicopter 査読有り

Kazuo Tanaka, Hiroshi Ohtake, Motoyasu Tanaka and Hua O. Wang

IEEE/ASME Transactions on Mechatronics 17 ( 3 ) 519 - 524 2012年06月

A Descriptor System Approach to Servo Control for Nonlinear Systems (共著) 査読有り

Hiroshi Ohtake, Sho Machida, Kanaka Tanaka, Hua O. Wang

2012 IEEE World Congress on Computational Intelligence 1597 - 1602 2012年06月

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