研究者詳細 - 大竹　博

論文 - 大竹　博

分割表示135 件中 61 - 80 件目／全件表示 >>

An improved approach to fuzzy model construction and servo control with constraints based on error dynamics 査読有り

Ohtake H., Tanaka K., Wang H.

Proceedings of the American Control Conference 4959 - 4963 2011年09月

担当区分：筆頭著者記述言語：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 an improved approach to servo control for nonlinear systems with constraints on inputs and states using the fuzzy model-based control approach. In our previous paper, servo control based on error dynamics using error vector and input difference was proposed. Although the approach can achieve servo control with constraints on both of inputs and states, error dynamics with time-varying extra terms cannot be applied. In this paper, time-varying cancellation input is newly introduced. By using the cancellation input, servo control for error dynamics with time varying extra terms is achieved. We derive servo controller design conditions and constraint conditions on inputs and states in the form of LMI. Design examples illustrate the utility of this approach. © 2011 AACC American Automatic Control Council.

Scopus

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An SOS-based observer design for polynomial fuzzy systems 査読有り

Tanaka K., Ohtake H., Seo T., Wang H.

Proceedings of the American Control Conference 4953 - 4958 2011年09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 a sum of squares (SOS, for brevity) based observer design for a more general class of polynomial fuzzy systems with the polynomial matrices A i (x(t)) and B i (x(t)) that are permitted to be dependent of the states x(t). First, we briefly summarize previous works on SOS-based observer designs for two limited classes of polynomial fuzzy systems. To overcome the difficulty of the fact that does not realize the so-called separation principle design for the more general class, this paper provides a practical design procedure of a polynomial fuzzy controller and a polynomial fuzzy observer without lack of guaranteeing the stability of the overall control system in addition to converging state estimation error (via the observer) to zero. The design approach discussed in this paper is more general than the existing LMI approaches (to T-S fuzzy controller and observer designs) and also than the previous SOS-based observer designs. To illustrate the validity of the design approach, a design example is provided. The example shows the utility of our SOS approach to the polynomial fuzzy observer-based control for the more general class of polynomial fuzzy systems. © 2011 AACC American Automatic Control Council.

Scopus

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Fuzzy Model-based Servo Control for Discrete-Time Nonlinear Systems with Constraints（共著）査読有り

Hiroshi Ohtake, Kazuo Tanaka, Hua.O. Wang

18th IFAC World Congress 9029 - 9034 2011年08月

An SOS-based observer design for polynomial fuzzy systems（共著）査読有り

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

2011 American Control Conference 4953 - 4958 2011年06月

A polynomial observer design for a wider class of polynomial fuzzy systems（共著）査読有り

Toshiaki Seo, Hiroshi Ohtake, Kazuo Tanaka, Jing-Jen Chen and Hua O. Wang

2011 IEEE International Conference on Fuzzy Systems 1305 - 1311 2011年06月

An Improved Approach to Fuzzy Model Construction and Servo Control with Constraints based on Error Dynamics (共著) 査読有り

Hiroshi Ohtake, Kazuo Tanaka, Hua O. Wang

2011 American Control Conference 4959 - 4963 2011年06月

Fuzzy Model-based Servo Control with Constraints on both of Inputs and States（共著）査読有り

Hiroshi Ohtake, Kazuo Tanaka, Hua.O. Wang

2010 IEEE Multi-Conference on Systems and Control 107 - 110 2010年09月

Stability Analysis of Nonlinear Systems via Multiple Mixed MaxMin based Lyapunov Functions（共著）査読有り

Kazuo Tanaka, Hiroshi Ohtake, Takehito Yamaguchi and Hua O. Wang

2010 IEEE World Congress on Computational Intelligence 2899 - 2905 2010年07月

Stability Analysis for the Polynomial Fuzzy Systems by utilizing Equality Constraints of Sum-of Squares Program（共著）査読有り

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

2010 International Conference on System Science and Engineering 36 - 40 2010年07月

可変迎角機構を有する飛行ロボットシミュレーションモデルの構築（共著）査読有り

東善之，田中一男，大竹博

日本機械学会論文集（C編） 76 ( 762 ) 361 - 370 2010年02月

Construction of simulation model of a flying robot with variable attack angle mechanism 査読有り

Higashi Y., Tanaka K., Ohtake H.

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 76 ( 762 ) 361 - 370 2010年02月

記述言語：英語掲載種別：研究論文（学術雑誌）

This paper presents construction of a simulation model of our developed flying robot (cyclogyro) with variable attack angle mechanism in order to rise the development efficienfy. A main feature of our robot is to be able to change angles of attack according to the wing positions (according to the rotational angles of the cyclogyro) without actuators. The constructed simulation model consists of three parts. The first part is the so-called attack angle model to compute the change of angle of attack. The second part is the so-called lift force model to compute lift force based on the computational result from the first part. The third part is the so-called power model to compute the electrical power of motors. The utility of the simulation model is verified by comparing simulation results with experimental results. As a result of optimizing design parameters through the simulation model, the double lift force generated from that of the flying robot optimized through some experiments.

Scopus

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Fuzzy Model-Based Servo and Model Following Control for Nonlinear Systems (共著) 査読有り

Hiroshi Ohtake, Kazuo Tanaka, Hua O. Wang

IEEE Transactions on Systems, Man, and Cybernetics, Part B 39 ( 6 ) 1634 - 1639 2009年12月

H Infinity Control of T-S Fuzzy Systems Using Piecewise Lyapunov Function Based Switching Fuzzy Controller（共著）査読有り

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

48th IEEE conference on Decision and Control 3087 - 3092 2009年12月

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

Kazuo Tanaka, Hiroshi Ohtake, Motohiro Wada, Hua O. Wang, Ying-Jen Chen

48th IEEE conference on Decision and Control 7771 - 7776 2009年12月

Improvement of Simulation Model and Development of Control Mechanism of Force Direction for a Flying Robot with Cyclogyro Wing（共著）査読有り

Yoshiyuki Higashi, Kazuo Tanaka, Hiroshi Ohtake

IEEE/RSJ International Conference on Intelligent Robots and Systems 2009 2861 - 2866 2009年10月

A Sum-of-Squares Approach to Modeling and Control of Nonlinear Dynamical Systems With Polynomial Fuzzy Systems（共著）査読有り

Kazuo Tanaka, Hiroto Yoshida, Hiroshi Ohtake, Hua O. Wang

IEEE Transactions on Fuzzy Systems 17 ( 4 ) 911 - 922 2009年08月

Switching Fuzzy Model Construction based on Optimal Dividing Planes（共著）査読有り

Hiroshi Ohtake, Kazuo Tanaka, Hua O. Wang

2009 IEEE International Conference on Fuzzy Systems 808 - 813 2009年08月

Relaxed Stabilization Conditions of T-S Fuzzy Systems using Piecewise Lyapunov Function based Switching Fuzzy Controller（共著）査読有り

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

2009 IEEE International Conference on Fuzzy Systems 1276 - 1281 2009年08月

Guaranteed Cost Control of T-S Fuzzy Systems using Piecewise Lyapunov Function based Switching Fuzzy Controller（共著）査読有り

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

3rd IEEE Multi-Conference on Systems and Control 440 - 445 2009年07月

Fuzzy Model-based Servo Control for Nonlinear Systems with Input Constraint（共著）査読有り

Hiroshi Ohtake, Kazuo Tanaka and Hua O. Wang

3rd IEEE Multi-Conference on Systems and Control 452 - 455 2009年07月

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