研究発表

This paper describes a bilateral control of nonlinear teleoperation with time varying communication delay. The proposed method are simple PD-type controllers which are independent of the rate of time delay change and depend on the upper bound of round-trip delay. The proposed control strategy is independent of parameter uncertainties of the model of the robots and the operator and remote environment. The delay-dependent stability of the origin is shown via Lyapunov stability theorem. Furthermore the proposed strategy also achieves master-slave position coordination and bilateral static force reflection. Several experimental results with wireless communication and the Internet show the effectiveness of our proposed strategy.

サステイナブルな社会の実現のために，限りある資源を有効利用し，地球温暖化を防止する計測制御技術の開発が求められている．一方で産業の発展と快適な社会の持続のためには，エネルギーの安定確保と供給が必要とされる． 　本講義では「環境計測技術」と「エネルギー供給技術」のための分散協調制御理論とセンサスケジューリングに関する国内外の趨勢を紹介し，この分野における制御理論の貢献の可能性を概観する．

This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm.

KF-SLAM(Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application. Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H∞ filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H∞ filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H∞ filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H∞ filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H∞ filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM.

This paper deals with GIMC (Generalized Internal Model Control) structure based Anti-Windup (AW) control system design. First, we setup a L2 performance criterion based on GIMC structure for Anti-Windup control problems. The design problem is formulated as an optimization problem with a parameter Q. Then we calculate the optimization problem and find an optimal Q. Finally, the effectiveness of proposed method is shown by experimental results for a magnetic suspension system.

This paper deals with the stability for nonlinear teleoperation with time varying communication delays. The proposed method is passivity-based controllers with time varying gains which depend on the rate of change of time varying delay. In our proposed method, stability condition is independent of the magnitude of the communication delay and the damping of the system. The delay-independent stability is shown via Lyapunov stability methods. Several experimental results show the effectiveness of our proposed teleoperation.

This paper deals with cooperative target-capturing problem for multi-vehicle systems with dynamic network topology. Firstly, we introduce a dynamic network topology that depends on relative distance between the vehicles. Secondly, we propose the target-capturing strategy based on consensus seeking with dynamic network topology. In proposed strategy, at least one vehicle can acquire the information of the targetobject and network topology among vehicles is time-varying but always connected. To analyze the convergence of targetcapturing behavior with dynamic network topology, algebraic graph theory and matrix theory are utilized. Finally, numerical simulation results and experimental results are provided that demonstrate the effectiveness of the proposed method.

This paper deals with an environment estimation based predictive control for teleoperation with communication time delay. In this predictive control framework, the delayed position tracking and non-delayed force reflection are attempted. The goal of this paper is to propose a new control method which guarantees the stability, the convergence of position tracking error to zero and the small force tracking error theoretically. Proposed control structure is the 3ch architecture with environment estimation based force prediction. In this proposed method, the master controller implements force control with environmental force prediction while the slave controller implements position and force control. The theoretical analysis shows the stability, the convergence of position error to zero and the small force tracking error. Experimental results show the effectiveness of the proposed method.

システムの安全性や信頼性に対する期待の高まりに伴い，システムの動的モデルに基づく高性能ロバスト制御と故障検出・耐故障制御に関する研究が注目を集めている．この問題に対するアプローチの1つとして制御対象の内部モデルに基づくGIMC(Generalized Internal Model Control)構造による制御系設計法が提案されている．本講演ではまず，GIMC構造の基本的な考え方と高性能ロバスト制御について説明し，その後内部モデルから得られる推定誤差信号によるオンライン故障検出と補償器の切替に基づく耐故障制御系の構築に関して述べる．最後に幾つかの応用例を紹介する．

本稿では予測制御手法の性能を改善するために, システムの解軌道に基づく予測器を提案した. 提案予測器は過去の予測偏差が現在の予測偏差に影響を与えない. 提案予測器をPD 制御則に導入し, 適応インピーダンス制御による線形化と組み合わせた. また提案する制御手法を適用した際の安定性をリアプノフ法により示した．さらにシミュレーションにより提案予測器と従来の予測器の性能比較を行い，実験により提案制御手法の位置追従性能や反力の伝達特性を検証した.