Papers by Kazunobu Yoshida
Stabilizing Control for a ball and beam system considering the restricted beam angle and ball speed
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), 2019
For a ball and beam system where the beam angle and the ball speed are small, this paper describe... more For a ball and beam system where the beam angle and the ball speed are small, this paper describes a design method of control system transferring the ball to the target position considering especially the constrained beam angle. First, the transfer function of the ball and beam system is represented as the product of a softening filter, an inner function, and a double integrator. Using modal decomposition methods, we decompose the plant into the stable and unstable subsystems, and derive a nested saturating control law globally asymptotically stabilizing the unstable one. Moreover, the state is estimated for feedback by a reduced-order observer with the poles corresponding to the inner function unchanged. Also, it is shown that the regulator and the observer designed in this way give the controller an IMC (Internal Model Control) structure. The control system using this control law has the property that when the ball is transferred, its speed is mostly limited less than the specific value. To reduce the steady-state error in the ball position as well as to alleviate the reset windup, an IMC controller is constructed with the internal model of the control system itself in the outer feedback loop. The effectiveness of the control law is demonstrated numerically and experimentally.
Nonlinear control for a crane system having constrained trolley stroke and pendulum length
Proceedings of the 36th IEEE Conference on Decision and Control
ABSTRACT
Transactions of the Society of Instrument and Control Engineers, 1985
state variables are treated directly in gain space, the subsets of KR can be utilized to design t... more state variables are treated directly in gain space, the subsets of KR can be utilized to design the optimal regulator with those specifications and constraints.
The Proceedings of Conference of Chugoku-Shikoku Branch, 2007
The Proceedings of Conference of Chugoku-Shikoku Branch, 2008
The Proceedings of Conference of Chugoku-Shikoku Branch, 2004
In this paper the design problem of a linear system under input and/or state constraints is inves... more In this paper the design problem of a linear system under input and/or state constraints is investigated. That is, in the control system x=(A-bk')x=A(k)x, find the optimal feedback gain which minimizes the system performance index, under state constraint such
2009 American Control Conference, 2009
For the problem of controlling a crane with variable rope length, a saturating control is develop... more For the problem of controlling a crane with variable rope length, a saturating control is developed that satisfies the constraints on the sway angle of the load and the speed of the trolley. The length of the rope can change at a piecewise constant velocity. The control law is designed based on a linear time-invariant system with a constrained input, obtained applying a feedback compensation and a coordinate transformation to the crane system. The control law has a simple form and is easily implemented; moreover it is robust against modeling errors and observation noise. The effectiveness of the control law is demonstrated by experiments and simulations.
2009 American Control Conference, 2009
The problem of suppressing the vibrations of a one-degree-of-freedom structural system using an A... more The problem of suppressing the vibrations of a one-degree-of-freedom structural system using an AMD (active mass damper) with restricted stroke is considered; it can be formulated as the problem of stabilizing a linear system with a state constraint. First this problem is reduced to the one with an input constraint by compensating the driving system for the weight (the auxiliary mass) of the AMD to have a second-order lag transfer function. Then a saturating control is designed by a partial state feedback technique. The control law has the following properties: 1) a good control performance is obtained controlling the weight of the AMD within the stroke constraint; 2) the control law is simple and easily implemented; and 3) in the case where the controller is used in the linear range a good frequency response property is obtained that the peak gains of the frequency responses of the weight and the structure for disturbances are lowered. The effectiveness of the control law is demonstrated by experiments and simulations.
A design of saturating control with a guaranteed cost and its application to the crane control system
IEEE Transactions on Automatic Control, 1992
Abstract A saturating control law which satisfies a constrained input condition and gives an uppe... more Abstract A saturating control law which satisfies a constrained input condition and gives an upper bound of a given quadratic performance index is proposed, using a unique guaranteed cost control method. The case where modeling errors exist in the ...
Simple LP-type criteria for positively invariant polyhedral sets
Automatic Control, IEEE …, 2000
... New York: Wiley, 1974. [2] R. Chabour and M. Oumoun, A JurdjevicQuinn theorem for sotchasti... more ... New York: Wiley, 1974. [2] R. Chabour and M. Oumoun, A JurdjevicQuinn theorem for sotchastic nonlinear systems, J. Stoch. Anal. ... [5] D. Mehdi and A. Benzaouia, State feedback control of linear dis-crete-time systems under nonsymmetrical state and control constraints, Int. ...
Nonlinear controller design for a crane system with state constraints
American Control Conference, 1998
For a crane system in which the trolley stroke and the pendulum length are constrained to move in... more For a crane system in which the trolley stroke and the pendulum length are constrained to move in a specified range, a stabilizing control law that damps the pendulum oscillation quickly has been proposed using the Lyapunov's second method. In deriving the law, all the nonlinearities of the system are considered. The control system has the structure where the trolley
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Papers by Kazunobu Yoshida