WB4 Control Theory â…¡
Time : 15:20~16:50
Room : Opal
Chair : Dr.Masataka Iwai (Kobe Complex System Analysis Laboratory, Japan)
15:20~15:35        WB4-1
Identification of the second order system based on hybrid time and frequency domain response

Yuhui Jin(Southeast University, China), Shunjia Chen(Southeast University , China), Li Sun(Sou, China), Donghai Li(Tsinghua Univ, China)

It is revealed that the responses behaves quite close to each other provided that the sum of time constants is fixed. To this end, this paper aims to develop a hybrid identification method that combines the characteristics in both time and frequency domain. The starting point has been the non-dimensionalization of the open-loop step response. A critical time at which the scaled amplitude equals 0.7 is chosen as the first characteristic parameter. The frequency at which the phase lag equals 90 is chosen as the second characteristic parameter. The time constants can be readily obtained.
15:35~15:50        WB4-2
Reset Control of Combustion Oscillation in Lean Premixed Combustor

Masataka Iwai(Kobe Complex System Analysis Laboratory, Japan)

This paper proposes a design method of a reset controller to eliminate a combustion oscillation in a lean premixed combustor model. We consider a plant model consisting of a linear system with a nonlinear feedback element and a reset controller using a first-order lag element, which is called a first-order reset element (FORE). We show parameter conditions of the reset controller for which limit cycles are eliminated, using a describing function of the nonlinear element. We apply the proposed design method of the reset controller to eliminate the combustion combustion oscillation.
15:50~16:05        WB4-3
A global continuous control scheme with desired conservative-force compensation for the finite-time and exponential regulation of bounded-input mechanical systems

Griselda Ivone Zamora-Gomez, Arturo Zavala-Rio(Instituto Potosino de Investigacion Cientifica y Tecnologica, Mexico), Daniela Juanita Lopez-Araujo(Centro de Investigacion en Ciencias de Informacion Geoespacial, Mexico), Victor Santibanez(Instituto Tecnologico de la Laguna, Mexico)

Global continuous control for the finite-time or (local) exponential stabilization of mechanical systems with bounded inputs is achieved involving desired conservative-force compensation. With respect to the on-line compensation case, the proposed controller entails a closed-loop analysis with considerably higher degree of complexity, whence more involved requirements prove to arise. Other important analytical limitations are further overcome through the developed algorithm. Numerical simulations considering a robotic arm model corroborate the efficiency of the proposed scheme.
16:05~16:20        WB4-4
Finite-time Robust Simultaneous Stabilization for Two Nonlinear Descriptor Systems Subject to Disturbances

Liying Sun, Meiqing Li(University of Jinan, China)

This paper studies the finite-time robust simultaneous stabilization problem for two nonlinear descriptor systems subject to disturbances by using state undecomposed method. By a suitable output feedback, a sufficient condition is first given to guarantee the closed-loop system impulse-free. Then, an augmented descriptor system is combined with the two systems subject to disturbances by using the system-augmentation technique. Based on which, under an output feedback H_infinity controller, the augmented descriptor system is finite-time stabilization. Finally, a numerical example is given.
16:20~16:35        WB4-5
Jumping Motion Control of One-legged Jumping Robot with Pneumatic Muscles

Yuta Ishiyama, HUN-OK LIM(Kanagawa University, Japan)

This paper describes the dynamic analysis of the vertical jumping motion of a one-legged jumping robot that consists of a hip, a thigh, a shin, and a foot. The jumping robot has two kinds of pneumatic artificial muscles, the mono-articular muscle and the bi-articular muscle. The jumping robot is difficult to obtain the output force of each artificial muscle because each joint force is produced by the plural pneumatic artificial muscles. When the robot jumps, the forces can be projected to the waist. Thus, we developed a method that can calculate the magnitude and direction of the resultant of

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