In this letter, the estimation of passivity based on data is considered. We extend an existing method that iterative input–output experiments and can determine systems, but requires many for each iteration. Therefore, we propose a reduces number experiments. Some measurements update input omitted in method, as result, halved.

Autonomous travel of agricultural machines/robots is achieved by movement along a straight line based on map with the global positioning system (GPS). However, when farm produce such as lettuce not grown in line, robots equipped GPS might damage intended for harvesting. With regard to this problem, autonomous using local information can improve harvesting accuracy. In paper, we propose an method harvester on-off actuators relative positions and harvest machine obtained via camera. This study...

This study aims to improve the sewing accuracy and robustness of a control system for automating operations. In previous study, we experimentally demonstrated butt seaming two fabric pieces (one curved another straight) into 3D shape. However, because method was obtained through trial error, there were problems, such as low robustness, including failure when changing machine feed rate. Therefore, this improved using real-time optimal control. Furthermore, enhanced rate geometric shapes...

This study addresses the control problem for a pneumatic isolation table system that includes discrete valued input actuator. Control performance occasionally deteriorates if it is impossible to use an adequate high sampling frequency system. A combined method of multirate and model predictive proposed improve measure outputs insufficiently low. The effectiveness verified via numerical simulations model.

In this paper, the estimation of passivity based on data is considered. recent works, a sampling scheme to estimate level unknown systems from iterative open-loop experiments was introduced. However, there are many cases where it useful sub-system in closed-loop systems; therefore, we extend method experiments.

This study concerned the circular path-following control of a vehicle. For path, two methods can be applied to vehicle system, namely, rotational coordinate transformation and expansionary transformation. Via numerical simulations application these methods, we discovered that former provides undershoot in its initial response; however, this does not appear if latter method is also former. The phenomenon undesirable for tracking control. In order investigate reason occurrence phenomenon,...

The estimation of passivity based on input-output data without a system model is discussed. In the conventional data-driven method gradient approach, convergence slow and large number experiments required. Therefore, we propose to improve convergence, thereby reducing amount required for estimation.

In this study, we evaluate a circular path-following control for vehicle. For vehicle to follow path, rotational and expansionary coordinate transformations using the time-state form of system is useful. However, an undershoot response occurs in initial some conditions. derive conditions with occurrence clarify avoiding it. The analysis performed via numerical simulations model.

An unknown disturbance estimation method for non-minimum phase systems using a parallel feedforward model has been proposed. The is adopted in order to improve the performance and it must ensure minimum property of augmented system consisting plant model. In addition, frequency response match that plant. This paper derives design conditions as LMI designs by solving convex optimization problem.

To enable autonomous driving, the linear tracking control of on–off driven crawler vehicles, which are often used in agriculture, must be optimized. This paper presents a method for discrete-value-driven crawler. Control laws based on feedback proposed discrete-valued vehicles. Herein, we design two-degree-of-freedom system with feedforward to improve performance while reducing computational cost. The converts continuous-valued input, determined using law, into input quadratic formal...

In this paper, a data-driven method is proposed to estimate lower bounds of the gain and phase margins without mathematical model plant. To stability margins, which are defined in frequency domain, using input/output data, we describe time domain. Then, formulate an optimization problem bound each margin propose iterative algorithm solve problem.

In this research, we propose a method to estimate the algebraic Riccati equation (ARE) under assumption that system is unknown, but its state and input can be observed. The ARE essential solve inverse linear quadratic regulator (ILQR) problem. ILQR problem of finding objective function optimized by given time-invariant feedback system. easily solved solving matrix inequality including if model readily available. However, often unknown in biological analysis, main fields where expected...

In this paper, we propose a method for estimating the algebraic Riccati equation (ARE) with respect to an unknown discrete-time system from state and input observation. The inverse optimal control (IOC) problem asks, ``What objective function is optimized by given system?'' linear quadratic regulator (ILQR) IOC that assumes function. ILQR can be solved solving matrix inequality contains ARE. However, model required obtain ARE, it often in fields which occurs, example, biological analysis....

This paper presents an analysis of the motion a motorcycle at high-speed using dynamics model that considers compliance frame components. Several nonlinear models have been proposed in previous studies and industry. However, these do not consider components, which affects maneuverability stability motorcycles. Moreover, there is any researches analyzes effect such on domain includes turning. In this paper, we derive takes into account components analyze vehicle body during straight riding...

Abstract In this paper, we propose a method for estimating the algebraic Riccati equation (ARE) with respect to an unknown discrete-time system from state and input observation. The inverse optimal control (IOC) problem asks, “What objective function is optimized by given system?” linear quadratic regulator (ILQR) IOC that assumes function. ILQR can be solved solving matrix inequality contains ARE. However, model required obtain ARE, it often in fields which occurs, example, biological...

In this paper, we consider nonlinear system identification when a plant contains an integral characteristic. When the includes characteristic, applying DNN directly to may result in large differences between response of actual equipment and model. order reduce errors, propose method that adds structure constraint represnting characteristics The effectiveness proposed is verified using input-output data from simulation pneumatic vibration isolator characteristics.

In this paper, we propose a stabilizing controller design method to use the lower bounds of stability margins estimated by data-driven in situation where plant is unknown. To controller, derive theorem which gives class controller. By using theorem, can stabilize closed-loop system without mathematical model plant. numerical example, estimate and with only this.

Some pneumatic isolation tables used to suppress vibrations from the floor in manufacturing and measuring fields of precision components can be controlled using input an on-off valve. However, quantizers acquire inputs these are generally non-linear, response deterioration appears when feedback modulators or optimal dynamic used. To solve this problem, Koike et al.'s previous research proposed a method that selects with low deteriorates based on Lyapunov function considering quantization...

In this paper, we discuss a circular path based on the control response of two-wheeled vehicle. For path, two methods can be applied to vehicle system, namely rotational coordinate transformation and expansionary transformation. However, discovered that, unlike latter method results in an undershoot initial response. considered problem confirmed it via simulation.

AbstractA parallel feedforward model that improves estimates of unknown disturbances to non-minimum-phase systems is presented. Such a must ensure the minimum-phase property augmented system, which consists plant and model. In addition, frequency response match plant. This paper proposes design procedure disturbance observer using based on Kalman-Yakubovich-Popov (KYP) lemma linear matrix inequality (LMI) conditions. The effectiveness this approach verified by numerical...

Simple adaptive control (SAC) is known as a method that keeps performance even if plant properties have changed. However, there problem such the vibratory output occurs in transient response when SAC applied to vibration system which includes anti-resonance modes. This paper clarifies reason and an improvement of problem. The why input corresponding frequency by structure SAC. In order overcome problem, it shown designing parallel feedforward compensator (PFC) appropriately effective. PFC...