Search Results

Now showing 1 - 4 of 4

Some of the metrics are blocked by your
consent settings
Self-tuning control for rotation type inverted pendulum using two kinds of adaptive controllers
(2006-12-01)
Hirata, Hiroshi
;
Haga, Koji
;
Anabuki, Masatoshi
;
Ouchi, Shigeto
;
Ratiroch-Anant, Phornsuk
This paper presents the self-tuning control method for the rotation type inverted pendulum that the momentum of inertia of the pendulum part changes widely. The control system prepares two kinds of adaptive controllers, and the stabilization of inverted pendulum is achieved by separating the control mode to two stages. The rotational angle of the pendulum is stabilized by VSS (Variable Structure System) adaptive control method to unknown parameter system at the first stage, and whole basic parameters are simultaneously estimated in the parameter estimation system. After the eigenvalue of the inverted pendulum system converge sufficiently, the controller is changed to LQ (Linear Quadratic) control at the second stage. It is verified by the practical experiment that the proposed self-tuning strategy is very useful as one of the on-line tuning method © 2006 IEEE.
Some of the metrics are blocked by your
consent settings
Adaptive controller design for anti-slip system of EV
(2006-12-01)
Ratiroch-Anant, Phornsuk
;
Hirata, Hiroshi
;
Anabuki, Masatoshi
;
Ouchi, Shigeto
The design strategy of adaptive controller for antislip system of EV (electric vehicle) is proposed. The proposed system is constructed by preparing both systems of disturbance observer and parameter estimation. The load variation of the tire slip is observed as the equivalent disturbance of motor system by employing the adaptive disturbance observer, and the vehicle speed is estimated. The tire slip is appropriately controlled by means of the feedback of the speed deviation between wheel speed and estimated vehicle speed. It is proved by the numerical simulations that the proposed methods provide satisfactory performance. Furthermore, the practical DC motor experiment set, which can give various slips, is constructed in order to investigate the effect of proposed anti-slip control system. It is verified that the proposed strategy is useful as one approach of anti-slip control. © 2006 IEEE.
Some of the metrics are blocked by your
consent settings
Self-tuning control for rotational inverted pendulum by eigenvalue approach
(2004-12-01)
Ratiroch-Anant, Phornsuk
;
Anabuki, Masatoshi
;
Hirata, Hiroshi
The self-tuning strategy concerning the stabilized control system of the rotational inverted pendulum is considered. In the case of the pendulum with expansion and contraction under the stabilization, the system parameter is recursively estimated and the redesigned controller is appropriately updated. The available disturbance torque is appended to the control signal because the inverted pendulum does not have sufficient information for the estimation of the system parameter under the stabilization. It is verified by the practical experiment that the proposed self-tuning is very usefiil as one of the on-line tuning. © 2004IEEE.
Some of the metrics are blocked by your
consent settings
Adaptive motion control of a two-link direct drive manipulator using disturbance observer
(2002-12-01)
Ratiroch-Anant, Phornsuk
;
Anabuki, Masatoshi
;
Hirata, Hiroshi
The proposed system is realized by appending the disturbance observer to the type-2 servo in order to reduce the tracking error of trajectory control. Furthermore, the adaptive control is applied to control the deterioration of the tracking performance by the variation of payload. It is verified by the practical experiment that the adaptive control is very useful in the case of the nonlinear torque has small effect compared to the friction torque.

KMITL

Browse

Filters

Settings

Sort By

Results per page

Search Results