Details of a Researcher - Namerikawa, Toru

Papers - Namerikawa, Toru

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周期的外乱を考慮したＨ∞ＤＩＡ制御と磁気軸受による回転性能の検証

瀬戸洋紀, 滑川徹

日本AEM学会誌 (日本AEM学会) 15 ( 3 ) 333 - 340 2007.09

Research paper (scientific journal), Joint Work, Accepted

本論文では磁気軸受のロータ回転時に発生する不釣合い振動を，回転速度に同期した周波数を持つ周期的外乱とみなし，その周期的外乱を抑制するために，H∞ DIA制御問題における一般化プラントに周波数重み関数を導入することで，任意の回転速度における周波数でコントローラ上にピークゲインを付加した．切替え制御による性能検証では，2 種類のコントローラを設計し，切替えることで良好な不釣合い振動の減衰効果と切替え時の過渡応答特性を有することを確認した．

GIMC structure considering communication delay and its application to mechatronic system

Toru Namerikawa, Junichi Miyakawa

2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13 (IEEE) 1532 - 1537 2007.07

Research paper (international conference proceedings), Accepted, ISSN 0743-1619

This paper deals with a new GIMC structure considering a communication delay by using the Smith Predictor and its application to a mechatronic system. First, we stabilize the unstable mechatronic system by a PD controller and define the stabilized system as a new augmented plant. We design the proposed GIMC structure using the Smith Predictor based on H-infinity controllers for the new stabilized augmented plant. Finally, the proposed structure is evaluated experimentally and the effectiveness of the proposed approach is proven. In addition, we apply the proposed structure to a virtual networked control mechatronic system.

GIMC構造を用いた磁気浮上システムの高性能ロバスト制御

滑川徹, 丸山英人

計測自動制御学会論文集 (計測自動制御学会) 42 ( 11 ) 1181 - 1187 2006.11

Research paper (scientific journal), Joint Work, Accepted, ISSN 0453-4654

本研究ではGIMC構造を不安定なメカトロニクスシステムである磁気浮上システムに応用し，制御実験による有効性の検証を行う．更にGIMC構造における切替制御の具体的な設計指針と実装方法を提案する.まずGIMC構造に基づく制御系設計の原理と設計手順を述べ，その切替の実装方法について提案を行う．次にH∞混合感度問題を用いて2つの補償器を設計し，それらを基にGIMC構造制御系を構成する．最後に提案法が制御性能とロバスト性を両立していることを実験的に示す．

Robust H∞ DIA Control of Levitated Steel Plates

T. Namerikawa, D. Mizutani and K. Kuroki

Trans. IEE of Japan (IEE of Japan) 126-D ( 10 ) 1319 - 1324 2006.10

Research paper (scientific journal), Joint Work, Accepted, ISSN 0913-6339

本稿ではH∞DIA制御を鋼板磁気浮上系に応用し, モデル変動に対するロバスト性を制御実験により評価することを目的とする．制御系設計では, 外乱や不確かさに対する重みを設計し, システムの状態方程式と組み合わせることで一般化プラントを構成し, これに対してコントローラを設計する．提案法であるH∞DIA制御が十分なモデル変動に対するロバスト性を有することを制御実験により明らかにした.

Passivity-based synchronized control of teleoperation with power scaling

Hisanosuke Kawada, Toru Namerikawa

2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 (IEEE) 1838 - 1843 2006.10

Research paper (international conference proceedings), Joint Work, Accepted

This paper deals with the passivity-based synchronized control of teleoperation considering position tracking and power scaling. In the proposed method, the motion and the force relation between the master and slave robots can be specified freely. Using a passivity of the systems and Lyapunov stability methods, the asymptotic stability of teleoperation with communication delay and power scaling is proven. Several experimental results show the effectiveness of our proposed method.

環境の不確かさと通信遅延を考慮したマスタ・スレーブシステムのロバスト制御

滑川徹, 林鋭渠, 伊藤智, 河田久之輔

日本機械学会論文集, C編 (日本機械学会) 72 ( 721 ) 2821 - 2828 2006.09

Research paper (scientific journal), Joint Work, Accepted

本研究では多自由度マニピュレータを用いて環境及びオペレータ特性の不確かさと通信遅延に対するロバスト性能を統合的に保証した制御系設計を行なう．まず2 台のマニピュレータに対してインピーダンス整形により非干渉・線形化を行い，環境及びオペレータの動特性をインピーダンスモデルとして表現し，これらを統合化した一般化プラントを構成する．次に不確かさを考慮したμ-Synthesisに基づく制御系設計法を提案する．最後に制御実験により提案法の有効性を示す．

静止時における自立走行二輪車のモデリングとロバスト姿勢制御

佐藤拓史, 滑川徹

日本機械学会論文集, C編 (日本機械学会) 72 ( 719 ) 2130 - 2136 2006.07

Research paper (scientific journal), Joint Work, Accepted

本研究では二輪車を静止状態に限定し，この状態で安定化できる自立走行二輪車を提案する．ライダの重心移動に相当する台車系とハンドル操作系を備えた小型の二輪車を構成する．制御系設計に必要なモデルの運動方程式は，Lagrange 法により導出する．得られた線形モデルに対する安定化制御器をH∞ループ整形設計手法を用いて設計し，姿勢制御実験を行うことにより提案する自立走行二輪車のモデリングとロバスト姿勢制御系について検証を行なう．

A passivity-based approach to wide area stabilization of magnetic suspension systems

Toru Namerikawa, Hiroto Kawano

2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 (IEEE) 4576 - 4581 2006.06

Research paper (international conference proceedings), Accepted, ISSN 0743-1619

This paper deals with a passivity-based approach to wide area stabilization of magnetic suspension systems. It is well known that the magnetic suspension systems have strong nonlinearity. In order to realize wide area stabilization of magnetic suspension systems, we design the passivity-based feedback controller considering a nonlinear dynamics of the magnetic suspension systems and a leakage inductance of the electromagnet especially. The systems can be decomposed two subsystems; an electrical subsystem and a mechanical subsystem. We design nonlinear passivity-based controllers for both two subsystems. Steady-state and transient time responses results for some operating points show the effectiveness of the proposed controller experimentally.

High performance robust control of magnetic suspension systems using GIMC structure

Toru Namerikawa, Hideto Maruyama

2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 (IEEE) 4582 - 4587 2006.06

Research paper (international conference proceedings), Accepted, ISSN 0743-1619

This paper deals with a high performance and robust control scheme based on Generalized Internal Model Control(GIMC) Structure. We apply the GIMC structure to the unstable magnetic suspension system and construct a high performance and robust control system. GIMC structure can switch two controllers which have high performance and high robustness respectively. The two controllers using in GIMC structure are designed via H-infinity mixed sensitivity problem. The experimental results show the effectiveness of GIMC structure.

Robust control of master-slave robot system considering environmental uncertainties

Toru Namerikawa, Satoshi Ito and Hisanosuke Kawada

2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2 (IEEE) 1299 - 1304 2005.12

Research paper (international conference proceedings), Joint Work, Accepted, ISSN 2159-6255

This paper deals with robust control of a master-slave teleoperation robotic system considering environmental uncertainties.
We construct a master-slave system by using two 2-DOF Direct Drive robot manipulators and design a robust control system via impedance shaping and mu-Synthesis considering various uncertainties; e.g., environment and operator dynamics, perturbation of impedance model and time delay in telecommunications.
The proposed control methodology can guarantee the robust stability and the robust performance for all these uncertainties of the master-slave robotic system. Several experimental results show the effectiveness of our proposed approach for various environmental uncertainties.

μ-シンセシスを用いた磁気浮上システムのH∞ DIA制御

滑川徹, 瀬戸洋紀

日本機械学会論文集, C編 (日本機械学会) 71 ( 208 ) 79 - 86 2005.08

Research paper (scientific journal), Joint Work, ISSN 0387-5024

本研究では初期状態の不確かさのもとで良好な過渡応答特性とロバスト制御性能を達成するために，H∞DIA制御にロバスト制御性
能を付加するμ-シンセシスの適用を提案する．具体的にはD-KイテレーションにH∞DIA制御を適用したμ-シンセシスを構築することにより所望の性能を有する制御系の設計が期待できる．従来法と比較することにより提案手法が良好な過渡応答特性とロバスト制御性能を示すことを制御実験により確認する．

CiNii Research

An H(infinity) DIA control system design of a magnetic bearing considering periodic disturbance

H Seto, T Namerikawa

2005 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), VOLS 1AND 2 (IEEE) 227 - 232 2005.08

Research paper (international conference proceedings), Joint Work, Accepted, ISSN 1085-1992

This paper deals with an H(infinity) DIA control system design of a magnetic bearing considering periodic disturbance. R. control problem which treats a mixed Disturbance and an Initial state uncertainty Attenuation (DIA) control is expected to provide a good transient property, and we confirmed that DIA control has a good rotational performance by some experiments.
On the other hand, active magnetic bearings allow contact free suspension of rotors and they are used for various industrial purposes. We derive a mathematical model of the magnetic bearing which has complicated rotor dynamics and nonlinear magnetic property.
In this paper, we propose a modified control system design of R DIA control in order to consider the periodic disturbance for the magnetic bearings. In fact, we get a controller taken a peak at specified frequency by adding a frequency weighting function in generalized plant. Experimental results show that the proposed robust control approach is effective for improving rotational performance.

On the H∞ Control System Design Attenuating Initial State Uncertainties

T. Namerikawa, M. Fujita, R. S. Smith and K. Uchida

Trans. of the Society of Instrument and Control Engineers (The Society of Instrument and Control Engineers) 40 ( 3 ) 307 - 314 2004.03

Research paper (scientific journal), Joint Work, Accepted

本稿では従来の結果から直交条件を外して，外乱と初期状態の不確かさの混合減衰無限時間区間H∞制御問題を定式化し，解の存在のための必要十分条件を導出する．さらに，可解条件だけでなく，補償器の1つの厳密な構成法も導出する．また提案手法を実際に磁気浮上システムに適用し，制御系の設計，および数値シミュレーションを行った．結果を従来法と比較することにより，過渡応答特性に関する提案手法の有用性を示した．

CiNii Research

H∞ Control System Design of the Magnetic Suspension System Considering Initial State Uncertainties

T. Namerikawa and M. Fujita

Trans. IEE of Japan (IEE of Japan) 123-C ( 6 ) 1094 - 1100 2003.06

Research paper (scientific journal), Joint Work, Accepted, ISSN 1348-8155

This paper deals with H∞ control attenuating initial-state uncertainties, and its application to a magnetic suspension system. H∞ control problem, which treats as a mixed attenuation of disturbance and initial-state uncertainty for linear time-invariant systems in the infinite-horizon case, is examined. The mixed attenuation supplies H∞ controls with good transients and assures H∞ controls of robustness against initial-state uncertainty. We apply this method to a magnetic suspension system, and evaluate attenuation property of the proposed disturbance and initial-state uncertainty via simulations and experiments. © 2003, The Institute of Electrical Engineers of Japan. All rights reserved.

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A generalized H-infinity control system design attenuating initial state uncertainties

T Namerikawa, M Fujita, RS Smith, K Uchida

PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6 (IEEE) 2204 - 2209 2002.05

Research paper (international conference proceedings), Joint Work, Accepted, ISSN 0743-1619

This paper deals With a generalized H-infinity control attenuating initial-state uncertainties. An H-infinity control problem, which treats a mixed attenuation of disturbance and initial-state uncertainty for linear time-invariant systems in the infinite-horizon case, is examined. The mixed attenuation supplies H-infinity controls with good-transients and assures H-infinity controls of robustness against initial-state uncertainty. We derive a necessary and sufficient condition of the generalized mixed attenuation problem. Furthermore we apply this proposed method to a magnetic suspension system, and evaluate attenuation property of the proposed generalized H (infinity) control approach.

H-infinity control system design attenuating initial state uncertainties: Evaluation by a magnetic suspension system

T Namerikawa, M Fujita, RS Smith

PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 (IEEE) 87 - 92 2001.12

Research paper (international conference proceedings), Accepted, ISSN 0191-2216

This paper deals with an H-infinity control attenuating initial-state uncertainties, and its application to a magnetic suspension system. An H-infinity control problem, which treats a mixed attenuation of disturbance and initial-state uncertainty for linear time-invariant systems in the infinite-horizon case, is examined. The mixed attenuation supplies H-infinity controls with good transients or assures H-infinity controls of robustness against initial-state uncertainty. We apply this method to a magnetic suspension system, and evaluate attenuation property of the proposed disturbance and initial-state uncertainty via simulations and experiments.

Robust Performance Analysis of Magnetic Bearings

T. Namerikawa and M. Fujita

Trans. IEE of Japan (IEE of Japan) 121-D ( 10 ) 1061 - 1067 2001.10

Research paper (scientific journal), Joint Work, Accepted, ISSN 0913-6339

This paper deals with uncertain model structures, model validation and robust performance analysis of active magnetic bearings. The dynamics of active magnetic bearing systems are characterized by their instability and complex dynamics of rotor and electromagnets. The feedback control is indispensable to stabilize the system, further the closed-loop systems of magnetic bearings should have robustness for stability and performance against model uncertainties. First we derive a nominal mathematical model of AMBs as a linear state-space model under some assumption and idealization, then we consider the discrepancy between the real physical systems and the obtained nominal design model. This discrepancy can be expressed as the structured uncertainties by Linear Fractional Transformation. These uncertainties include linearization error, parametric uncertainties, unmodeled dynamics, and gyroscopic effect. Then we set the interconnection structure which contains the above structurally represented uncertainties. Next we design a robust controller which achieves robust performance condition. Finally, we validate the interconnection structure with the nominal model and uncertainties, and analyze the robustness of stability and performance of the closed-loop system via the mixed structured singular value.

Uncertainty Structure and μ- Synthesis of a Magnetic Suspension System

T. Namerikawa and M. Fujita

Trans. IEE of Japan (IEE of Japan) 121-C ( 6 ) 1080 - 1087 2001.06

Research paper (scientific journal), Joint Work, Accepted, ISSN 0385-4221

CiNii Research

H∞ Control of a Nonlinear Magnetic Suspension System with Feedback Linearization: An Experimental Study of Robustness and Fragility

R. Suzuki, T. Namerikawa and M. Fujita

Trans. IEE of Japan (IEE of Japan) 120C ( 8/9 ) 1195 - 1200 2000.08

Research paper (scientific journal), Joint Work, Accepted, ISSN 0385-4221

本論文はフォードバック線形化を用いた非線形磁気浮上系のH∞制御のロバスト性と脆弱性に関して議論している．モデリング検証のため，まず２つの仮定に基づいて２つの非線形モデルを導出し，それぞれにフィードバック線形化H∞コントローラを設計した．つぎにこれらのコントローラを用いてステップ状の力外乱が浮上体に加わった場合の浮上体の位置情報を計測し，ロバスト性，さらにモデル構造に起因する脆弱性に関して検証と考察を行った．

CiNii Research

Robust performance analysis of uncertain magnetic bearings

Toru Namerikawa, Masayuki Fujlta

Proceedings of the ASME Turbo Expo (American Society of Mechanical Engineers (ASME)) 4 ( 10 ) 1061 - 1067 2000.07

Research paper (international conference proceedings), Accepted

This paper deals with uncertain model structures, model validation and robust performance analysis of active magnetic bearing systems. The dynamics of active magnetic bearing systems are characterized by their instability and complex dynamics of rotor and electromagnets. One of the most critical problems of AMBs is a description of a complex behavior of the dynamics of electromagnets and their forces. The exact description of them is almost hopeless, some approximations and assumptions must be employed, and consequently a discrepancy between the real physical system and the nominal design model cannot be avoided. This discrepancy of the magnetic bearing systems is a serious problem of stability and performance. Hence feedback control is indispensable to stabilize the system, further the closed-loop systems of AMBs should have robustness for stability and performance against model uncertainties. First we derive a nominal mathematical model of AMBs as a linear state-space model under some assumption and idealization, then we consider the discrepancy between the real physical systems and the obtained nominal design model. This discrepancy can be expressed as the structured uncertainties by Linear Fractional Transformation. These uncertainties include linearization error, parametric uncertainties, unmodeled dynamics, and gyroscopic effect. Then we set the interconnection structure which contains the above structurally represented uncertainties. Next we design a robust controller which achieves robust performance condition. Finally, we validate the interconnection structure with the nominal model and uncertainties, and analyze the robustness of stability and performance of the closed-loop system via the mixed structured singular value.

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