Shigehiko Furuya

IMC design with limiting properties of LQR and its application to trajectory tracking control

In this paper, a control method for trajectory tracking control is discussed. The control method is derived by the internal model control (IMC) and limiting properties of LQ control. Then the proposed control is applied to trajectory tracking for a two link robot manipulator. Experimental results show that the proposed method is effective on robot trajectory control.

Extended Internal Model Control Scheme for Sensorless Force Control on Uneven Surfaces

In this paper, an extended internal model control (IMC) scheme for a sensorless force control on an uneven surface is proposed to such kind of surface-polishing, deburring and rubbing machines. The IMC controller scheme has disturbance decoupling property, good tracking performance and disturbance estimation property. In order to extend the conventional IMC scheme to force control on uneven surfaces, we propose a novel control scheme based on the IMC scheme, and discuss stability of the closed-loop system. Moreover, effectiveness of the proposed IMC scheme is confirmed by comparative experiments.

Internal model control for assisting unit of wheeled walking frames

The work presents the wheeled walking frames that are supporting equipments, to be used by elderly people or handicapped in rehabilitation. Mostly, standard frames have weakness in walking on upward/downward slope. People often need power assistance on upward, and need secure walking support without falling on downward. The purpose of this paper is to develop a speed control assisting unit for wheeled walking frames by using the generalized internal model control (GIMC) with LQ control. By selecting appropriate parameter, the control method has various type of control scheme. Effectiveness of the assisting unit is confirmed by comparative experiments on upward and downward slopes. The result shows that the proposed method is effective on speed control for the assisting unit of wheeled walking frames.

Exact model matching with limiting properties of LQR and its application to cooperative transportation by two vehicles

A new control method by combining exact model matching and limiting properties of linear quadratic regulators (LQR) are proposed in this paper. The method is applied to cooperative transportation control by two vehicles without explicit communication. By combining limiting properties of LQR and exact model matching achieves good tracking performance against disturbance and modeling error on LQ control framework. Effectiveness of the proposed method is confirmed by comparative experiments.

Simplified assistive devices for upper limbs

The purpose of this research is to develop an assistive device for upper limbs. The disturbance estimation property of the internal model control is applied to detect motion intention of users. The experimental prototype of the assistive device for upper limbs is developed to evaluate the proposed control method. Effectiveness of the proposed method is verified by experiments. The experimental results include also that muscular activities occur in several muscles using surface electromyography. The proposed device is expected to maintain residual function of upper limbs.

Hands-On Education at Kanazawa Technical College

Kanazawa Technical College has a tradition of working with industry and the community in order to improve education. This paper introduces Kanazawa Technical College and describes the hands-on project courses at every year level that have been developed though a government grant. The courses are also being evaluated against the CDIO Standards and Syllabus, and will be modified based on the evaluations.

Design of Functional Observer for Linear System with Unknown Disturbance and Its Application to Disturbance Attenuation

This paper presents a reduced-order functional observer for linear system with unknown disturbance from Hinfin performance point of view. The proposed reduced-order functional observer can be designed under a less strict existence condition. The controller scheme based on the proposed functional observer can simultaneously estimate a state-function and unknown disturbance, and can be applied to disturbance attenuation problems. Numerical example is given to illustrate the properties of the proposed reduced-order functional observer

Design and Development of Speed Controller for Wheeled Walking Frames (Application of Internal Model Control and LQ Control with Servo Compensation)

The work presents the wheeled walking frames that are supporting equipments, to be used by elderly people or handicapped in rehabilitation. Mostly, standard frames have weakness in walking on upward/downward slope. People often need power assistance on upward, and need secure walking support without falling on downward. The purpose of this paper is to develop a speed control assisting unit for wheeled walking frames by using the generalized internal model control (GIMC) with LQ control. By selecting appropriate parameter, the control method has various type of control scheme. Effectiveness of the assisting unit is confirmed by comparative experiments on upward and downward slopes. The result shows that the proposed method is effective on speed control for the assisting unit of wheeled walking frames.