Shigeru Uchikado

Intelligent IMC-PID control for ultrasonic motor

Ultrasonic motor (USM) causes serious characteristic changes during operation and contains non-linearity caused by frictions. To compensate the characteristics, the internal model control - proportional integral differential (IMC-PID) control which requires only one parameter setting beforehand is widely applied to the control of ultrasonic motor. However, there are limitations of control performance on the conventional fixed-gain type IMC-PID control. So, in this paper we propose an improved method of variable gain type IMC-PID control combined with neural network (NN). In this proposed method, the identification method is adopted to overcome serious characteristic changes and neural network is used to compensate non-linearity. And, the effectiveness of the proposed method has been confirmed by experiments.

Adaptive pole-placement control with multi-rate type neural network for pneumatic servo system

We propose a design scheme which combines an adaptive pole-placement control with a neural network (NN) for the pneumatic servo system. In this design scheme, we adopt a multi-rate type NN in which an update-time of weights is selected as multiple of a sampling-time. The effectiveness of the proposed design scheme is confirmed by experiments using the existent pneumatic servo system.

Model reference adaptive control with multi-rate type neural network for electro-pneumatic servo system

In this paper, we propose a design scheme which combines a model reference adaptive control with a neural network (NN) for the electropneumatic servo system. In this design scheme, we adopt a multirate type NN in which an update-time of weights is selected as multiple of a sampling-time. The effectiveness of the proposed design scheme is confirmed by experiments using the existent electropneumatic servo system.

Synthesis of Nonlinear Model Matching Flight Control System for High Maneuver Vehicle

Up to the present various model matching systems have been proposed for linear system, but very little has been done for nonlinear system. Authors have already proposed several design methods of discrete time flight control system using nonlinear model matching. But those systems were constructed as the nonlinear control ones for the limited and small nonlinear maneuvers of aircraft from some steady flight condition. Practically most of aircraft are required to fly at several modes, for example zooming up, diving and turning movement. Therefore our nonlinear model matching flight control system should be extended to an available system for such mode. If this control system can be constructed, it can be also applied to the fundamental control system of various vehicles. In this paper, a design method of nonlinear model matching control system for high maneuver vehicle is proposed using a nonlinear equation of aircraft without giving the steady flight condition, in discrete time. This method is based on Hirschorns algorithm and facilitates easy determination of the control law using the relationship, between the output and the input, which is obtained by the time shift signals of the output. Also as a result, this method is the extension of the linear model matching control system proposed by Wolovich, in which the control law is obtained by left-multiplying the output by the interactor matrix. Yet it is assumed that all state variables can be measured, they are used in the control input signals.

Roll angle control using opposite side rotor hub moment for hovering tilt rotor aircraft on one side rotor lift variation

In this study a synthesis of flight control system which is able to control the roll angle of hovering Tilt Rotor Aircraft (TRA) using the opposite side rotor hub moment on one side lift variation, which seriously affects the stability of hovering TRA motion, is proposed. Basically this flight control system is constructed with roll rate feedback as stability augmentation method and P or PI control as controllability augmentation method.

Study on roll angle control for hovering tilt rotor aircraft on one side thrust reduction

In this study a synthesis of flight control system which is able to control the roll angle of hovering Tilt Rotor Aircraft (TRA) on one side thrust reduction, which seriously affects the stability of TRA motion, is proposed. Basically this flight control system is constructed with roll angle feedback as stability augmentation method and P or PI control as controllability augmentation method.

A study on detecting moving objects via projective transformation

We analyze the proposed correspondence methods in detail, and new interpretations of them are given so that new method is proposed based on this result. Here the epipole and the epipolar line play an important role. Then a method in general camera configuration is proposed. This method is easily constructed by using singular value decomposition and projective transformation. Furthermore it shows that this method is effective under the environment of a moving camera. Based on the new method proposed for the correspondence problem, we propose a method to detect moving objects by using a camera on a mobile robot.

Synthesis of robust flight control system for lift/cruise fan aircraft

In this paper, we propose a new type of lift/cruise fan aircraft and attempt to apply a robust adaptive control method for its maneuvering. First, the longitudinal equations of aircraft motion for a lift/cruise fan aircraft on hovering and small advance are shown. Small variations of the front duct fan angle, the total thrust and the rear duct fan angle are given as the inputs, and forward velocity, vertical velocity and pitch angle are given as the outputs. Next, the construction of a robust adaptive flight control system via a polynomial algebraic method is shown. Finally, the proposed control approach is applied to a lift/cruise fan aircraft and numerical simulations are shown to prove its feasibility.

Synthesis of nonlinear model matching flight control system having adaptive identifier

In this paper, a design method for a nonlinear model matching control system having an adaptive identifier is proposed in discrete time with a nonlinear flight model expressed exactly. This method is based on Hirschoms algorithm (1979) and facilitates easy determination of the control law using the relationship between the output and the input, which is obtained from the time shift signals of the output. As a result, this method is an extension of the linear model matching control system proposed by Wolovich et al. (1982), in which the control law is obtained by left-multiplying the output by the interactor matrix. The plant parameters are identified by a least mean squares method with the observable state variable signals and the control signals. Finally, the proposed control system is applied to a CCV flight control system of an aircraft and the feasibility of the approach is shown by numerical simulations.

On the study about an communication system by opening and shutting of an eyelid-application to the support system of medical care

Bedridden persons who have the inconvenient hands, legs and mouth can tell his/her will to a nurse by only opening and shutting his/her eyelids. Hence a medical care support system for such persons to become to be able to communicate to other people has been desired. In this paper, a system to automatically estimate opening and shutting of an eyelid from a sequence of real images which are taken by CCD camera has been developed.