Shigeto Ouchi

Self-Tuning Control for Rotation Type Inverted Pendulum Using Two Kinds of Adaptive Controllers

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

Adaptive Controller Design for Anti-Slip System of EV

The design strategy of adaptive controller for anti-slip 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

Traction control for automobiles by model-following sliding mode control

Slippage of an automobile often occurs during acceleration and braking. In this paper, we propose a traction control system design method by using model-following sliding mode control, in which we consider the friction coefficient between the road surface and the tires as an uncertainty in the controlled object. We confirm that the control system has good performance in simulations.

Anti-sway control system of a rotational crane using a nonlinear controller

In this paper, we report a new control system for rotational cranes using a nonlinear controller. Although rotational cranes can be expressed as a nonlinear dynamical system with infinite modes at high frequencies, it is impossible to construct a model the same as the actual crane. We therefore applied a method we developed to convert the nonlinear control problem to a linear one. The experimental results show that this approach is effective for control of rotational cranes.

Self-sustaining drive control of bike by gyro actuator

Gyroscope is well known as a sensor but also used as an actuator. In the beginning of 20th century, research that related with gyro-monorail by using a gyro-actuator was conducted. Later, the research on a gyro-bike system was reported in 1970s. Then, the self-sustaining body bike has been reported up until now. In this paper, we propose an unmanned self-sustaining driving control bike in a straight motion using gyro-actuator which is controlled by a computer. First, we use the link model to construct the linear equation of motion. Next, we develop the modeling of a gyro bike system by using the link model theory. Then, we conduct the experiments to confirm the result of the theory.

Non-Linear Drive Control System for Electric Car

This paper presents a new drive control system for electric car with GPS system to measure the speed of the car-body. This drive control system uses a non-linear controller designed by following the Lyapunov stability theorem. The controller is designed in order to control the wheel slip when the car starts to accelerate on the slippery road condition. The effectiveness of this control system is verified by experiments.

Control of Vehicle Driving Model By Non-linear Controller

A new drive control system which has an effect on controlling the vehicle slip during accelerating and braking is proposed in this paper. This drive control system uses a non-linear controller designed by following the Lyapunov theorem. The controller is designed in order that it can work at both conditions that is the slippery and non-slippery road. The effectiveness of this control system is proved by a basic experiments.

Control system design of a traveling crane using H/sub /spl infin// control theory

For a traveling crane, various control methods such as fuzzy control and optimum control are studied. In the control of an actual traveling crane, it is important to accurately stop the crane at the desired position by positioning control and anti-sway control. In this paper, we used the H/sub /spl infin// control theory which performs well even when there we modeling errors and parameter variations. The results of several experiments confirmed that the H/sub /spl infin// control system is effective.