Toshiyuki Murao

A dynamic mechanism for LQG power networks with random type parameters and pricing delay

We consider a dynamic game model of power networks with generators and/or consumers, called agents, and one public commission, called utility; a game with a prescribed dynamic mechanism is performed such that each agent decides a private control to minimize its own cost functional, and the utility manages information transmissions between the utility and agents and decides command signals, called prices, to minimize a public cost functional. We discuss designs of the mechanism that integrates strategic determinations of private controls by the agents into the optimal public controls that achieve the optimal social welfare and rational agents can accept. The model of this paper is a generic linear Gaussian model of power networks, which is motivated by so-called average system frequency models; in each model of the agents, we includes the type parameter presenting each agents private information; we also consider the time delay in calculation of prices by utility. Assuming that each private cost functional as well as the public cost functional is quadratic, we derive formulas of the pricing schemes, and the incentive cost, inspired by the pivot function in the mechanism design theory literate from economics, that characterize our mechanism design in both formulations of the fixed horizon control and the receding horizon control cases.

Passivity-based Visual Motion Observer with Panoramic Camera for Pose Control

This paper considers the vision-based estimation and pose control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. The visual motion error system which consists of the estimation error system and the pose control error system preserves the passivity. After that, stability and L2-gain performance analysis for the closed-loop system are discussed via Lyapunov method and dissipative systems theory, respectively. Finally, simulation and experimental results are shown in order to confirm the proposed method.

Predictive Visual Feedback Control with Eye-in/to-Hand Configuration via Stabilizing Receding Horizon Approach

Abstract This paper investigates vision based robot control via a receding horizon control strategy for an eye-in/to-hand system, as a predictive visual feedback control. Firstly, the dynamic visual feedback system with the eye-in/to-hand configuration is reconstructed in order to improve the performance of the estimation. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast system, is proposed. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. Furthermore, simulation results are assessed with respect to the stability and the performance.

Predictive Visual Feedback Control with Eye-in-Hand System via Stabilizing Receding Horizon Approach

This paper investigates vision based robot control based on a receding horizon control strategy, as a first step for a predictive visual feedback control. Firstly, the brief summary of the 3D dynamic visual feedback system with eye-in-hand configuration is given. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast system, is proposed. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. Furthermore, simulation results are assessed with respect to the stability and the performance

Real time pricing and pivot mechanism for LQG power networks

We consider a dynamic game model of power networks with generators and/or consumers, called agents, and one public commission, called utility; a game with a prescribed dynamic mechanism is performed such that each agent decides a private control to minimize its own cost functional, and the utility manages information transmissions between the utility and agents and decides command signals, called prices, to minimize a public cost functional. We discuss designs of the mechanism that integrates selfish and strategic determinations of private controls by the agents into the optimal public controls that rational agents can accept. The model considered in this paper is the linear models of power networks, which is a special case of the model so-called average system frequency models, but we also include white Gaussian disturbances in each dynamic model of the agents in order to take account into the stochastic nature of renewable resources. Assuming that each private cost functional as well as the public cost functional is quadratic, we derive explicit formulas of the command signalling scheme, i.e., pricing scheme, and the incentive cost, inspired by the pivot function in the mechanism design theory literate from economics, that characterize our mechanism design in both formulations of the fixed horizon control and the receding horizon control cases.

Image-based dynamic visual feedback control via passivity approach

This paper deals with the image-based dynamic visual feedback control via the passivity approach which is investigated in the position-based one. We construct an energy function using the error in the image plane. The passivity of the visual feedback system is derived from the energy function. We show passivity of the image-based dynamic visual feedback system by combining the passivity of both the visual feedback system and the manipulator dynamics which allows us to prove stability in the sense of Lyapunov. The L2-gain performance analysis, which deals with the disturbance attenuation problem, is then considered via dissipative systems theory. This paper suggests that the two types of classical visual servoing, i.e. the image-based visual servoing and the position-based visual servoing, can be discussed with the same strategy

Passivity-based Control of Visual Feedback Systems with Dynamic Movable Camera Configuration

This paper deals with control of visual feedback systems with a dynamic movable camera configuration. This configuration consists of a robot manipulator and a camera that is attached to the end-effector of another robot manipulator. Firstly the brief summary of the dynamic visual feedback system with an eye-in-hand configuration is given with the fundamental representation of a relative rigid body motion. Secondly we construct the visual feedback system with a dynamic movable camera configuration by combining the hand control error system. Next, we derive the passivity of the dynamic visual feedback system. Based on the passivity, stability and L2-gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the experimental results.

Passivity-based dynamic visual feedback control with uncertainty of camera coordinate frame

In this paper, we consider the dynamic visual feedback control with the uncertainty of the camera coordinate frame based on the passivity. Firstly the brief summary of the nominal visual feedback systems with a fixed camera is given with the fundamental representation of a relative rigid body motion. Secondly we construct the visual feedback system with uncertainty which is not be limited to the orientation around the optical axis. Next, we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the visual feedback system. Based on the passivity, stability and L/sub 2/-gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the simulation results.

Passivity-based dynamic visual feedback control with a movable camera

Abstract This paper deals with the dynamic visual feedback control with a movable camera instead of a fixed camera in the fixed camera configuration. Firstly the brief summary of the visual feedback system with a fixed camera is given with the fundamental representation of a relative rigid body motion. Secondly we construct the new error system in order to consider the camera field of view. Next, we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the visual feedback system. Based on the passivity stability and L 2 -gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the simulation results.

Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles

This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.