Yoshihiko Miyasato

Adaptive H ∞ formation control for Euler-Lagrange systems

Design methods of adaptive H∞ formation control of multi-agent systems composed of Euler-Lagrange systems are presented in this paper. The proposed control schemes are derived as solutions of certain H∞ control problems, where estimation errors of tuning parameters and error terms in potential functions are regarded as external disturbances to the process. It is shown that the resulting control systems are robust to uncertain system parameters and that the desirable formations are achieved asymptotically via adaptation schemes.

A Simple Redesign of Adaptive Control for Nonlinear Parametric Models

A simple design method of adaptive control for processes which are described via nonlinear parametric models, is considered in this manuscript. It is shown that the proposed design procedure can be applied to high relative degree cases without complicated control structures, and that semi-global stability of the control systems is assured. High-gain observers are introduced to simplify the overall control structures, and nonlinear damping feedback schemes are employed so as to stabilize control systems for nonlinear parametric models and estimation errors of the observers

A simple redesign of adaptive control for nonlinear parametric models with state variable filters

A simple design method of adaptive control for processes which are described via nonlinear parametric models and state variable filters, is considered in the present manuscript. It is shown that the proposed design procedure can be applied to high relative degree cases without complicated control structures, and that semi-global stability of the control systems is assured. High-gain observers are introduced to simplify the overall control structures, and nonlinear damping feedback schemes are employed so as to stabilize control systems for nonlinear parametric models with state variable filters and estimation errors of the observers.

A simple redesign of adaptive control for distributed parameter systems of hyperbolic type by finite dimensional controllers

A simple design method of adaptive control for distributed parameter systems of hyperbolic type, is considered in the present manuscript. It is shown that the finite dimensional adaptive control schemes are constructed without complicated control structures and without time-derivative of output errors, and that semi-global stability of the control system is assured. High-gain observers are introduced to simplify the overall control structures, and nonlinear damping feedback schemes are employed so as to stabilize infinite dimensional modes.

Adaptive H ∞ consensus control for distributed parameter systems of hyperbolic type

A design methodology of adaptive H∞ consensus control of multi-agent systems composed of a class of infinite-dimensional systems is provided in this paper. The proposed control scheme is derived as a solution of certain H∞ control problem, where the effects of neglected infinite-dimensional modes and the imperfect knowledge of the leader are regarded as external disturbances to the process. It is shown that the resulting control system is robust to uncertain system parameters and that the desirable consensus tracking is achieved approximately via the adaptation scheme.

Model reference adaptive consensus control

A design method of model reference adaptive consensus control of multi-agent systems composed of unknown linear processes is presented in this paper. The proposed control scheme is constructed via a backstepping procedure and state variable filters together with a restricted information network structure among agents. It is shown that the resulting control system is robust to uncertain system parameters and that the desirable consensus tracking is achieved asymptotically or approximately via the adaptation mechanism.

Adaptive H ∞ formation control for infinite-dimensional systems

Design methods of adaptive H∞ formation control of multi-agent systems composed of a class of infinite-dimensional systems are presented in this paper. The proposed control schemes are derived as solutions of certain H∞ control problems, where artificial error terms added to potential functions, and the effects of neglected infinite-dimensional modes are regarded as external disturbances to the processes. It is shown that the resulting control systems are robust to uncertain system parameters and that the desirable formations are achieved approximately via adaptation schemes.

A Design Method of Model Reference Adaptive Formation Control

Abstract A design method of model reference adaptive formation control of multi-agent systems composed of unknown linear processes is presented in this paper. This is the first attempt to solve the formation control problem from the view point of model reference adaptive control by output feedbacks. The proposed control schemes are constructed via backstepping procedures and state variable filters, where potential functions corresponding to desirable formations are introduced into the first step. It is shown that the resulting control systems are robust to uncertain system parameters and that the desirable formations are achieved asymptotically via adaptation mechanisms.

Finite dimensional adaptive H ∞ control for flexible arms preceded by input nonlinearites

The problem of constructing model reference adaptive H∞ control for flexible arms preceded by unknown input nonlinearities such as dead-zone or backlash, is considered in this paper. Control schemes of flexible arms are mixed parameter systems composed of distributed parameter systems of hyperbolic type (flexible arms) and lumped parameter systems (motor control systems). An adaptive inverse model is introduced to estimate and compensate input nonlinearities. The stabilizing control signal is added to regulate the effect of spill-over terms, and it is derived as a solution of certain H∞ control problem where the residual part of the inverse model and the spill-over term are considered as external disturbances.

Adaptive H ∞ 1 consensus control of multi-agent systems preceded by input nonlinearities

Design methods of adaptive H∞ consensus control of multi-agent systems composed of the first-order and the second-order regression models with input nonlinearities such as dead-zone or backlash, are presented in this paper. The proposed control schemes are derived as solutions of certain H∞ control problems, where estimation errors of tuning parameters and imperfect knowledge of the leader are regarded as external disturbances to the processes.