Yoshinori Kawasaki

An Adaptive Observer with Exponential Rate of Convergence for Single-Input Single-Output Linear Systems

Abstract This paper is concerned with the design of an adaptive observer to estimate state variables and identify parameters of an unknown linear single-input and single-output system with desired rate of exponential convergence. The design is based on Luders-Narendra type representation of non-minimal realization, but in this study the adaptive law is obtained by a new scheme. The adaptive law is determined by equations forcing the errors into decreasing exponentially. The adaptive observer is designed with the exponential rate of convergence in respect to parameter mismatches. The convergence rate is related on small number of parameters of the observer and the rate is specified arbitrarily. A sufficient condition for this property is obtained. An example is given to show the effectiveness of this design scheme.

Robust Winder Control System Using Adaptive Model Output Following Control Method

Abstract In the conventional mine winder control systems, S-curve control and PI control are mainly utilized. Since the control parameters of these control methods are constant, they can not adapt sufficiently to the large change of the wire rope length. In this work, we propose a new robust winder control system using the adaptive model output following control based on Backstepping strategy. It is shown that the effectiveness and robustness of the proposed control method are confirmed through experiments using an experimental winder model with a maximum length of 15 meters of wire rope.

Positioning control of a stacker crane using a robust simple adaptive control method

Abstract This paper is concerned with a new positioning control method for stacker cranes, which is based on the adaptive control technique. From the view point of positioning control, recent stacker cranes have several difficult problems. One is the vibration induced by acceleration of the cart, and the other is the large parameter changes. To cope with these problems, we adopt the robust simple adaptive control (RSAC) and propose a new design method for reference inputs to suppress the residual vibration. The effectiveness of the proposed method is demonstrated by experiments using the small-scaled experimental model of the stacker crane.