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金沢大学理工学域, 慶應義塾大学, This paper presents H∞ Filter SLAM, which is also known as the minimax filter to estimate the robot and landmarks location with the analysis on partial observability. Some convergence conditions are also presented to aid the analysis. Due to SLAM is a controllable but unobservable problem, it's difficult to estimate the position of robot and landmarks even though the control inputs are given to the system. As a result, Covariance Inflation which is a method of adding a pseudo positive semidefinite(PsD) matrix is proposed as one approach to analyze Partial Observability effects in SLAM and to reduce the computation cost. H∞ Filter is capable of withstand non-gaussian noise characteristics and therefore, may provide another available approach towards SLAM solution. © 2010 AACC.

This paper deals with GIMC (Generalized Internal Model Control) structure based Anti-Windup (AW) control system design. First, we setup a L2 performance criterion based on GIMC structure for Anti-Windup control problems. The design problem is formulated as an optimization problem with a parameter Q. Then we calculate the optimization problem and find an optimal Q. Finally, the effectiveness of proposed method is shown by experimental results for a magnetic suspension system. © 2009 IEEE.

金沢大学理工研究域電子情報学系, This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm. © 2009 SICE..

金沢大学理工研究域電子情報学系, KF-SLAM(Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application. Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H ∞ filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H∞ filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H∞ filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H ∞ filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H∞ filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM. © 2009 SICE.

金沢大学理工研究域電子情報学系, This paper deals with the problem of gyroscopic effect and unbalance vibration of the Magnetic Bearing system. Using a gain scheduled H∞ control with a free parameter Φ, we design a control system which attenuates the unbalance vibration, and guarantees the stability against the gyroscopic effect in specified rotational speed. Further we implement the controller and evaluate the effectiveness of the proposed approach by experiments. First, our experimental setup is explained, a mathematical model of the magnetic bearing is derived. Then, we introduce the gain scheduled H∞ control with free parameters to a magnetic bearing control, in order to reject the disturbances caused by unbalance of the rotor, and guarantee the stability against gyroscopic effect, even if rotational speed of the rotor changes. At last, several experimental results show the effectiveness of this proposed method.

金沢大学大学院自然科学研究科知能情報・数理, 金沢大学工学部, This paper deals with the problem of an unbalance vibration zof the magnetic bearing system. We design a control system achieving the elimination of the unbalance vibration, using a loop shaping design procedure (LSDP). After the introduction of our experimental setup, a mathematical model of the magnetic bearing is shown. Then, the gain scheduled H∞ robust controllers with free parameters are designed, based on the LSDP, so as to asymptotically reject the disturbances caused by unbalance on the rotor, even if the rotational speed of the rotor varies. Finally, several simulation results and experimental results show the effectiveness of this proposed methodology. © 1996 IEEE.