A controller design method based on functionality

IEEE Transactions on Industrial Electronics

Volumn 54, Issue 6, 2007, Pages 3335-3343

  Tsuji, Toshiaki ^a,b   Ohnishi, Kouhei ^a   Šabanović, Asif ^c  

^a KEIO UNIVERSITY   (Japan)

^b SAITAMA UNIVERSITY   (Japan)

^c SABANCI UNIVERSITY   (Turkey)

Author keywords

Acceleration control; Decentralized control; Disturbance observer (DOB); Fault tolerance; Mechatronics; Motion control

Indexed keywords

3-D SPACE; CONTROLLER DESIGN METHOD; CONTROLLER DESIGNS; CONVENTIONAL METHODS; DISTURBANCE OBSERVER; ENVIRONMENTAL ADAPTATION; HUMAN ENVIRONMENT; INDEPENDENT COMPONENTS; MULTI-DOF; MULTI-ROBOT SYSTEMS; MULTIPLE FUNCTION; PATTERNS OF MOTION;

ACCELERATION CONTROL; CONTROL SYSTEMS; DECENTRALIZED CONTROL; FAULT TOLERANCE; MACHINE DESIGN; MECHATRONICS; MOTION CONTROL; OBSERVABILITY; ROBOTS;

CONTROLLERS;

EID: 80052343703     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2007.906175     Document Type: Article

References (23)

1. R. A. Brooks, "A robust layered control system for a mobile robot," IEEE J. Robot. Autom., vol. RA-2, no. 1, pp. 14-23, Mar. 1986.
2. M. Cossentino, L. Sabatucci, and A. Chella, "A possible approach to the development of robotic multi-agent systems," in Proc. IEEE/WIC Int. Conf. Intell. Agent Technol., 2003, pp. 539-544.
3. T. Ueyama, T. Fukuda, F. Arai, Y. Katou, S. Matsumura, and T. Uesugi, "A study on dynamically reconfigurable robotic systems (10th report, distributed control structure for organization using an evaluation of network energy for group structure of cebot)," J. Jpn. Soc. Mech. Eng., Part C, vol. 58, no. 549, pp. 132-139, 1992. (in Japanese).
4. M. Sugi, Y. Maeda, Y. Aiyama, T. Harada, and T. Arai, "A holonic architecture for easy reconfiguration of robotic assembly systems," IEEE Trans. Robot. Autom., vol. 19, no. 3, pp. 457-464, Jun. 2003.
5. Y. Fujimoto and T. Sekiguchi, "Fault-tolerant configuration of distributed discrete controllers," IEEE Trans. Ind. Electron., vol. 50, no. 1, pp. 86-93, Feb. 2003.
6. J. E. Hernandez, A. G. Loukianov, B. Castillo-Toledo, and V. I. Utkin, "Observer based decomposition control of linear delayed systems," in Proc. IEEE Int. Conf. Decision Control, 2001, pp. 1867-1872. (Pubitemid 34139212)
7. S. Arimoto and P. T. A. Nguyen, "Principle of superposition for realizing dexterous pinching motions of a pair of robot fingers with soft-tips," IEICE Trans. Fundam., vol. E84-A, no. 1, pp. 39-47, 2001. (Pubitemid 32189453)
8. M. Okada, K. Tatani, and Y. Nakamura, "Polynomial design of the nonlinear dynamics for the brain-like information processing of whole body motion," in Proc. IEEE Int. Conf. Robot. Autom., 2002, pp. 1410-1415. (Pubitemid 34916445)
9. D. Lee and P. Y. Li, "Passive bilateral feedforward control of linear dynamically similar teleoperated manipulators," IEEE Trans. Robot. Autom., vol. 19, no. 3, pp. 443-456, Jun. 2003.
10. M. Morisawa and K. Ohnishi, "Motion control taking environmental information into account," Eur. Power Electron. Drives J., vol. 12, no. 4, pp. 37-41, 2002.
11. Y. Matsumoto, S. Katsura, and K. Ohnishi, "An analysis and design of bilateral control based on disturbance observer," in Proc. IEEE ICIT, 2003, pp. 802-807. (Pubitemid 40761310)
12. S. Katsura, K. Ohnishi, and K. Ohishi, "Transmission of force sensation by environment quarrier based on multilateral control," IEEE Trans. Ind. Electron., vol. 54, no. 2, pp. 898-906, Apr. 2007. (Pubitemid 46591012)
13. T. Tsuji, K. Natori, H. Nishi, and K. Ohnishi, "Controller design method of bilateral control system," Eur. Power Electron. Drives J., vol. 16, no. 2, pp. 22-28, 2006.
14. T. Tsuji, H. Nishi, and K. Ohnishi, "A controller design method of decentralized control system," IEEJ Trans. Ind. Appl., vol. 126-D, no. 5, pp. 630-638, 2006.
15. C. D. Onal and A. Šabanović, "Bilateral control with a reflex mechanism on the slave side," in Proc. 31st Annu. Conf. IEEE IECON, 2005, pp. 195-200. (Pubitemid 44549281)
16. K. Ohnishi, M. Shibata, and T. Murakami, "Motion control for advanced mechatronics," IEEE/ASME Trans.Mechatronics, vol. 1, no. 1, pp. 56-67, Mar. 1996. (Pubitemid 126780847)
17. N. Hayashida, T. Yakoh, T. Murakami, and K. Ohnishi, "A friction compensation in twin drive system," in Proc. 6th IEEE Int. Workshop Adv. Motion Control, 2000, pp. 187-192. (Pubitemid 32135552)
18. T. Murakami, R. Nakamura, F. Yu, and K. Ohnishi, "Force sensorless compliant control based on reaction force estimation observer in multidegrees-of-freedom robot," J. Robot. Soc. Jpn., vol. 11, no. 5, pp. 765-768, 1993. (in Japanese).
19. M. Mizuochi, T. Tsuji, and K. Ohnishi, "Multirate sampling method for acceleration control system," IEEE Trans. Ind. Electron., vol. 54, no. 3, pp. 1462-1471, Jun. 2007.
20. T. Kageyama and K. Ohnishi, "An architecture of decentralized control for multi-degrees of freedom parallel manipulator," in Proc. 7th IEEE Int. Workshop Adv. Motion Control, 2002, pp. 74-79. (Pubitemid 40761139)
21. H. Asama, M. K. Habib, I. Endo, K. Ozaki, A. Matsumoto, and Y. Ishida, "Functional distribution among multiple mobile robots in an autonomous and decentralized robot system," in Proc. IEEE Int. Conf. Robot. Autom., 1991, pp. 1921-1926. (Pubitemid 21717031)
22. T. Sakuishi, Y. Izumikawa, K. Yubai, and J. Hirai, "Fault-tolerant control of flexible arm based on dual Youla parameter identification," in Proc. 9th IEEE Int. Workshop Adv. Motion Control, 2006, pp. 451-455. (Pubitemid 44753274)
23. T. Tsuji, K. Ohnishi, and A. Šabanović, "A controller design method based on functionality," in Proc. 9th IEEE Int. Workshop Adv. Motion Control, 2006, pp. 171-176. (Pubitemid 44753226)