A Design of Decentralized Control System in Unstrnctured Environment

Daiki Ito, Takashi Kageyama, Jun Suzuki, Toshiaki Tsuji, Mitsuharu Morisawa, Kouhei Ohnishi

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

Motion control is developed in control of industrial machines. However, some kind of machines working in an open environment are required in our future society. Then it is necessary to design general methodology for motion controller in open environment. In this paper, decentralized control system is applied as a motion controller for this purpose. This paper is constructed from two parts roughly: the first is a method to abstract environmental mode from environmental information, and the second is a method to design the motion controller with the environmental information. This paper applied this method to biped robot as a model case. The effectiveness of proposed method is confirmed by several simulation and experimental results.

Original languageEnglish
Pages (from-to)1219-1226
Number of pages8
JournalIEEJ Transactions on Industry Applications
Volume123
Issue number10
DOIs
Publication statusPublished - 2003 Sep 1

Fingerprint

Decentralized control
Control systems
Controllers
Motion control
Robots

Keywords

  • Biped robot
  • Decentralized processing
  • Hadamard matrix
  • Hard real-time system
  • Motion control
  • Open enviromment
  • System connection

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this

Ito, D., Kageyama, T., Suzuki, J., Tsuji, T., Morisawa, M., & Ohnishi, K. (2003). A Design of Decentralized Control System in Unstrnctured Environment. IEEJ Transactions on Industry Applications, 123(10), 1219-1226. https://doi.org/10.1541/ieejias.123.1219

A Design of Decentralized Control System in Unstrnctured Environment. / Ito, Daiki; Kageyama, Takashi; Suzuki, Jun; Tsuji, Toshiaki; Morisawa, Mitsuharu; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 123, No. 10, 01.09.2003, p. 1219-1226.

Research output: Contribution to journalArticle

Ito, D, Kageyama, T, Suzuki, J, Tsuji, T, Morisawa, M & Ohnishi, K 2003, 'A Design of Decentralized Control System in Unstrnctured Environment', IEEJ Transactions on Industry Applications, vol. 123, no. 10, pp. 1219-1226. https://doi.org/10.1541/ieejias.123.1219
Ito, Daiki ; Kageyama, Takashi ; Suzuki, Jun ; Tsuji, Toshiaki ; Morisawa, Mitsuharu ; Ohnishi, Kouhei. / A Design of Decentralized Control System in Unstrnctured Environment. In: IEEJ Transactions on Industry Applications. 2003 ; Vol. 123, No. 10. pp. 1219-1226.
@article{c010fdb2b0064051a6a9432fb383bd37,
title = "A Design of Decentralized Control System in Unstrnctured Environment",
abstract = "Motion control is developed in control of industrial machines. However, some kind of machines working in an open environment are required in our future society. Then it is necessary to design general methodology for motion controller in open environment. In this paper, decentralized control system is applied as a motion controller for this purpose. This paper is constructed from two parts roughly: the first is a method to abstract environmental mode from environmental information, and the second is a method to design the motion controller with the environmental information. This paper applied this method to biped robot as a model case. The effectiveness of proposed method is confirmed by several simulation and experimental results.",
keywords = "Biped robot, Decentralized processing, Hadamard matrix, Hard real-time system, Motion control, Open enviromment, System connection",
author = "Daiki Ito and Takashi Kageyama and Jun Suzuki and Toshiaki Tsuji and Mitsuharu Morisawa and Kouhei Ohnishi",
year = "2003",
month = "9",
day = "1",
doi = "10.1541/ieejias.123.1219",
language = "English",
volume = "123",
pages = "1219--1226",
journal = "IEEJ Transactions on Industry Applications",
issn = "0913-6339",
publisher = "The Institute of Electrical Engineers of Japan",
number = "10",

}

TY - JOUR

T1 - A Design of Decentralized Control System in Unstrnctured Environment

AU - Ito, Daiki

AU - Kageyama, Takashi

AU - Suzuki, Jun

AU - Tsuji, Toshiaki

AU - Morisawa, Mitsuharu

AU - Ohnishi, Kouhei

PY - 2003/9/1

Y1 - 2003/9/1

N2 - Motion control is developed in control of industrial machines. However, some kind of machines working in an open environment are required in our future society. Then it is necessary to design general methodology for motion controller in open environment. In this paper, decentralized control system is applied as a motion controller for this purpose. This paper is constructed from two parts roughly: the first is a method to abstract environmental mode from environmental information, and the second is a method to design the motion controller with the environmental information. This paper applied this method to biped robot as a model case. The effectiveness of proposed method is confirmed by several simulation and experimental results.

AB - Motion control is developed in control of industrial machines. However, some kind of machines working in an open environment are required in our future society. Then it is necessary to design general methodology for motion controller in open environment. In this paper, decentralized control system is applied as a motion controller for this purpose. This paper is constructed from two parts roughly: the first is a method to abstract environmental mode from environmental information, and the second is a method to design the motion controller with the environmental information. This paper applied this method to biped robot as a model case. The effectiveness of proposed method is confirmed by several simulation and experimental results.

KW - Biped robot

KW - Decentralized processing

KW - Hadamard matrix

KW - Hard real-time system

KW - Motion control

KW - Open enviromment

KW - System connection

UR - http://www.scopus.com/inward/record.url?scp=34250002711&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34250002711&partnerID=8YFLogxK

U2 - 10.1541/ieejias.123.1219

DO - 10.1541/ieejias.123.1219

M3 - Article

AN - SCOPUS:34250002711

VL - 123

SP - 1219

EP - 1226

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

SN - 0913-6339

IS - 10

ER -