Guaranteed Cost Control of Polynomial Fuzzy Systems via a Sum of Squares Approach

This paper presents the guaranteed cost control of polynomial fuzzy systems via a sum of squares (SOS) approach. First, we present a polynomial fuzzy model and controller that are more general representations of the well-known Takagi-Sugeno (T-S) fuzzy model and controller, respectively. Second, we derive a guaranteed cost control design condition based on polynomial Lyapunov functions. Hence, the design approach discussed in this paper is more general than the existing LMI approaches (to T-S fuzzy control system designs) based on quadratic Lyapunov functions. The design condition realizes a guaranteed cost control by minimizing the upper bound of a given performance function. In addition, the design condition in the proposed approach can be represented in terms of SOS and is numerically (partially symbolically) solved via the recent developed SOSTOOLS. To illustrate the validity of the design approach, two design examples are provided. The first example deals with a complicated nonlinear system. The second example presents micro helicopter control. Both the examples show that our approach provides more extensive design results for the existing LMI approach

Development of a Flying Robot With a Pantograph-Based Variable Wing Mechanism

We develop a flying robot with a new pantograph-based variable wing mechanism for horizontal-axis rotorcrafts (cyclogyro rotorcrafts). A key feature of the new mechanism is to have a unique trajectory of variable wings that not only change angles of attack but also expand and contract according to wing positions. As a first step, this paper focuses on demonstrating the possibility of the flying robot with this mechanism. After addressing the pantograph-based variable wing mechanism and its features, a simulation model of this mechanism is constructed. Next, we present some comparison results (between the simulation model and experimental data) for a prototype body with the proposed pantograph-based variable wing mechanism. Both simulation and experimental results show that the flying robot with this new mechanism can generate enough lift forces to keep itself in the air. Furthermore, we construct a more precise simulation model by considering rotational motion of each wing. As a result of optimizing design parameters using the precise simulation model, flight performance experimental results demonstrate that the robot with the optimal design parameters can generate not only enough lift forces but a 155 gf payload as well

Sensor Reduction for Backing-Up Control of a Vehicle With Triple Trailers

This paper presents a cost-effective design based on sensor reduction for backing-up control of a vehicle with triple trailers. To realize a cost-effective design, we newly derive two linear-matrix-inequality (LMI) conditions for a discrete Takagi-Sugeno fuzzy system. One is an optimal dynamic output feedback design that guarantees desired control performance. The other is an avoidance of jackknife phenomenon for the use of the optimal dynamic output feedback controller. Our results demonstrate that the proposed LMI-based design effectively achieves the backing-up control of the vehicle with triple trailers while avoiding the jackknife phenomenon. More importantly, we demonstrate that the designed optimal control can achieve the backing-up control without, at least, two potentiometers that were employed to measure the relative angles (of a vehicle with triple trailers) in our previous experiments. Since the relative angles directly relate to the jackknife phenomenon, the successful control results without two potentiometers are very interesting and important from the cost-effective design point of view

Polynomial Fuzzy Observer Designs: A Sum-of-Squares Approach

This paper presents a simple passive attitude stabilizer (PAS) for vision-based stabilization of palm-size aerial vehicles. First, a mathematical dynamic model of a palm-size aerial vehicle with the proposed PAS is constructed. Stability analysis for the dynamics is carried out in terms of Lyapunov stability theory. The analysis results show that the proposed stabilizer guarantees passive stabilizing behavior, i.e., passive attitude recovering, of the aerial vehicle for small perturbations from a stability theory point of view. Experimental results demonstrate the utility of the proposed PAS for the aerial vehicle

Polymorphous Low-Grade Adenocarcinoma Arising at the Retromolar Region: A Rare Case of High-Grade Malignancy

Polymorphous low-grade adenocarcinoma (PLGA) is an entity under the subclassification of adenocarcinoma from salivary glands. We report here a rare case of PLGA with suspected metastases to a regional lymph node and the liver, confirmed by magnetic resonance imaging and computed tomography. An 88-year-old Japanese woman complaining of pain in the left mandible, specifically in the gingiva upon swallowing, was referred to our clinical department in July 2003. The pain in the left mandibular gingiva had been noted 10 months before the first medical examination. Oral examination revealed a 38 × 30 mm mass forming from the left retromolar region to the glossopalatal arch with ulcer. An incisional biopsy of the mass revealed PLGA. Histopathologically, tumor cells presenting mild atypia showed tubular and cribriform structures. Immunohistochemically, the Ki-67 labeling index showed 31% suggesting a potential high-grade malignancy of tumor cells

Identification of 45 New Neutron-Rich Isotopes Produced by In-Flight Fission of a 238U Beam at 345 MeV/nucleon

A search for new isotopes using in-flight fission of a 345 MeV/nucleon 238U beam has been carried out at the RI Beam Factory at the RIKEN Nishina Center. Fission fragments were analyzed and identified by using the superconducting in-flight separator BigRIPS. We observed 45 new neutron-rich isotopes: 71Mn, 73,74Fe, 76Co, 79Ni, 81,82Cu, 84,85Zn, 87Ga, 90Ge, 95Se, 98Br, 101Kr, 103Rb, 106,107Sr, 108,109Y, 111,112Zr, 114,115Nb, 115,116,117Mo, 119,120Tc, 121,122,123,124Ru, 123,124,125,126Rh, 127,128Pd, 133Cd, 138Sn, 140Sb, 143Te, 145I, 148Xe, and 152Ba

Comparison of nitrate content and antioxidant capacity in beetroot juice made in Japan and the UK

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