タヘンスウケイノムカンショウセイギョノケンキュウ

京都大学0048新制・論文博士工学博士乙第1674号論工博第374号新制||工||170(附属図書館)2676UT51-46-A558(主査)教授 得丸 英勝, 教授 椹木 義一, 教授 大矢 勇次郎学位規則第5条第2項該当Kyoto UniversityDA

On the Noninteracting Control of Linear Time-Variant Multivariable Systems

In this paper, we show two results with respect to the noninteracting control problem in multivariable linear systems. In the first half, we show that the noninteracting control problem is a variational one. Necessary and sufficient conditions for the linear (time-variant and time-invariant) multivariable control system to be the noninteracting control system are shown with the aid of variational method used in the theory of invariance. In the second half, it is shown that it is possbile to obtain the noninteracting control system by state variable feedback. Sufficient conditions for the noninteracting control system to be constructed by state variable feedback are obtained by using the concept of relative orders

The Noninteracting Control of Multivariable Linear Systems by Relay Elements

Noninteracting control of a multivariable linear system has been investigated by many authors. Most of them are concerned with a diagonalization of a closed-loop transfer function matrix. In this paper, the authors present a quite different method. The present authors' system is composed of relays and linear compensating networks as its controller, and a noninteraction is realised by the sliding motions of relays. The system can be constructed very simply, because we do not need the so-called crossterm-controllers. Conditions which ensure a noninteraction are given. These conditions are imposed not only on the system parameters, but also on the system's initial states and the input signals to the system. Stability of thus obtained noninteraction to the disturbance is analysed

Autopilot System for Kiteplane

This paper proposes an autopilot system for a small and light unmanned air vehicle called Kiteplane. The Kiteplane has a large delta-shaped main wing that is easily disturbed by the wind, which was minimized by utilizing trim flight with drift. The proposed control system for autonomous trajectory following with a wind disturbance included fuzzy logic controllers, a speed controller, a wind disturbance attenuation block, and low-level feedback controllers. The system was implemented onboard the aircraft. Experiments were performed to test the performance of the proposed system and the Kiteplane nearly succeeded in following the desired trajectory, under the wind disturbance. Although the path was not followed perfectly, the airplane was able to traverse the waypoints by utilizing a failsafe waypoint updating rule

2 DOF Adaptive PID Control with a Parallel Feedforward Compensator for Nonlinear Systems

In this paper, we propose a design method of an adaptive PID controller based on output feedback for nonlinear systems with a higher order relative degree and disturbances. To realize an adaptive PID control system, we introduce a PFC for a nonlinear system which does not satisfy OFEP (Output Feedback Exponentially Passive) conditions and design an adaptive feedforward input with a structure of RBF (Radial Basis Function) neural networks in order to remove the steady-state bias error from the PFC output. The proposed method can design a robust adaptive PID controller with higher accuracy on tracking control