モデル誤差抑制補償器

ブログ記事

制御系のロバスト性を向上させるモデル誤差抑制補償器 - 制御工学研究者のブログ (control-theory.com) 

モデル誤差抑制補償器の周辺研究分野

制御工学チャンネル：制御システムの構造 (control-theory.com) 

MATLAB m-files

• MATLAB code ( github）PID制御と併用による簡単な数値例（MECあり、なしの比較）

• MATLAB code ( github )  paper1 paper2  Polytopic  uncertainty

• MATLAB code (github) NMP system

• MATLAB code  (github)  Sensor noise

• MATLAB code  (github)  Non-linear

• MATLAB code  (github)  Vehicle control

研究業績（学術論文）

[18] 岡島寛，モデル誤差抑制補償器を用いた既存制御系のロバスト化，計測と制御，Vol. 62，No. 3，168-175 (2023)

[17] Ryuichiro Yoshida, Hiroshi Okajima and Takumi Sato, Model error compensator design for continuous- and discrete-time non-minimum phase systems with polytopic-type uncertainties, SICE Journal of Control, Measurement, and System Integration, Volume 15 Issue 2 pags 141-153 (T&F, Open Access)

[16] R. Yoshida, Y. Tanigawa, H. Okajima and N. Matsunaga,  A design method of model error compensator for systems with polytopic-type uncertainty and disturbances，SICE Journal of Control, Measurement, and System Integration Volume 14, Issue 2 (2021) (Open access)

[15] Hiroshi Okajima,Yuta Nakabayashi and Nobutomo Matsunaga, Signal-Limitation Filters to Simultaneously Satisfy Constraints of Velocity and Acceleration Signals, SICE Journal of Control, Measurement, and System Integration，Vol.13, No.1, pp.1-8 (2020) (Open access)

[14] 岡島寛：ポリトープ型不確かさを有する連続時間線形時不変システムに対するモデル誤差抑制補償器のロバスト性能解析，計測自動制御学会論文集，Vol. 55, No. 12, (2019)

[13] 岡島寛，奥村洸祐，松永信智：モデル誤差抑制補償器を用いた車輪型倒立振子のロバスト速度補償，電気学会論文誌(C), Vol. 139, No. 3, (2019)

[12] 松永信智，坂本将一，田中友樹，岡島寛：モデル誤差抑制補償器を用いたSSV型パーソナルビークルの操縦支援制御系の設計と屋外走行評価，機械学会論文誌C編，Vol. 84，No. 858, 17-00349 (2018) j-stage

[11] 岡島寛，中林佑多，松永信智：任意信号に対して速度·加速度を制約する信号制限フィルタの設計，計測自動制御学会論文集，Vol.54, No.1，pp.146-152(2018) j-stage

[10] 奥村洸佑，岡島寛，松永信智：センサノイズ環境下でのモデル誤差抑制補償器の設計，システム制御情報学会論文誌，Vol.30，No.4，pp.153-155 (2017) j-stage

[9] G. Ichimasa, H. Okajima, K. Okumura and N. Matsunaga：Model Error Compensator with Parallel Feed-Forward Filter, SICE Journal of Control, Measurement, and System Integration，Vol.10, No.5, pp.468-475 (2017) (Open access)

[8] 岡島寛，松永信智：モデル誤差抑制補償器に基づくロバスト経路追従制御，システム制御情報学会論文誌，Vol.29，No.10，pp.466-468（2016） j-stage

[7] 菅野達也，壇裕介，岡島寛，松永信智：モデル誤差抑制補償器による福祉用パーソナルビークルのロバストな屋内隊列走行システムの走行評価，機械学会論文集(Ｃ),Vol.82, No.840, pp.15-00690 (2016) j-stage

[6] 岡島寛，一政豪，松永信智：非最小位相系に対するモデル誤差抑制補償器の設計，計測自動制御学会論文集，Vol.51, No.11, pp.794-801 (2015) j-stage

[5] 藤岡巧，岡島寛，松永信智：モデル誤差抑制補償器と周波数整形型終端状態制御の併用による3慣性ベンチマーク問題の一解法，計測自動制御学会論文集，Vol.50, No.12, pp.861-868 (2014) j-stage

[4] 岡島寛，西村悠樹，松永信智：モデル誤差抑制補償に基づく非線形システムのフィードバック線形化，計測自動制御学会論文集，Vol.50, No.12, pp.869-874 (2014) j-stage

[3] 梅井啓紀，岡島寛，松永信智，浅井徹：モデル誤差抑制補償器の多入出力システムに対する設計，システム制御情報学会論文誌，Vol.27, No.2, pp.67-72 (2014) j-stage

[2] 丸野裕太郎，A. T. Zengin，岡島寛，松永信智，中村憲仁：モデル誤差補償による福祉用前輪駆動型パーソナルビークルSTAVi の操縦特性の改善，JSME(C編), Vol.79, No.808, pp.4721-4733 (2013) j-stage

[1] H. Okajima, H. Umei, N. Matsunaga and T. Asai：A Design Method of Compensator to Minimize Model Error，SICE Journal of Control, Measurement, and System Integration, Vol.6, No.4, pp.267-275 (2013) (Open access)

解説記事(関連するもの）

[2]  岡島，松永：モデルと実対象の信号差を利用した制御，システム/制御/情報，Vol.60，No.2，pp.60-65 (2016)

[1] 岡島，松永：前輪駆動型電動車椅子に対する規範モデルに基づいた操縦性能改善，設計工学，Vol.50，No.4，pp.163-168 (2015)

国際会議

[14]  H. Okajima, Model Error Compensator for adding Robustness toward Existing Control, Preprints of the IFAC World Congress, pp. 3998 - 4005 (2023)

[13] R. Yoshida, Y. Tanigawa, H. Okajima and N. Matsunaga: A Design Method of Model Error Compensator using Meta-Heuristics and LMIs, Proceedings of the SICE Annual Conference 2020 pp. 1150-1155 (2020)

[12] Nobutomo Matsunaga, Naufal Bayu Fauzan, Hiroshi Okajima and Gou Koutaki, Archive Method of Stone Wall in Kumamoto Castle Lifted by Small CMG Crane using Model Error Compensator, 2019 12th Asian Control Conference , 18849231 (2019)

[11] Yuta Nakabayashi, Hiroshi Okajima, Nobutomo Matsunaga, Inter-Vehicle Distance Stabilization in Adaptive Cruise Control Using Signal Limitation Filter, Proceeding of 2018 IEEE International Conference on Systems, Man, and Cybernetics, pp.1985-1990 (2018)

[10] S. Sakamoto, T. Tanaka, H. Okajima and N. Matsunaga：Maneuverability evaluation of skid steer welfare vehicle for robust assistance control with model error compensator, Proceedings of ICCAS 2017 (2017)

[9] N. Matsunaga, H. Okajima and Y. Yamamoto：Robust variable stiffness control of McKibben type pneumatic artificial muscle arm by using multiple model error compensators, Proceedings of ICCAS 2017 (2017) 

[8] Y. Nakabayashi, H. Okajima and N. Matsunaga：Signal limitation filter to satisfy velocity and acceleration constraints for arbitrary input signals, Proceedings of the SICE Annual Conference 2017

[7] T. Tanaka, H. Okajima and N. Matsunaga：Experiment of robust driving assistance control for skid steer welfare vehicle using model error compensator, Proceedings of ICCAS 2016 (2016) Outstanding Paper Award

[6] G. Ichimasa, K. Okumura, H. Okajima and N. Matsunaga：Extended structure of MEC for thermal process, Proceedings of the SICE Annual Conference 2016, pp.1593-1598 (2016)

[5] T.Sugano, H.Okajima and N.Matsunaga：Robust and precise platoon driving control of welfare vehicles along wheel track by using model error compensator, IECON2015, YF-001503

[4] T. Sugano, Y. Dan, H. Okajima, N. Matsunaga and Z. Hu：Indoor Platoon Driving of Electric Wheelchair with Model Error Compensator along Wheel Track of Preceding Vehicle, The 5th International Symposium on Advanced Control of Industrial Processes, 2014.5

[3] Y. Dan, H. Okajima, N. Matsunaga, Z. Hu and N. Nakamura：Experiment of Indoor Platoon Driving using Electric Wheelchair STAVi Controlled by Modeling Error Compensation System, ICT-PAMM Workshop on Mobility Assistance and Service Robotics, p26-31, 2013.11.

[2] Y. Maruno, Y. Dan, A. T. Zengin, H. Okajima and N. Matsunaga：Maneuverability Analysis of Front Drive Type Personal Vehicle STAVi using Modeling Error Compensation System, 7th IFAC Symposium on Advanced in Automative Control, 2013.9.

[1] H. Umei, H. Okajima, N. Matsunaga and T. Asai：A design method of compensator to minimize model error, SICE Annual Conference 2011, 2011.9. 

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