{"created":"2023-06-19T09:21:05.811092+00:00","id":34867,"links":{},"metadata":{"_buckets":{"deposit":"be000e82-9808-4756-8bce-5465d4d8281b"},"_deposit":{"created_by":17,"id":"34867","owners":[17],"pid":{"revision_id":0,"type":"depid","value":"34867"},"status":"published"},"_oai":{"id":"oai:kumadai.repo.nii.ac.jp:00034867","sets":["426:450:1540"]},"author_link":["169341"],"item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2020-04-06","bibliographicIssueDateType":"Issued"},"bibliographic_titles":[{}]}]},"item_21_creator_3":{"attribute_name":"別言語の著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Okajima, Hiroshi"}],"nameIdentifiers":[{"nameIdentifier":"169341","nameIdentifierScheme":"WEKO"}]}]},"item_21_description_5":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"２０１１年に学会発表し、これまで精力的に私が研究を進めているモデル誤差抑制補償器の紹介を行います。めちゃくちゃ便利な制御手法です。システムのロバスト性がめちゃ上がります。\n\n本スライドの内容をまとめた論文\nH. 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)\nhttps://www.tandfonline.com/doi/pdf/10.9746/jcmsi.6.267?needAccess=true\n\n音声のノイズが大きい（もしくは音量が小さい）気がしたので、気になる方は以下の取り直したバージョンをご視聴ください。\n\n伝達関数による制御(再生リスト) https://www.youtube.com/playlist?list=PLyyV8w5cd2ttOZIkwRbD1kRbpcTIOgt_3\n\n状態方程式による制御（再生リスト) https://www.youtube.com/playlist?list=PLyyV8w5cd2tu0A2IzN6gmhsov8uLJlf5b\n\n制御理論（再生リスト）https://www.youtube.com/playlist?list=PLyyV8w5cd2tuEPE_83gDx1Z0_kuPMq52f\n30分で様々な「制御理論」を理解する動画https://youtu.be/4pNQcqr-DT4\nモデル誤差抑制補償器の設計https://youtu.be/xwQqk9y4YJw\n\n制御工学チャンネル\nhttps://sites.google.com/view/control-engineering\nControl Engineering LAB (English)\nhttps://sites.google.com/view/control-engineering-lab\nシステム制御工学研究室\nhttps://sites.google.com/view/okajima-lab\n理系大学生チャンネル\nhttps://sites.google.com/view/rikei-gakusei\n電気回路チャンネル\nhttps://sites.google.com/view/electric-circuit-ch\n参考にしているチャンネル\n〇〇〇\nhttps://www.youtube.com/channel/UCnf0vxeJnEdTHVc4AXMUIlA\n？？？\nhttps://www.youtube.com/channel/UCqmWJJolqAgjIdLqK3zD1QQ\n△△△\nhttps://www.youtube.com/channel/UCcj-cHmS0uD91MLjtdiN89Q\n学び\nhttps://www.youtube.com/channel/UCtFRv9O2AHqOZjjynzrv-xg\n受験テスト\nhttps://www.youtube.com/playlist?list=PLydZ2Hrp_gPQ-ddqUwmsMfiy8RU7egviZ\n中学高校の数学\nhttps://www.youtube.com/playlist?list=PLydZ2Hrp_gPS54-sFnYBHEk9dsNwKSPQa \n\n系のロバスト化に特化した補償器であり、非線形系、非最小位相系、多入出力系、不安定系、むだ時間系など様々な対象をロバスト化する目的で利用することが可能です。これまでに掲載された論文についても少しだけ紹介しています。\n\nモデル誤差抑制補償器は従来から使われている外乱オブザーバの代用としても使えます。外乱オブザーバが逆モデルを要するのに対して、モデル誤差抑制補償器は逆モデルを使わないので、上記の非線形系、多入出力系、非最小位相系への適用が可能になっています。\n\n約３０分と長い動画ですが視聴頂けると幸いです。\n\n研究内容は下記ページでまとめています。\nhttp://ictrl.cs.kumamoto-u.ac.jp/olab/index.php/mec/\n\n [15] R. Yoshida, Y. Tanigawa, H. Okajima, and N. Matsunaga, A Design Method of Model Error Compensator for Systems with Polytopic-type Uncertainty and Disturbances, JCMSI (accepted) (Open Access)\n\n[14] H. Okajima, Y. Nakabayashi and N. Matsunaga, Signal-Limitation Filters to Simultaneously Satisfy Constraints of Velocity and Acceleration Signals, JCMSI, Volume 13 Issue 1 Pages 1-8 (2020) (T&F, Open Access)\nhttps://www.tandfonline.com/doi/abs/10.9746/jcmsi.13.1\n\n[12] 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)  (T&F, Open Access)\nhttps://www.tandfonline.com/doi/abs/10.9746/jcmsi.10.468\n\n[7] A. T. Zengin, Y. Maruno, H. Okajima, N. Matsunaga：Maneuverability Improvement of Front-Drive-Type Electric Wheelchair STAVi, SICE Journal of Control, Measurement, and System Integration, Vol.6, No.6, pp.419-426 (2013)  (T&F, Open Access)\nhttps://www.tandfonline.com/doi/abs/10.9746/jcmsi.6.419\n\n[6] 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)  (T&F, Open Access)\nhttps://www.tandfonline.com/doi/abs/10.9746/jcmsi.6.267\n\n[2] H. Okajima, N. Matsunaga and S. Kawaji：Design of Dynamic Quantizers for 2-DOF IMC and Its Application to the Temperature Control of a Heat Plate, SICE Journal of Control Measurement and System Integration, Vol.4, No.1, pp.77-82 (2011)  (T&F, Open Access)\nhttps://www.tandfonline.com/doi/abs/10.9746/jcmsi.4.77\n\n\n0:00 モデル誤差補償器の背景と概要\n5:58 研究業績１\n8:31 モデル誤差補償器の構造\n15:35 簡単な数値例\n18:56 有限整定制御との組み合わせ\n20:31 不安定システム\n23:18 MIMOシステム\n24:28 非線形システムへの適用例\n27:33 ビークル制御への適用\n28:57 信号制限フィルタへの応用\n34:33 外乱オブザーバとの差異","subitem_description_type":"Other"}]},"item_21_description_77":{"attribute_name":"URL","attribute_value_mlt":[{"subitem_description":"https://www.youtube.com/watch?v=nFZvEk1U_xM","subitem_description_type":"Other"}]},"item_21_text_78":{"attribute_name":"コメント","attribute_value_mlt":[{"subitem_text_value":"制御工学チャンネル(YouTube)　https://www.youtube.com/c/ControlEngineeringChannel "},{"subitem_text_value":"制御工学チャンネル(制御工学ポータルサイト)　https://sites.google.com/view/control-engineering"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"岡島, 寛"},{"creatorName":"オカジマ, ヒロシ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"169341","nameIdentifierScheme":"WEKO"}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"制御工学","subitem_subject_scheme":"Other"},{"subitem_subject":"制御理論","subitem_subject_scheme":"Other"},{"subitem_subject":"工学","subitem_subject_scheme":"Other"},{"subitem_subject":"control​","subitem_subject_scheme":"Other"},{"subitem_subject":"controlengineering​","subitem_subject_scheme":"Other"},{"subitem_subject":"controltheory","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"learning object","resourceuri":"http://purl.org/coar/resource_type/c_e059"}]},"item_title":"【制御理論】モデル誤差抑制補償器の紹介","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"【制御理論】モデル誤差抑制補償器の紹介"}]},"item_type_id":"21","owner":"17","path":["1540"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-12-09"},"publish_date":"2022-12-09","publish_status":"0","recid":"34867","relation_version_is_last":true,"title":["【制御理論】モデル誤差抑制補償器の紹介"],"weko_creator_id":"17","weko_shared_id":17},"updated":"2023-06-19T11:21:31.603539+00:00"}