工学博士, 東京工業大学

Brain-Machine Interface

Robotics

Intelligent & Nonlinear Control

ブレインマシンインタフェース

非線形制御

ロボット

インテリジェント制御

Informatics, Mechanics and mechatronics

Informatics, Robotics and intelligent systems

Informatics, Soft computing

Mar. 1990
Tokyo Institute of Technology, Graduate School, Division of Integrated Science and Engineering, システム科学専攻

Jun. 2024 - Jun. 2025
日本知能情報ファジィ学会 評議員, 日本知能情報ファジィ学会, Society

May 2025 - May 2025
Subcommittee Member of 2026 IEEE Computational Intelligence Society Fuzzy Systems Pioneer Award Selection, IEEE, Society

Oct. 2024 - May 2025
第69回システム制御情報学会 研究発表講演会 組織委員会委員, システム制御情報学会, Society

Jun. 2023 - May 2024
日本知能情報ファジィ学会 評議員, 日本知能情報ファジィ学会, Society

Apr. 2023 - Mar. 2024
システム制御情報学会第67期（法人化後第9期）代議員, システム制御情報学会, Society

Apr. 2022 - Mar. 2023
システム制御情報学会第66期（法人化後第8期）代議員, システム制御情報学会, Society

Apr. 2021 - Mar. 2022
システム制御情報学会第65期（法人化後第7期）代議員, システム制御情報学会, Society

May 2020 - Jun. 2021
2021 IEEE Fellow, Fellow Evaluation Committee, 2021 IEEE Fellow, Fellow Evaluation Committee, Society

Jun. 2019 - May 2021
知能情報ファジィ学会 評議員, 日本知能情報ファジィ学会, Society

Apr. 2020 - Mar. 2021
システム制御情報学会第64期（法人化後第6期）代議員, システム制御情報学会, Society

Apr. 2019 - Mar. 2020
システム制御情報学会第63期（法人化後第2期）代議員, システム制御情報学会, Society

Jun. 2017 - May 2019
知能情報ファジィ学会 評議員, 日本知能情報ファジィ学会, Society

2017 - 2018
2018 IEEE Fellow, Fellow Evaluation Committee, 2018 IEEE Fellow, Fellow Evaluation Committee, Society

Apr. 2016 - Mar. 2017
システム制御情報学会第60期（法人化後第2期）代議員, システム制御情報学会, Society

2016 - 2017
2017 IEEE Fellow, Fellow Evaluation Committee, 2017 IEEE Fellow, Fellow Evaluation Committee, Society

May 2015 - May 2016
システム制御情報学会第59期評議員, システム制御情報学会, Society

May 2014 - May 2015
システム制御情報学会第58期評議員, システム制御情報学会, Society

Apr. 2014 - Mar. 2015
ロボット学会理事 日本ロボット学会 学会誌編集委員長 論文賞選考副委員長, ロボット学会, Society

May 2013 - May 2014
システム制御情報学会第57期評議員, システム制御情報学会, Society

Apr. 2013 - Mar. 2014
ロボット学会理事 日本ロボット学会論文誌 編集委員長，日本ロボット学会 学会誌編集委 論文賞選考副委員長, ロボット学会, Society

May 2012 - May 2013
システム制御情報学会第56 期評議員, システム制御情報学会, Society

Jun. 2011 - May 2013
知能情報ファジィ学会 評議員, 日本知能情報ファジィ学会, Society

Apr. 2012 - Apr. 2013
日本ロボット学会論文誌編集委員，日本ロボット学会 学会誌編集委員, ロボット学会, Society

Jun. 2009 - May 2011
知能情報ファジィ学会 評議員, 日本知能情報ファジィ学会, Society

May 2007 - May 2009
知能情報ファジィ学会 将来担当理事, 日本知能情報ファジィ学会, Society

Apr. 2005 - Mar. 2007
知能情報ファジィ学会編集委員会委員, 日本知能情報ファジィ学会, Society

Apr. 2003 - Mar. 2005
日本機械学会賞委員会委員, 日本機械学会, Society

1999 - 2004
関東支部幹事, 日本知能情報ファジィ学会, Society

2001 - 2002
校閲委員, 日本機械学会, Society

2002
日本ファジィ学会知的制御研究会幹, 日本知能情報ファジィ学会, Society

2001
将来計画委員, 日本知能情報ファジィ学会, Society

2001
事業委員会委員, 日本知能情報ファジィ学会, Society

2001
Associate Editor, Conference Editorial Board, IEEE Control Systems Society, IEEE, Society

1998 - 2000
ロボメカ部門運営委員, 日本機械学会, Society

1998 - 2000
知的制御研究会幹事, 日本知能情報ファジィ学会, Society

1997 - 1999
「インテリジェント制御技術調査専門委員会」委員, 電気学会, Society

1997 - 1998
北信越支部長, 日本知能情報ファジィ学会, Society

1996 - 1998
産業界におけるソフトコンピューティング技術調査専門委員会委員, 電気学会, Society

1993 - 1998
Evolutionary Computaiton研究会代表幹事, 日本知能情報ファジィ学会, Society

1993 - 1998
北信越支部幹事, 日本知能情報ファジィ学会, Society

1997
IEEE Control Systems Society のIntelligent Control部門のTech, Society

1995 - 1995
ニューロ・ファジィ融合技術調査専門委員会委員, 電気学会, Society

Dec. 2024
Stanford University, Stanford University World's Top 2% Scientistsに選出された．スタンフォード大学が科学・工学の幅広い分野で世界中の科学者を対象に論文の被引用数など定量的評価に基づいてトップ２％の研究者を毎年リストアップしているものです．2020年，2021年，2022年，2023年に続いて，2024年も選出されました．
2024年のStanford University World's Top 2% Scientistsに選出
2024 Stanford University World's Top 2% Scientists, Kazuo Tanaka
International academic award, United States

Aug. 2024
2024 International Conference on Fuzzy Theory and Its Applications （iFUZZY 2024）
A Fuzzy-Descriptor-System-Based Control Design Methodology for Rotary Inverted Pendulum
Best Paper Award, K. Tanaka
International society

Dec. 2023
Stanford University, Stanford University World's Top 2% Scientistsに選出された．スタンフォード大学が科学・工学の幅広い分野で世界中の科学者を対象に論文の被引用数など定量的評価に基づいてトップ２％の研究者を毎年リストアップしているものです．2020年，2021年，2022年に続いて，2023年も選出されました．
2023年のStanford University World's Top 2% Scientistsに選出
2023 Stanford University World's Top 2% Scientists, Kazuo Tanaka
International academic award, United States

Oct. 2023
2023 International Conference on Fuzzy Theory and Its Applications （iFUZZY 2023）
Best Paper Award, Kazuo Tanaka
International society, Taiwan, Province of China

Apr. 2023
Stanford University, Stanford University World's Top 2% Scientistsに選出された．スタンフォード大学が科学・工学の幅広い分野で世界中の科学者を対象に論文の被引用数など定量的評価に基づいてトップ２％の研究者を毎年リストアップしているものです．2020年，2021年に続いて，2022年も選出されました．
2022年のStanford University World's Top 2% Scientistsに選出
2022 Stanford University World's Top 2% Scientists, Kazuo Tanaka
International academic award, United States

Dec. 2021
Stanford University
2021年のStanford University World's Top 2% Scientistsに選出
2021 Stanford University World's Top 2% Scientists, Kazuo Tanaka
International academic award, United States

Jul. 2021
有益な技術革新に貢献する世界最大の専門家組織で、世界160ヵ国以上、40万人を超える会員を擁するIEEE（Institute of Electrical and Electronics Engineers）のソサエティである Computational Intelligence Society（CIS）において、2021 Fuzzy Systems Pioneer Awardを受賞することが決定しました。

この賞はCISの権威ある3つの賞（Fuzzy Systems Pioneer Award, Neural Networks Pioneer Award, Evolutionary Computation Pioneer Award）の1つで、15年を超えて同研究分野でのパイオニア的な研究を行った研究者に贈られる賞です。
今回初めて本学教員がCISの権威ある3つの賞の1つを受賞しました。
USA
2021 IEEE Computational Intelligence Society Fuzzy Systems Pioneer Award, IEEE
International academic award, United States

Dec. 2020
Stanford University
2020年のStanford University World's Top 2% Scientistsに選出
2020 Stanford University World's Top 2% Scientists
International academic award

Nov. 2019
2019 International Conference on Fuzzy Theory and Its Applications
Student Paper Award （First Place）, Kai-Yi Wong;Nana Kariya;Motoyasu Tanaka;Kazuo Tanaka
International society

Sep. 2019
日本知能情報ファジィ学会
有理多項式ファジィ制御による無人航空機の経路追従安定化制御
日本知能情報ファジィ学会奨励賞, 岩瀬惟真;田中一男
Japan society

Sep. 2016
ロボット学会
ロボット学会 第９回功労賞 受賞, 田中一男
Official journal, Japan

Oct. 2015
The First International Symposium on Swarm Behavior and Bio-Inspired Robotics
Best Poster Award, Motoyasu Tanaka;Kazuo Tanaka
International society

Aug. 2015
National Taipei University of Technology
Honorary International Chair Professorの称号授与
International academic award

Jul. 2015
International Fuzzy Systems Association
USA
IFSA Fellow Award
International academic award, United States

May 2014
計測自動制御学会
計測自動制御学会システムインテグレーション部門賞
計測自動制御学会システムインテグレーション部門賞
Japan society

Feb. 2014
Automatica
Automatica Outstanding Service selection受賞
Official journal

Jan. 2014
IEEE
USA
IEEE Fellow
International academic award, United States

Dec. 2013
2013 International Conference on Fuzzy Theory and Its Applications (iFUZZY2013)
Best Paper Finalist at 2013 International Conference on Fuzzy Theory and Its Applications (iFUZZY2013)
International society

Nov. 2013
IEEE
Best Paper Award at 2013 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2013)
International society

May 2012
ロボカップジャパンオープン2012
「ロボカップジャパンオープン2012」レスキュー実機リーグ 優勝
Japan

May 2011
ロボカップ ジャパンオープン
「Best in class Autonomy賞」 受賞
Japan

May 2010
ロボカップジャパンオープン2010
計測自動制御学会賞(SICE award)
Japan

Jun. 2005
USA
2005 American Control Conference Best Paper Selection
United States

May 2000
2000 IEEE Transaction on Fuzzy Systems Outstanding Paper Award

Jul. 1999
1999 IFAC World Congress Best Poster Paper Award

Jul. 1995
日本ファジイ学会著述賞

Apr. 1994
日本機械学会賞奨励賞

Jul. 1991
JHJSFSA優秀論文賞

Nov. 1990
日本ファジィ学会奨励賞

Jun. 1990
NAFIPS'90優秀論文賞

Polynomial Fuzzy Observer-Based Feedback Control for Nonlinear Hyperbolic PDEs Systems
Shun-Hung Tsai; Wen-Hsin Lee; Kazuo Tanaka; Ying-Jen Chen; Hak-Keung Lam
IEEE Transactions on Cybernetics, IEEE, 54, 9, 5257-5269, Sep. 2024, Peer-reviwed, True, with international co-author(s)
Scientific journal, English

A Fuzzy-Descriptor-System-Based Control Design Methodology for Rotary Inverted Pendulum
Nanami Mori; Ying-Jen Chen; Kazuo Tanaka; Mei Yamamoto
Corresponding, 2024 International Conference on Fuzzy Theory and Its Applications (iFUZZY 2024), Aug. 2024, Peer-reviwed, True, with international co-author(s)
International conference proceedings, English

Guaranteed Cost-based Disturbance Observer and Controller Design for Path Tracking Control of a Powered Paraglider Under Unknown Rudder Trim and Wind Disturbances
Yutoku Takahashi; Mei Yamamoto; Kai-Yi Wong; Ying-Jwn Chen; Kazuo Tanaka
Corresponding, IEEE Access, IEEE, 12, 63655-63668, Apr. 2024, Peer-reviwed, True, with international co-author(s)
Scientific journal, English

A Practical Design Approach for Complex Path Tracking Control of a Tailless Fixed-Wing Unmanned Aerial Vehicle With a Single Pair of Elevons
Mei Yamamoto; Yutoku Takahashi; Kazuo Tanaka
Corresponding, IEEE/ASME Transactions on Mechatronics, IEEE, 29, 2, 1397-1408, Apr. 2024, Peer-reviwed, True
Scientific journal, English

Obituary for Michio Sugeno [In Memoriam]
Kazuo Tanaka
Lead, IEEE Computational Intelligence Magazine,, IEEE, 8, 4, 8, Oct. 2023, Peer-reviwed, Invited, True
Scientific journal, English

A Lyapunov-Based Design of Lateral Dynamics Control for a Smart High-Efficiency Flight Vehicle
Mei Yamamoto; Yutoku Takahashi; Kazuo Tanaka
Corresponding, 2023 International Conference on Fuzzy Theory and Its Applications, Oct. 2023, Peer-reviwed, True
International conference proceedings, English

A Takagi-Sugeno Fuzzy-Model-Based Tracking Framework to Regulate Heart Rhythm Dynamics
Jairo Moreno-Saenz; Ying-Jen Chen; Kazuo Tanaka; Jose Luia Aragon; Mario Alan Quiroz-Juarez
Corresponding, IEEE Access, 11, 47223-47235, May 2023, Peer-reviwed, True, with international co-author(s)
Scientific journal, English

Coordinated Flight Path Generation and Fuzzy Model-Based Control of Multiple Unmanned Aerial Vehicles in Windy Environments
Yutoku Takahashi; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, International Journal of Fuzzy Systems, 25, 1, 1-14, Feb. 2023, Peer-reviwed, True
Scientific journal, English

Design for Snake Robot Motion via Partial Grasping on Pipes
Ryouga Konishi; Mizuki Nakajima; Kazuo Tanaka; Fumito Matsuno; Motoyasu Tanaka
Advanced Robotics, Informa UK Limited, 37, 4, 227-240, Oct. 2022, Peer-reviwed, True
Scientific journal, English

Descriptor Representation-Based Guaranteed Cost Control Design Methodology for Polynomial Fuzzy Systems
Yu-Hsuan Shen; Ying-Jen Chen; Fan-Nong Yu; Wen-June Wang; Kazuo Tanaka
Corresponding, Processes, 10, 9, 1-14, Sep. 2022, Peer-reviwed, True, with international co-author(s)
Scientific journal, English

Local body shape control of an articulated mobile robot and an application for recovery from a stuck state
Mizuki Nakajima; Shinnosuke Fukumura; Kazuo Tanaka; Motoyasu Tanaka
Advanced Robotics, Informa UK Limited, 26, 10, 488-500, Apr. 2022, Peer-reviwed, True
Scientific journal, English

Descriptor Form Design Methodology for Polynomial Fuzzy-Model-Based Control Systems
Fan-Nong Yu; Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Shun-Hung Tsai
Corresponding, International Journal of Fuzzy Systems, Springer, 24, 2, 841-854, Apr. 2022, Peer-reviwed, Invited, True, with international co-author(s)
Scientific journal, English

Serret-Frenet Frame-based Path Tracking Stabilization of a Powered Paraglider Type UAV with Input Constraints
Yuutoku Takahashi; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, 2021 International Conference on Fuzzy Theory and Its Applications, 23-28, Nov. 2021, Peer-reviwed, True
International conference proceedings, English

Sum-of-Squares Approach to Stabilization of Polynomial Fuzzy Systems
Lizhen Li; Kazuo Tanaka
International Journal of Control, Automation and Systems, Springer, 19, 8, 2921-2930, Aug. 2021, Peer-reviwed, True, with international co-author(s)
Scientific journal, English

A Novel Path-Following-Method-Based Polynomial Fuzzy Control Design
Ying-Jen Chen; Kazuo Tanaka; Motoyasu Tanaka; Shun-Hung Tsai; Hua O. Wang
IEEE Transactions on Cybernetics, IEEE, 51, 6, 2993-3003, Jun. 2021, Peer-reviwed, True, with international co-author(s)
Scientific journal, English

Relaxed Stabilization and Disturbance Attenuation Control Synthesis Conditions for Polynomial Fuzzy Systems
Jairo Moreno Saenz; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, IEEE Transactions on Cybernetics, IEEE, 51, 4, 2093-2106, Apr. 2021, Peer-reviwed, True
Scientific journal, English

Control of a snake robot for passing through a self-closing door
Nakajima, Mizuki; Tanaka, Motoyasu; Tanaka, Kazuo
Advanced Robotics, 35, 10, 635-647, Mar. 2021, Peer-reviwed
Scientific journal, English

Path-Following Based Design for Guaranteed Cost Control of Polynomial Fuzzy Systems
Kai-Yi Wong; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, International Journal of Fuzzy Systems, Springer, 23, 1, 1-12, Feb. 2021, Peer-reviwed
Scientific journal, English

A Descriptor System approach for Polynomial Fuzzy-Model-Based Control Design
FAN-NONG Yu; Ying-Jen Chen; Kazuo Tanaka; Motoyasu Tanaka; Shun-Hung Tsai
Corresponding, International Conference on System Science and Engineering (ICSSE), 1085-1090, 01 Sep. 2020, Peer-reviwed
International conference proceedings, English

H∞ tracking control of two-dimensional fuzzy networked systems
Lizhen Li; Kazuo Tanaka; Yuan Chai; Qiong Liu
Optimal Control Applications and Methods, 41, 5, 1657-1677, Jul. 2020, Peer-reviwed
Scientific journal, English

Three-dimensional steering for an articulated mobile robot with prismatic joints with consideration of hardware limitations
Motoyasu Tanaka; Mizuki Nakajima; Ryo Ariizumi; Kazuo Tanaka
Advanced Robotics, 34, 11, 767-779, Jun. 2020, Peer-reviwed
Scientific journal, English

A Rational Polynomial Tracking Control Approach to Unified System Representation for Unmanned Aerial Vehicles
Kazuo Tanaka; Motoyasu Tanaka; Arimasa Iwase; Hua O. Wang
Lead, IEEE/ASME Transactions on Mechatronics, IEEE, 25, 2, 919-930, Apr. 2020, Peer-reviwed
Scientific journal, English

A polynomial-fuzzy-model-based synchronization methodology for the multi-scroll Chen chaotic secure communication system
Ying-Jen Chen; Hao-Gong Chou; Wen-June Wang; Shun-Hung Tsai; Kazuo Tanaka; Hua O. Wang; Kun-Ching Wang
Engineering Applications of Artificial Intelligence, 87, *, 1-12, Jan. 2020, Peer-reviwed
Scientific journal, English

Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation.
Mizuki Nakajima; Motoyasu Tanaka; Kazuo Tanaka
IEEE Robotics Autom. Lett., 5, 1, 111-118, 2020, Peer-reviwed
Scientific journal

3D Flight Path Tracking Control for Unmanned Aerial Vehicles under Wind Environments
Kazuo Tanaka; Motoyasu Tanaka; Yutoku Takahashi; Arimasa Iwase; Hua O. Wang
Lead, IEEE Transactions on Vehicular Technology, IEEE, 68, 12, 11621-11634, Dec. 2019, Peer-reviwed
Scientific journal, English

Longitudinal Fuzzy Model Construction of a Flying-Wing Unmanned Aerial Vehicle and a Nonlinear Guaranteed Cost Control Approach to Altitude Stabilization
Kai-Yi Wong; Nana Kariya; Kazuo Tanaka; Motoyasu Tanaka
Corresponding, 2019 International Conference on Fuzzy Theory and Its Applications, 151-157, Dec. 2019, Peer-reviwed
International conference proceedings, English

Motion design of a snake robot to pass through a door
Mizuki Nakajima; Motoyasu Tanaka; Kazuo Tanaka
SWARM2019: The Third International Symposium on Swarm Behavior and Bio-Inspired Robotics, 205-207, Nov. 2019, Peer-reviwed
International conference proceedings, English

A Polynomial Fuzzy Descriptor System Approach for Rational Fuzzy Control Design
Fan-Nong YU; Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, 2019 International Conference on Fuzzy Theory and Its Applications, 114-116, Nov. 2019, Peer-reviwed
International conference proceedings, English

Sum of Squaresに基づくファジィ制御
田中一男
日本知能情報ファジィ学会誌, 日本知能情報ファジィ学会, 31, 3, 65-75, Jun. 2019, Peer-reviwed
Scientific journal, Japanese

Practical Model Construction and Stable Control of an Unmanned Aerial Vehicle With Parafoil Type Wing
Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
IEEE Transactions on Systems, Man and Cybernetics: Systems, IEEE, 49, 6, 1291-1297, Jun. 2019, Peer-reviwed
Scientific journal, English

Control of an articulated wheeled mobile robot in pipes.
Hidemasa Sawabe; Mizuki Nakajima; Motoyasu Tanaka; Kazuo Tanaka; Fumitoshi Matsuno
Advanced Robotics, 33, 20, 1072-1086, 2019, Peer-reviwed
Scientific journal

Control Synthesis for Polynomial Fuzzy Systems using Line-Integral Polynomial Fuzzy Lyapunov Function
Jairo Moreno Saenz; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, 2018 IEEE International Conference on Systems, Man and Cybernetics, 2925-2930, Oct. 2018, Peer-reviwed
International conference proceedings, English

A New Nonconvex Design Algorithm for Optimal Polynomial Fuzzy Control
Kai-Yi Wong; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, 2018 IEEE International Conference on Systems, Man and Cybernetics, 2937-2942, Oct. 2018, Peer-reviwed
International conference proceedings, English

A practical SSVEP-based algorithm for perceptual dominance estimation in binocular rivalry
Kazuo Tanaka; Motoyasu Tanaka; Toshiya Kajiwara; Hua O. Wang
Lead, IEEE Transactions on Cognitive and Developmental Systems, Institute of Electrical and Electronics Engineers Inc., 10, 2, 476-482, 01 Jun. 2018, Peer-reviwed, This paper presents a practical algorithm for perceptual dominance estimation in binocular rivalry. The algorithm using steady state visual evoked potentials (SSVEP) effectively realizes a real-time estimation of perceptual dominance in binocular rivalry from electroencephalogram (EEG) signals. For accuracy of estimation, the algorithm utilizes the EEG spectrogram obtained via the short-time Fourier transformation with a short time analysis window. More importantly, the algorithm focuses on the acceleration (second-order time differential) of the spectrogram difference between SSVEP of left-eye stimulus and that of right-eye stimulus, where the left-eye stimulus and the right-eye stimulus are separately displayed for left-eye and right-eye, respectively, with different-flashing-frequency visual stimuli of dissimilar images. Experimental results demonstrate the utility of the algorithm, particularly, the importance of introducing the acceleration of the spectrogram difference. With the simplicity of the algorithm, it is in fact suitable to accurately measure binocular rivalry without verbal communications in real-time environments.
Scientific journal, English

Stabilization and Robust Stabilization of Polynomial Fuzzy Systems: A Piecewise Polynomial Lyapunov Function Approach
Alissa Ully Ashar; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, International Journal of Fuzzy Systems, Springer, 20, 5, 1423-1438, Jun. 2018, Peer-reviwed
Scientific journal, English

A Waypoint Following Control Design for a Paraglider Model with Aerodynamic Uncertainty
Kazuo Tanaka; Motoyasu Tanaka; Yutoku Takahashi; Hua O. Wang
Lead, IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers Inc., 23, 2, 518-523, 01 Apr. 2018, Peer-reviwed, This paper presents a waypoint following control design for a powered paraglider (PPG) model. After constructing a dynamic model with six degrees of freedom of the PPG, a dynamical lateral model around a trim equilibrium in the steady-state flight is obtained. Unknown parameters, such as the moment of inertia, the drag coefficient, etc., in the lateral model are optimized by real flight experimental data. The model output with the optimized parameters agrees with the real flight experimental data. Since the aerodynamics-related parameter, i.e., the drag coefficient, might be slightly changed even near the considered trim equilibrium, this paper considers its uncertainty in the constructed lateral model. A nonlinear controller to stabilize the lateral model (with the aerodynamic uncertainty) on a considered operation domain is designed by solving robust controller design conditions expressed in terms of linear matrix inequality. The experimental results including automatic landing demonstrate the effectiveness of the control system design framework, i.e., the model construction and the robust stable control, considering the model uncertainty.
Scientific journal, English

Development and Control of Articulated Mobile Robot for Climbing Steep Stairs
Motoyasu Tanaka; Mizuki Nakajima; Yosuke Suzuki; Kazuo Tanaka
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 23, 2, 531-541, Apr. 2018, Peer-reviwed, In this paper, we develop an articulated mobile robot that can climb stairs, and also move in narrow spaces and on 3-D terrain. This paper presents two control methods for this robot. The first is a 3-D steering method that is used to adapt the robot to the surrounding terrain. In this method, the robot relaxes its joints, allowing it to adapt to the terrain using its own weight, and then, resumes its motion employing the follow-the-leader method. The second control method is the semi-autonomous stair climbing method. In this method, the robot connects with the treads of the stairs using a body called a connecting part, and then shifts the connecting part from its head to its tail. The robot then uses the sensor information to shift the connecting part with appropriate timing. The robot can climb stairs using this method even if the stairs are steep, and the sizes of the riser and the tread of the stairs are unknown. Experiments are performed to demonstrate the effectiveness of the proposed methods and the developed robot.
Scientific journal, English

Development of a wheeled snake-like robot with prismatic joints:-Development of a joint unit with active wheels-
NAKAJIMA Mizuki; TANAKA Motoyasu; TANAKA Kazuo
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2018, 0, 2P1-J02, 2018, Peer-reviwed,

In this paper, we present a new joint unit which is the main component of a wheeled snake-like robot. The main purpose of this research is to develop a wheeled snake-like robot with prismatic joints. The proposed joint unit is composed of three parts: rotary joint parts, prismatic joint parts and active wheel parts. The length of the robot's link can be changed by the prismatic joints. In order to verify the performance of the proposed joint unit, we have developed a robot formed by three units. Experimental results show the effectiveness of the proposed joint unit.

Japanese

Motion control of a snake robot moving between two non-parallel planes.
Mizuki Nakajima; Motoyasu Tanaka; Kazuo Tanaka; Fumitoshi Matsuno
Advanced Robotics, 32, 10, 559-573, 2018, Peer-reviwed
Scientific journal, English

An SOS-Based Control Lyapunov Function Design for Polynomial Fuzzy Control of Nonlinear Systems
Radian Furqon; Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
Corresponding, IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 25, 4, 775-787, Aug. 2017, Peer-reviwed, This paper deals with a sum-of-squares (SOS)-based control Lyapunov function (CLF) design for polynomial fuzzy control of nonlinear systems. The design starts with exactly replacing (smooth) nonlinear systems dynamics with polynomial fuzzy models, which are known as universal approximators. Next, global stabilization conditions represented in terms of SOS are provided in the framework of the CLF design, i.e., a stabilizing controller with nonparallel distributed compensation form is explicitly designed by applying Sontag's control law, once a CLF for a given nonlinear system is constructed. Furthermore, semiglobal stabilization conditions on operation domains are derived in the same fashion as in the global stabilization conditions. Both global and semiglobal stabilization problems are formulated as SOS optimization problems, which reduce to numerical feasibility problems. Five design examples are given to show the effectiveness of our proposed approach over the existing linear matrix inequality and SOS approaches.
Scientific journal, English

Shape Control of a Snake Robot With Joint Limit and Self-Collision Avoidance
Motoyasu Tanaka; Kazuo Tanaka
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 25, 4, 1441-1448, Jul. 2017, Peer-reviwed, This paper proposes a shape control method for a snake robot, which maintains head position and orientation, and avoids joint limits and self-collision. We used a passive wheeled snake robot that can switch the grounded/lifted status of its wheels. We derived a kinematic model of the robot that represents its redundancy as both joint angles [the shape controllable points (SCPs)] and the null space of the control input. In the control method, the shape is changed by sequential control of the SCPs, and the null space of the control input is used for joint limit and self-collision avoidance. Jumps in control input do not occur, although the controlled variable and the model are switched. Simulations and an experiment were used to demonstrate the effectiveness of the proposed method.
Scientific journal, English

Positivstellensatz Relaxation for Sum-of-Squares Stabilization Conditions of Polynomial Fuzzy Systems
Alissa Ully Ashar; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, SS-O4-1-1, Jun. 2017, Peer-reviwed
International conference proceedings, English

Stability Analysis for Polynomial Fuzzy Systems Based on Line-Integral Fuzzy Lyapunov Function: A Copositive Relaxation Approach
Jairo Moreno Saenz; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, SS-04-1-3, Jun. 2017, Peer-reviwed
International conference proceedings, English

Static output feedback design for a class of constrained Takagi-Sugeno fuzzy systems
Anh-Tu Nguyen; Kazuo Tanaka; Antoine Dequidt; Michel Dambrine
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, PERGAMON-ELSEVIER SCIENCE LTD, 354, 7, 2856-2870, May 2017, Peer-reviwed, This paper addresses the static output feedback (SOF) control problem of Takagi-Sugeno fuzzy systems subject to both control input and state constraints. A new parameter-dependent sector condition is proposed to deal with the input saturation in SOF control context. Based on a judicious use of Finsler's lemma in fuzzy Lyapunov control framework, new design conditions guaranteeing the existence of a stabilizing controller are recast as an LMI-based optimization with additional slack variables. These extra variables offer more flexibility to reduce the design conservatism. In particular, the proposed method requires neither special constraints on the state-space system matrices nor linear matrix equalities, which are hard to be satisfied. Several numerical examples are given to demonstrate the interests of the new control method. (C) 2017 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
Scientific journal, English

3D Flight Path Tracking Control for Unmanned Aerial Vehicles under Wind Disturbance
TAKAHASHI Yutoku; IWASE Arimasa; TANAKA Motoyasu; TANAKA Kazuo
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2017, 1P2-E01, 2017,

This paper deals with 3D flight path tracking control for unmanned aerial vehicles (UAVs) under wind disturbance. A 3D kinematic model for UAV flight is represented using the Serret-Frenet frame. A guaranteed cost controller minimizing the upper bound of a given performance function is designed to carry out tracking control for given 3D flight paths. The simulation results show the utility of the proposed 3D flight path tracking control under wind disturbance.

Japanese

Stable Flight Control for a Flying-Wing Unmanned Aerial Vehicle
OWASHI Makoto; TANAKA Motoyasu; TANAKA Kazuo
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2017, 1P2-E04, 2017,

This paper presents stable flight control for a flying-wing unmanned aerial vehicle (UAV). A six-degree-of-freedom nonlinear model for the UAV is constructed using wind trennel experimental data. The nonlinear model is separated and linearized as longitudinal and lateral models around a trimmed equilibrium. We design two stable controllers for the longitudinal and lateral models and investigate their performance through various flight simulations. The simulation results show the applicability of the designed controllers to the real flying-wing UAV in real environments.

Japanese

A Guaranteed Cost Controller Design Approach to Waypoint Following Control for a Powered Paraglider
IWASE Arimasa; WONG Kai-Yi; TANAKA Motoyasu; TANAKA Kazuo
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2017, 1P1-E02, 2017,

This paper presents a guaranteed cost controller design approach to waypoint following control for a powered paraglider (PPG). We derive a set of sum-of-squares (SOS) conditions to minimize the upper bound of a given cost function. Since the guaranteed cost SOS design conditions derived in this paper are non-convex, the so-called path-following method is provided to efficiently solve them. The guaranteed cost SOS design approach is compared with the existing guaranteed cost linear matrix inequality design approach. The simulation results demonstrate the capabilities of the guaranteed cost SOS design approach in minimizing the given cost function.

Japanese

Development of a Wheeled Snake-like Robot Capable of Climbing Stairs
TANAKA Motoyasu; NAKAJIMA Mizuki; TANAKA Kazuo
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2017, 0, 1P2-Q03, 2017,

This paper presents a wheeled snake-like robot for urban search-and-rescue and plant inspection. The robot has active wheeled links connected by active joints, and is designed to move on various terrains, e.g., plane, stairs, and narrow paths. Moreover, the robot has net-structure proximity sensors on the bottom of the body to measure the distance and inclination angle between the robot and surrounding plane. The experimental results demonstrate that the robot can pass through a narrow path and enter a narrow pipe, and it has an excellent mobility such as climbing a high step and steep stairs by using sensor information.

Japanese

Singularity Analysis of a Snake Robot and an Articulated Mobile Robot With Unconstrained Links
Motoyasu Tanaka; Kazuo Tanaka
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 24, 6, 2070-2081, Nov. 2016, Peer-reviwed, In this paper, we analyze the conditions related to singular configurations with unconstrained links and present related theorems and lemmas for a snake robot and an articulated mobile robot. A snake robot and an articulated mobile robot have links that have passive or active wheels and the links are serially connected by active joints. The singular configuration should be avoided if the robots are automatically controlled because they cannot execute intended motion when they are in the singular configuration. We derive a novel necessary and sufficient condition for the singular configurations of the snake robot; this removes some limitations of the traditional condition for a snake robot without unconstrained links. We also derive the necessary and sufficient conditions for the singular configurations of the articulated mobile robot, and the structural conditions under which a real articulated mobile robot does not have a singular configuration. These conditions are proved by analyzing the elements of matrices included in the kinematic model and considering the geometrical meaning of the elements. In addition, we propose evaluation indices representing the distance from the singular configurations of a snake robot. We verify the effectiveness of these indices through simulations.
Scientific journal, English

A New Sum-of-Squares Design Framework for Robust Control of Polynomial Fuzzy Systems With Uncertainties
Kazuo Tanaka; Motoyasu Tanaka; Ying-Jen Chen; Hua O. Wang
Lead, IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 24, 1, 94-110, Feb. 2016, Peer-reviwed, This paper presents a new sum-of-squares (SOS, for brevity) design framework for robust control of polynomial fuzzy systems with uncertainties. Two kinds of robust stabilization conditions are derived in terms of SOS. One is global SOS robust stabilization conditions that guarantee the global and asymptotical stability of polynomial fuzzy control systems. The other is semiglobal SOS robust stabilization conditions. The latter is available for very complicated systems that are difficult to guarantee the global and asymptotical stability of polynomial fuzzy control systems. The main feature of all the SOS robust stabilization conditions derived in this paper are to be expressed as nonconvex formulations with respect to polynomial Lyapunov function parameters and polynomial feedback gains. Since a typical transformation from nonconvex SOS design conditions to convex SOS design conditions often results in some conservative issues, the new design framework presented in this paper gives key ideas to avoid the conservative issues. The first key idea is that we directly solve nonconvex SOS design conditions without applying the typical transformation. The second key idea is that we bring a so-called copositivity concept. These ideas provide some advantages in addition to relaxations. To solve our SOS robust stabilization conditions efficiently, we introduce a gradient algorithm formulated as a minimizing optimization problem of the upper bound of the time derivative of an SOS polynomial that can be regarded as a candidate of polynomial Lyapunov functions. Three design examples are provided to illustrate the validity and applicability of the proposed design framework. The examples demonstrate advantages of our new SOS design framework for the existing linear matrix inequality approaches and the existing convex SOS approach.
Scientific journal, English

A Simple Passive Attitude Stabilizer for Palm-Size Aerial Vehicles
Motoyasu Tanaka; Ying Jen Chen; Kazuo Tanaka; Hua O. Wang
Corresponding, IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 21, 1, 591-597, Feb. 2016, Peer-reviwed, 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.
Scientific journal, English

Development of Tough Communication System for an Articulated Mobile Robot
TANAKA Motoyasu; NAKAJIMA Mizuki; TANAKA Kazuo
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2016, 0, 1A2-09a2, 2016, Peer-reviwed,

This paper presents a tough communication system for an articulated mobile robot. The system which consists of many micro-computers can communicate servo motors via serial communications, gather sensor information, and detect errors of both communications and servo motors. Moreover, it decreases communication time between the robot and the computer for controlling the robot, and keeps operating without stopping even if communication error in micro-computers and actuators occurs.

Japanese

Development of an Articulated Mobile Robot with Active Wheels and Manual Adaptation to Environment
TANAKA Motoyasu; NAKAJIMA Mizuki; TANAKA Kazuo
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2016, 0, 1A2-09a1, 2016, Peer-reviwed,

This paper presents an articulated mobile robot for urban search-and-rescue. The robot has active wheeled links connected by active joints, and is designed to move on various environments, e.g., plane, stairs, and narrow spaces. Moreover, this paper presents a method for three-dimensional locomotion which accomplishes that the body shape of an articulated mobile robot adapts to environment using its own weight. The adaptation to environment is obtained manually by making the joints passive. The experimental result demonstrates the effectiveness of a proposed method.

Japanese

Smooth control of an articulated mobile robot with switching constraints
Motoyasu Tanaka; Mizuki Nakajima; Kazuo Tanaka
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 30, 1, 29-40, Jan. 2016, Peer-reviwed, The paper describes a smooth controller of an articulated mobile robot with switching constraints. The use of switching constraints associated with grounded/lifted wheels is an effective method of controlling various motions; e.g. the avoidance of a moving obstacle. A model of an articulated mobile robot that has active and passive wheels and active joints with switching constraints is derived. A controller that accomplishes the trajectory tracking of the robot's head and subtasks using smooth joint input is proposed on the basis of the model. Simulations and experiments are presented to show the effectiveness of the proposed controller.
Scientific journal, English

Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy
Kazuyuki Kon; Motoyasu Tanaka; Kazuo Tanaka
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 24, 1, 252-264, Jan. 2016, Peer-reviwed, We propose a control method for semiautonomous step climbing by a snake robot. Our method is based on mixed integer quadratic programming to generate the reference trajectory of the head of the snake robot online. One of the features of the method is that it determines suitable positions and time duration in which to sense the surroundings before approaching the step. Furthermore, constraints on velocity and acceleration are taken into account, so that the snake robot can securely follow the generated trajectory. Our method was applied to a snake robot equipped with a laser range finder, which is used for step detection. Experiments were performed to verify the efficacy of the method.
Scientific journal, English

Fuzzy control turns 50: 10 years later
Thierry M. Guerra; Antonio Sala; Kazuo Tanaka
FUZZY SETS AND SYSTEMS, ELSEVIER SCIENCE BV, 281, 168-182, Dec. 2015, Peer-reviwed, In 2015, we celebrate the 50th anniversary of Fuzzy Sets, ten years after the main milestones regarding its applications in fuzzy control in their 40th birthday were reviewed in FSS, see [1]. Ten years is at the same time a long period and short time thinking to the inner dynamics of research. This paper, presented for these 50 years of Fuzzy Sets is taking into account both thoughts. A first part presents a quick recap of the history of fuzzy control: from model-free design, based on human reasoning to quasi-LPV (Linear Parameter Varying) model-based control design via some milestones, and key applications. The second part shows where we arrived and what the improvements are since the milestone of the first 40 years. A last part is devoted to discussion and possible future research topics. (C) 2015 Elsevier B.V. All rights reserved.
Scientific journal, English

Sum-of-Squares-Based Co-positive Relaxation for the Double Fuzzy Summation Problem of Fuzzy-Model-Based Control Systems
Ying-Jen Chen; Wen-June Wang; Kazuo Tanaka
2015 International Conference on Fuzzy Theory and Its Applications, 94-98, Nov. 2015, Peer-reviwed
International conference proceedings, English

Intelligent nonsingular terminal sliding-mode control via perturbed fuzzy neural network
Chun-Fei Hsu; Tsu-Tian Lee; Kazuo Tanaka
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, PERGAMON-ELSEVIER SCIENCE LTD, 45, *, 339-349, Oct. 2015, Peer-reviwed, In this paper, an intelligent nonsingular terminal sliding-mode control (INTSMC) system, which is composed of a terminal neural controller and a robust compensator, is proposed for an unknown nonlinear system. The terminal neural controller including a perturbed fuzzy neural network (PFNN) is the main controller and the robust compensator is designed to eliminate the effect of the approximation error introduced by the PFNN upon the system stability. The PFNN is used to approximate an unknown nonlinear term of the system dynamics and perturbed asymmetric membership functions are used to handle rule uncertainties when it is hard to exactly determine the grade of membership functions. In additional, Lyapunov stability theory is used to discuss the parameter learning and system stability of the INTSMC system. Finally, the proposed INTSMC system is applied to an inverted pendulum and a voice coil motor actuator. The simulation and experimental results show that the proposed INTSMC system can achieve favorable tracking performance and is robust against parameter variations in the plant. (C) 2015 Elsevier Ltd. All rights reserved.
Scientific journal, English

Shape Control for a Snake Robot via Sequential Switching
Motoyasu Tanaka; Kazuo Tanaka
The First International Symposium on Swarm Behavior and Bio-Inspired Robotics, 200-202, Oct. 2015, Peer-reviwed
International conference proceedings, English

Range-Sensor-Based Semiautonomous Whole-Body Collision Avoidance of a Snake Robot
Motoyasu Tanaka; Kazuyuki Kon; Kazuo Tanaka
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 23, 5, 1927-1934, Sep. 2015, Peer-reviwed, This brief presents a control system for a snake robot based on range sensor data that semiautonomously aids the robot in avoiding collisions with obstacles. In the proposed system, an operator indicates the desired velocity of the first link of the robot using a joystick, and the joint input which accomplishes both the desired velocity of the first link and collision avoidance between subsequent links and obstacles is automatically calculated by the controller, which selects the links needed to be grounded and exploits redundancy. The controller uses real-time data from range sensors for obstacle positions. The experimental system, which has range sensors and the function generating environmental map using simultaneous localization and mapping, was developed with decreasing calculation cost, and experiments were performed to verify the effectiveness of the proposed system in unknown environments.
Scientific journal, English

Stability Analysis and Region-of- Attraction Estimation Using Piecewise Polynomial Lyapunov Functions: Polynomial Fuzzy Model Approach
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 23, 4, 1314-1322, Aug. 2015, Peer-reviwed, This paper proposes sum-of-squares (SOS) methodologies for stability analysis and region-of-attraction (ROA) estimation for nonlinear systems represented by polynomial fuzzy models via piecewise polynomial Lyapunov functions (PPLFs). At first, two SOS-based global stability criteria are proposed by applying maximum-type and minimum-type PPLFs, respectively. It is known that less-conservative results can be obtained by reducing global stability to local stability, since it is usually the case for nonlinear systems that the stability cannot be reached globally. Therefore, based on the two types of PPLFs, two local stability criteria are further proposed with the algorithms that enlarge the estimated ROA as much as possible. The constraints for checking (global and local) stability and enlarging the estimated ROA are represented in terms of bilinear SOS problems. Hence, the path-following method is applied to solve the bilinear SOS problems in the proposed methodologies. Finally, some examples are provided to illustrate the utility of the proposed methodologies.
Scientific journal, English

Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints
Motoyasu Tanaka; Kazuo Tanaka; Fumitoshi Matsuno
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 20, 4, 1633-1641, Aug. 2015, Peer-reviwed, This paper presents an approximate path-tracking control method for all joints of a snake robot, along with the verification of this method by simulations and experiments. We consider a wheeled snake robot that has passive wheels and active joints. The robot can switch the wheels that touch the ground by lifting the required parts of its body. The model of the robot becomes a kinematically redundant system if certain wheels are lifted. Using this kinematic redundancy, and selecting the appropriate lifted parts, we design a controller for approximate path tracking. Simulations and experimental results show that the proposed controller effectively reduces the path-tracking error for all joints of the snake robot.
Scientific journal, English

Control of a Snake Robot for Ascending and Descending Steps
Motoyasu Tanaka; Kazuo Tanaka
IEEE TRANSACTIONS ON ROBOTICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 31, 2, 511-520, Apr. 2015, Peer-reviwed, This paper proposes control method for a snake robot to ascend and descend steps. In a multiplane step environment, it is necessary for locomotion to transfer from one plane to another. When a snake robot moves, it touches several planes as its body is long and thin. In this paper, we propose a control method to track the trajectory of a snake robot in a step environment. We decomposed the 3-D motion of the robot into two simple models by introducing an assumption that simplifies the model and controller, and derive a model of the robot as a hybrid system with switching. The control method consists of a tracking controller, a method for shifting the robot's part connecting the planes, and active lifting to control the shape of the robot. Ascent and descent experiments confirm the effectiveness of the proposed controller and the method for shifting the connecting part of the robot's body.
Scientific journal, English

冗長シリアルリンクロボットの多点接触における衝突回避制御
田中基康; 佐藤順亮; 田中一男; 松野文俊
計測自動制御学会論文集, 計測自動制御学会, 51, 4, 226-232, Apr. 2015, Peer-reviwed
Scientific journal, Japanese

Semi-global Robust Controller Design for Polynomial Fuzzy Systems with Uncertainties and Input Constraints
Ogura Daisuke; Chen Ying-jen; Tanaka Motoyasu; Tanaka Kazuo
Proceedings of the Fuzzy System Symposium, Japan Society for Fuzzy Theory and Intelligent Informatics, 31, 150-629, 2015, This paper presents a non-convex sum-of-squares approach to semi-global robust control of polynomial fuzzy systems with uncertainties and input constraints. We treat altitude control of a paraglider-type UAV which contains uncertainties as a complicated and real design example. The control results demonstrate the effectiveness of semi-global robust stabilization in comparison with global robust stabilization.
Japanese

Fuzzy Model-based Control of an Unmanned Aerial Vehicle with Parafoil Type Wing
Takahashi Yutoku; Tanaka Motoyasu; Tanaka Kazuo
Proceedings of the Fuzzy System Symposium, Japan Society for Fuzzy Theory and Intelligent Informatics, 31, 618-623, 2015, This paper presents fuzzy model-based control of an unmanned aerial vehicle (UAV) with a parafoil type wing. Two fuzzy models (the longitudinal and lateral motions) with uncertainties are constructed by assuming aero-dynamics uncertainties of a parafoil type wing. The longitudinal and lateral controllers are designed via a set of typical robust LMI design conditions. The experimental results including automatic landing show the effectiveness of the fuzzy model-based control design framework for the UAV.
Japanese

Stair Climbing of an Articulated Mobile Robot via Sequential Shift
Motoyasu Tanaka; Kazuo Tanaka
2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), IEEE, 877-881, 2015, Peer-reviwed, This paper presents a sequential stair climbing method for an articulated mobile robot. The robot has active wheeled links connected by active rotational joints. In the method, some parts of the robot's body defined as a connecting part are used to step over risers in stairs, and the robot climbs up stairs by shifting the connecting parts from forward to backward. A condition on which the robot can climb stairs by the proposed method is presented. Simulation results confirm the effectiveness of the proposed method.
International conference proceedings, English

A Non-Monotonically Decreasing Relaxation Approach of Lyapunov Functions to Guaranteed Cost Control for Discrete Fuzzy Systems
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
IET Control Theory & Applications, IET, 8, 4, 288-296, 06 Nov. 2014, Peer-reviwed
Scientific journal, English

A nonmonotonically decreasing relaxation approach of Lyapunov functions to guaranteed cost control for discrete fuzzy systems
Ying-Jen Chen; Motoyasu Tanaka; Kohei Inoue; Hiroshi Ohtake; Kazuo Tanaka; Thierry Marie Guerra; Alexandre Kruszewski; Hua O. Wang
IET CONTROL THEORY AND APPLICATIONS, INST ENGINEERING TECHNOLOGY-IET, 8, 16, 1716-1722, Nov. 2014, Peer-reviwed, This study presents a nonmonotonically decreasing relaxation approach of Lyapunov functions to guaranteed cost control for discrete Takagi-Sugeno (T-S) fuzzy systems. First, the authors summarise the previous results on a relaxation of nonmonotonically decreasing of Lyapunov functions, and newly derive one lemma based on the previous results. Based on the newly derived lemma, they propose guaranteed cost control design for discrete T-S fuzzy systems. The design conditions can be represented in terms of linear matrix inequalities and provide more relaxed results than the existing approach. A design example is included to demonstrate the relaxation effectiveness of the proposed approach in guaranteed cost control.
Scientific journal, English

Stability region analysis for polynomial fuzzy systems by polynomial Lyapunov functions
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
IEEE International Conference on Fuzzy Systems, Institute of Electrical and Electronics Engineers Inc., 2091-2095, 04 Sep. 2014, Peer-reviwed, This paper presents a sum-of-squares (SOS) based methodology to obtain inner bounds on the region-of-attraction (ROA) for nonlinear systems represented by polynomial fuzzy systems. The methodology searches a polynomial Lyapunov function to guarantee the local stability and the invariant subset of the ROA is presented as the level set of the polynomial Lyapunov function. At first the methodology checks whether the considered system can be guaranteed to be locally asymptotically stable. After confirming that the system is guaranteed to be locally asymptotically stable, the methodology enlarges the invariant subset of the ROA as much as possible. The constraints for both of checking stability and enlarging contractively invariant set are represented in terms of bilinear SOS optimization problems. The path-following method is applied to solve the bilinear SOS optimization problems in the methodology.
International conference proceedings, English

Stabilization analysis of single-input polynomial fuzzy systems using control Lyapunov functions
Radian Furqon; Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
Corresponding, IEEE International Conference on Fuzzy Systems, Institute of Electrical and Electronics Engineers Inc., 907-912, 04 Sep. 2014, Peer-reviwed, This paper presents a novel method for stabilization analysis of the single-input polynomial fuzzy systems using a sum of squares (SOS) approach to construct control Lyapunov functions (CLFs) for the systems. First, we represent a nonlinear system as a polynomial fuzzy system. Then, sufficient conditions in SOS terms for a positive definite function to become a CLF is presented. We solve the sufficient conditions using SOS optimization technique to construct the CLF. Finally, after a CLF is constructed, the controller for the system is designed using Sontag's formula. To illustrate the validity of the proposed approach, a design example is provided.
International conference proceedings, English

Nonlinear Control of F16 Aircraft via Multiple Nonlinear Model Generation for Any Trimmed Equilibriums
Motoyasu Tanaka; Ken Yamaguchi; Daisuke Ogura; Ying-Jen Chen; Kazuo Tanaka
Corresponding, INTERNATIONAL JOURNAL OF FUZZY SYSTEMS, TAIWAN FUZZY SYSTEMS ASSOC, 16, 2, 140-152, Jun. 2014, Peer-reviwed, This paper presents a practical approach of nonlinear control of the F16 aircraft via multiple nonlinear model generation for any trimmed equilibriums. The approach is realized using the framework of a Takagi-Sugeno (T-S) fuzzy modeling and control. The nonlinear control algorithm consists of three parts. The first part determines a trimmed equilibrium of the F16 dynamics for a given desired flight condition. The second part generates a T-S fuzzy model from the F16 dynamics around the trimmed equilibrium determined in the first part. In the third part, a linear matrix inequality based design is carried out to automatically design a T-S fuzzy controller satisfying some kinds of performance from the T-S fuzzy model generated in the second part. Since there are an infinite number of trimmed equilibriums in the F16 dynamics and the trimmed equilibriums widely change according to different flight conditions, T-S fuzzy models are multiply re-generated according to widely change of the trimmed equilibriums. T-S fuzzy controllers are also re-designed from re-generated T-S fuzzy models whenever different desired flight conditions are selected. Control performance of the proposed control is tested for the original dynamics (not T-S fuzzy models). The testing results demonstrate the utility of the proposed approach of nonlinear control of the F16 aircraft via multiple nonlinear model generation for any trimmed equilibriums.
Scientific journal, English

Discrete polynomial fuzzy systems control
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
IET CONTROL THEORY AND APPLICATIONS, INST ENGINEERING TECHNOLOGY-IET, 8, 4, 288-296, Mar. 2014, Peer-reviwed, This study presents a sum-of-squares (SOS) approach to stable control and guaranteed cost control of discrete polynomial fuzzy systems. The SOS framework presented in this paper offers a new paradigm over the existing linear matrix inequality (LMI) approaches to discrete Takagi-Sugeno (T-S) fuzzy models. At first, this study, newly introduces a discrete polynomial fuzzy model that is more general and effective than the well-known discrete T-S fuzzy model. With considering the operating domain, stable control design conditions are then derived based on state-dependent Lyapunov functions that contain quadratic Lyapunov functions as a special case. Hence, the design approach discussed in this study could be more general than the LMI design approaches based on quadratic Lyapunov functions. Moreover, this study also discusses a guaranteed cost control design which is carried out by minimising the upper bound of a given performance function. All the design conditions derived in this study can be represented in terms of SOS and are symbolically and numerically solved via the SOSOPT and the SeDuMi, respectively. Finally, the ball-and-beam system is provided as an example to illustrate the utility of the proposed SOS-based design approach.
Scientific journal, English

A Polynomial Fuzzy Control System Design via Control Lyapunov Functions
Furqon Radian; Chen Ying-Jen; Tanaka Motoyasu; Tanaka Kazuo; Wang Hua O.
Proceedings of the Fuzzy System Symposium, Japan Society for Fuzzy Theory and Intelligent Informatics, 30, 538-543, 2014, This research investigates the stabilizability of polynomial fuzzy systems by searching control Lyapunov functions (CLF) for the systems numerically using sum-of-squares (SOS) optimization technique. At first, we express a nonlinear plant with a polynomial fuzzy system. Next, a global stabilizability criterion represented in SOS conditions is proposed to search for a CLF for the system. In our approach, path-following method is employed due to the existence of bilinear terms in the CLF conditions. Finally, a simulation example is given to show the effectiveness of our proposed method.
Japanese

3A1-J01 The development of unit adaptable to the curved surface using the slider link mechanism for snake robot(Bio-Mimetics and Bio-Mechatronics)
NAKAJIMA Mizuki; TANAKA Motoyasu; TANAKA Kazuo; MATSUNO Fumitoshi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2014, 0, _3A1-J01_1-_3A1-J01_3, 2014, Peer-reviwed, In this study, we develop a curved surface adaptive unit to realize snake robots' undulatory progression on a curved surface such as cylindrical surface. The unit is composed of unit-compliance mechanism using springs between unit and robot, and wheels-stretching mechanism using slider link between wheels. The unit can adapt to changes in relative position of a curved surface and the robot, and changes in distance between surface contact point and the unit center. Experiment with snake robot on cylinder surface is carried out in order to demonstrate the effectiveness of the adaptive function to curved surface of the developed unit.
Japanese

Discrete-Time Polynomial Fuzzy Observer Designs via a Sum of Squares Approach
Yingying Wang; Huaguang Zhang; Jianyu Zhang; Yingchun Wang
PROCEEDINGS OF THE 2014 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), IEEE, 42, 3826-3830, 2014, Peer-reviwed, In this paper, a sum of squares(SOS) method is proposed to design observers for discrete-time polynomial fuzzy systems. The proposed SOS approach has two improved and innovative results for the existing linear matrix inequality (LMI) method to Takagi-Sugeno(T-S) discrete fuzzy observer designs. Firstly, a polynomial discrete fuzzy model is developed, which is a generation of the well-known T-S fuzzy system. Secondly, the conditions in the proposed approach are obtained in terms of SOS, which is the extension of the LMI method. Therefore, the conditions given in this paper are more general than the existing LMI approaches to T-S fuzzy systems. An example is given to show the effectiveness, which also demonstrate the SOS approaches are more relaxed than the existing LMI approaches. Finally, a conclusion is given to complete the paper.
International conference proceedings, English

A simple, natural and effective framework of nonlinear systems control and its application to aerial robots
Motoyasu Tanaka; Hiroshi Ohtake; Kazuo Tanaka
Journal of Robotics and Mechatronics, Fuji Technology Press, 26, 2, 140-147, 2014, Peer-reviwed, Invited, This paper presents a simple, natural and effective framework of nonlinear systems control and its application to aerial robots. First, we present a framework of Takagi-Sugeno fuzzy model-based control and also discuss its feature. Next, a number of design problems for the control framework are formulated as numerically feasibility problems of representing in terms of linear matrix inequalities. Finally, we provide two applications of the control framework to aerial robots. The control results of aerial robots show the utility of the control framework.
Scientific journal, English

Stability Region Analysis for Polynomial Fuzzy Systems by Polynomial Lyapunov Functions
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
2014 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE), IEEE, 2091-2095, 2014, Peer-reviwed, This paper presents a sum-of-squares (SOS) based methodology to obtain inner bounds on the region-of-attraction (ROA) for nonlinear systems represented by polynomial fuzzy systems. The methodology searches a polynomial Lyapunov function to guarantee the local stability and the invariant subset of the ROA is presented as the level set of the polynomial Lyapunov function. At first the methodology checks whether the considered system can be guaranteed to be locally asymptotically stable. After confirming that the system is guaranteed to be locally asymptotically stable, the methodology enlarges the invariant subset of the ROA as much as possible. The constraints for both of checking stability and enlarging contractively invariant set are represented in terms of bilinear SOS optimization problems. The path-following method is applied to solve the bilinear SOS optimization problems in the methodology.
International conference proceedings, English

Stabilization Analysis of Single-Input Polynomial Fuzzy Systems using Control Lyapunov Functions
Radian Furqon; Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
Corresponding, 2014 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE), IEEE, 907-912, 2014, Peer-reviwed, This paper presents a novel method for stabilization analysis of the single-input polynomial fuzzy systems using a sum of squares (SOS) approach to construct control Lyapunov functions (CLFs) for the systems. First, we represent a nonlinear system as a polynomial fuzzy system. Then, sufficient conditions in SOS terms for a positive definite function to become a CLF is presented. We solve the sufficient conditions using SOS optimization technique to construct the CLF. Finally, after a CLF is constructed, the controller for the system is designed using Sontag's formula. To illustrate the validity of the proposed approach, a design example is provided.
International conference proceedings, English

Nonconvex stabilization criterion for polynomial fuzzy systems
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., 7415-7419, 2013, Peer-reviwed, This paper presents a nonconvex criterion represented in terms of bilinear sum of squares (SOS) conditions for the stabilization of polynomial fuzzy systems. In the existing literature dealing with the stabilization of polynomial fuzzy control systems, the construction of Lyapunov function candidates is restricted in order to transform the nonconvex SOS conditions into convex SOS conditions. Moreover, the transformation from nonconvex conditions into convex conditions itself also induces some conservativeness for the stabilization of polynomial fuzzy control systems. This study proposes a stabilization criterion for polynomial fuzzy control systems remaining in the nonconvex form of bilinear SOS conditions. Therefore, the proposed nonconvex SOS stabilization criterion, in some way, can provide more relaxed results than the existing convex SOS stabilization criteria. Moreover, the restriction on the construction of Lyapunov function candidates in literature does not exist in the proposed nonconvex stabilization criterion. An iterative algorithm is utilized to obtain solutions of the nonconvex stabilization criterion represented in terms of bilinear SOS conditions. The iterative algorithm does not guarantee either to obtain the global optimum of the nonconvex criterion or even to converge. However, this algorithm is easy to implement and can yield feasible solutions efficiently in the design example of this work. © 2013 IEEE.
International conference proceedings, English

Development of an Autonomous Flying Robot and Its Verification via Flight Control Experiment
Motoyasu Tanaka; Hiroshi Kawai; Kazuo Tanaka; Hua O. Wang
Corresponding, 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 4439-4444, 2013, Peer-reviwed, This paper presents development of an autonomous flying robot (unmanned aerial vehicle) and its verification via flight control experiment. The autonomous flying robot has a global positioning system (GPS) sensor to control its altitude and also a wireless camera to gather visual information from the air. First, we construct a longitudinal model of the autonomous flying robot to design a stable controller using a common Lyapunov approach. The longitudinal model has three degree of freedom, i.e., the altitude, the horizontal position and the pitch angle. A stable controller is designed so as to guarantee the stability of the trajectory tracking control system for the three-degree-of-freedom model. The experimental result demonstrates the viability of the stable trajectory tracking control.
International conference proceedings, English

Stability and Stabilization Conditions for Takagi-Sugeno Fuzzy Model via Polyhedral Lyapunov Functions
Willem Esterhuizen; Hua O. Wang; Kazuo Tanaka; Xiangzhou Wang
2013 AMERICAN CONTROL CONFERENCE (ACC), IEEE, 5637-5642, 2013, Peer-reviwed, Polyhedral Lyapunov functions (PLFs) are universal for establishing stability of Takagi-Sugeno (T-S) fuzzy models. In this paper, a stability theorem via PLFs is presented for T-S models, and it is shown that stability can be established via linear programming. Furthermore, nonconvex stabilization conditions are stated that, if satisfied, specify a parallel distributed compensation (PDC) controller as well as a PLF which proves stability of the closed loop system. An algorithm is presented as an initial step in working around the nonconvex stabilization conditions, and has shown to be useful in the computation of PDC controllers.
International conference proceedings, English

Climbing and Descending Control of a Snake Robot on Step Environments based on Kinematics
Motoyasu Tanaka; Kazuo Tanaka
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 3285-3290, 2013, Peer-reviwed, This paper proposes a snake robot control method for climbing and descending a step. On a multi-plane step environment, it is necessary for locomotion to transfer from one plane to another. A snake robot can move with touching several planes as its body is long and thin. In this paper, we propose a control method for accomplishing trajectory tracking of a snake robot on a step environment. The control method consists of the tracking controller, the shifting method of the robot's part connecting between the planes, and the active lifting for controlling the shape of the robot. Simulations and experiments demonstrated the effectiveness of the proposed controller and the shifting method of the connecting part of the robot's body.
International conference proceedings, English

Nonconvex Stabilization Criterion for Polynomial Fuzzy Systems
Yin-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), IEEE, 7415-7419, 2013, Peer-reviwed, This paper presents a nonconvex criterion represented in terms of bilinear sum of squares (SOS) conditions for the stabilization of polynomial fuzzy systems. In the existing literature dealing with the stabilization of polynomial fuzzy control systems, the construction of Lyapunov function candidates is restricted in order to transform the nonconvex SOS conditions into convex SOS conditions. Moreover, the transformation from nonconvex conditions into convex conditions itself also induces some conservativeness for the stabilization of polynomial fuzzy control systems. This study proposes a stabilization criterion for polynomial fuzzy control systems remaining in the nonconvex form of bilinear SOS conditions. Therefore, the proposed nonconvex SOS stabilization criterion, in some way, can provide more relaxed results than the existing convex SOS stabilization criteria. Moreover, the restriction on the construction of Lyapunov function candidates in literature does not exist in the proposed nonconvex stabilization criterion. An iterative algorithm is utilized to obtain solutions of the nonconvex stabilization criterion represented in terms of bilinear SOS conditions. The iterative algorithm does not guarantee either to obtain the global optimum of the nonconvex criterion or even to converge. However, this algorithm is easy to implement and can yield feasible solutions efficiently in the design example of this work.
International conference proceedings, English

Piecewise polynomial lyapunov functions based stability analysis for polynomial fuzzy systems
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013, 34-39, 2013, Peer-reviwed, This paper proposes two stability criteria for polynomial fuzzy systems by applying minimum-type and maximum-type piecewise polynomial Lyapunov functions (PPLFs) respectively. Piecewise Lyapunov functions and polynomial Lyapunov functions (PLFs) have been utilized to the stability analysis for fuzzy-model-based (FMB) control systems to obtain relaxed results in literature. However, the minimum-type and maximum-type PPLFs have not been employed to analyze the stability of FMB control systems. Therefore, this paper applies the minimum-type and maximum-type PPLFs to the stability analysis of polynomial FMB control systems. Two relaxed stability criteria represented in terms of bilinear sum-of-squares (SOS) conditions are proposed. The proposed stability criteria are represented in terms of bilinear SOS conditions that cannot be directly solved by the mathematical tools of solving SOS optimization problem (e.g. SOSTOOLS and SOSOPT). Therefore, the path-following method that has been shown to be effective for the nonconvex bilinear matrix inequality problem is employed for solving the bilinear SOS problem of the proposed stability criteria. A numerical example is provided to demonstrate the relaxation of the proposed stability criteria. © 2013 IEEE.
International conference proceedings, English

A practical design approach to automatic model construction and controller design for F16 aircraft
Daisuke Ogura; Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka
Corresponding, iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications, IEEE Computer Society, 177-182, 2013, Peer-reviwed, This paper presents a practical design approach to automatic model construction and controller design for the F16 aircraft. The automatic model construction and controller design are realized using the framework of a Takagi-Sugeno (T-S) fuzzy modeling and control. Any trimmed equilibriums in addition to the complicated dynamics describing in an F16 aircraft simulator are considered and automatically converted to T-S fuzzy models around any trimmed equilibriums. A linear matrix inequality based design is carried out to automatically obtain stable nonlinear T-S fuzzy controllers according to the considered trimmed equilibriums. Control performance of the designed controllers are tested for the original dynamics (not T-S fuzzy models). The testing results demonstrate the utility of the practical design approach to automatic model construction and controller design. © 2013 IEEE.
International conference proceedings, English

Relaxed Stabilization Criterion for T-S Fuzzy Systems by Minimum-Type Piecewise-Lyapunov-Function-Based Switching Fuzzy Controller
Ying-Jen Chen; Hiroshi Ohtake; Kazuo Tanaka; Wen-June Wang; Hua O. Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 20, 6, 1166-1173, Dec. 2012, Peer-reviwed, This paper proposes the minimum-type piecewise-Lyapunov-function-based switching fuzzy controller that switches accompanying the piecewise Lyapunov function. By applying this switching fuzzy controller with the minimum-type piecewise Lyapunov function, the relaxed stabilization criterion is obtained for continuous Takagi-Sugeno (T-S) fuzzy systems. Some conditions of the relaxed stabilization criterion are represented by bilinear matrix inequalities (BMIs), which contain some bilinear terms as the product of a full matrix and a scalar. According to the literature, the path-following method is very effective for this kind of BMI problem; hence, it is utilized to obtain solutions of the criterion. Xie et al. in 1997 chose two types (i.e., minimum type and maximum type) of piecewise Lyapunov functions as the Lyapunov function candidates. The reasons for why this study only chooses the minimum-type piecewise Lyapunov function as the Lyapunov function candidate are illustrated. Moreover, the numerical example shows the relaxation of the proposed criterion.
Scientific journal, English

Polynomial Fuzzy Observer Designs: A Sum-of-Squares Approach
Kazuo Tanaka; Hiroshi Ohtake; Toshiaki Seo; Motoyasu Tanaka; Hua O. Wang
Lead, IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 42, 5, 1330-1342, Oct. 2012, Peer-reviwed, This paper presents a sum-of-squares (SOS) approach to polynomial fuzzy observer designs for three classes of polynomial fuzzy systems. The proposed SOS-based framework provides a number of innovations and improvements over the existing linear matrix inequality (LMI)-based approaches to Takagi-Sugeno (T-S) fuzzy controller and observer designs. First, we briefly summarize previous results with respect to a polynomial fuzzy system that is a more general representation of the well-known T-S fuzzy system. Next, we propose polynomial fuzzy observers to estimate states in three classes of polynomial fuzzy systems and derive SOS conditions to design polynomial fuzzy controllers and observers. A remarkable feature of the SOS design conditions for the first two classes (Classes I and II) is that they realize the so-called separation principle, i.e., the polynomial fuzzy controller and observer for each class can be separately designed without lack of guaranteeing the stability of the overall control system in addition to converging state-estimation error (via the observer) to zero. Although, for the last class (Class III), the separation principle does not hold, we propose an algorithm to design polynomial fuzzy controller and observer satisfying the stability of the overall control system in addition to converging state-estimation error (via the observer) to zero. All the design conditions in the proposed approach can be represented in terms of SOS and are symbolically and numerically solved via the recently developed SOSTOOLS and a semidefinite-program solver, respectively. To illustrate the validity and applicability of the proposed approach, three design examples are provided. The examples demonstrate the advantages of the SOS-based approaches for the existing LMI approaches to T-S fuzzy observer designs.
Scientific journal, English

Relaxed stabilisation criterion for discrete T-S fuzzy systems by minimum-type piecewise non-quadratic Lyapunov function
Y. -J. Chen; H. Ohtake; K. Tanaka; W. -J. Wang; H. O. Wang
IET CONTROL THEORY AND APPLICATIONS, INST ENGINEERING TECHNOLOGY-IET, 6, 12, 1918-1925, Aug. 2012, Peer-reviwed, Piecewise Lyapunov functions and non-quadratic Lyapunov functions have been employed to analyse Takagi-Sugeno (T-S) fuzzy systems for getting relaxed results in the literature. Nevertheless, until now piecewise non-quadratic Lyapunov functions have not been used to design T-S fuzzy control systems. Motivated by the aforementioned concerns, this study utilises the minimum-type piecewise non-quadratic Lyapunov function to design the discrete T-S fuzzy control system. Based on the piecewise non-quadratic Lyapunov function, the switching non-parallel distributed compensation control law is proposed to obtain the relaxed stabilisation criterion. Owing to that some conditions of the proposed criterion are bilinear matrix inequalitiy conditions, the particle swarm optimisation algorithm is applied for finding out the solution of the criterion. An example is provided to illustrate the effectiveness of the proposed criterion.
Scientific journal, English

Wireless Vision-Based Stabilization of Indoor Microhelicopter
Kazuo Tanaka; Hiroshi Ohtake; Motoyasu Tanaka; Hua O. Wang
Lead, IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 17, 3, 519-524, Jun. 2012, Peer-reviwed, This paper presents wireless vision-based stabilization of an indoor microhelicopter via visual simultaneous localization and mapping. The so-called parallel tracking and mapping (PTAM) technique using a small single wireless camera on the helicopter is utilized to detect the position and attitude of the helicopter. We construct the measurement system that is able to calibrate the mapping between local coordinate system in the PTAM and world coordinate system and is able to realize noise detection and elimination. In addition, we design the guaranteed cost (stable) controller for the dynamics of the helicopter via a linear matrix inequality approach. Although path tracking control only via the small single wireless vision sensor is a quite difficult task, the control results demonstrate the utility of our approach.
Scientific journal, English

Shared Nonlinear Control in Wireless-Based Remote Stabilization: A Theoretical Approach
Kazuo Tanaka; Motoyasu Tanaka; Hiroshi Ohtake; Hua O. Wang
Lead, IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 17, 3, 443-453, Jun. 2012, Peer-reviwed, This paper proposes shared control in wireless-based remote stabilization for nonlinear systems. Shared control that is newly named in this paper can be regarded as simultaneous stabilization of plural nonlinear systems (in different places) by a single (common) controller. This paper consists of two parts. The first part addresses the basis of wireless-based remote stabilization for a single nonlinear system with time-varying delay. We derive a delay-dependent sufficient condition for ensuring the stability of Takagi-Sugeno (T-S) fuzzy models with time-varying delays that are globally (or semiglobally at least) equivalent to nonlinear systems with wireless communication time delays. A feature of the derived condition is to be able to obtain the maximum time delay for ensuring the stability of wireless-based remote control system for given feedback gains. The second part presents shared control of plural nonlinear systems via a single controller. To design a (common) shared controller to stabilize plural nonlinear systems, we derive also a shared control version of the stability condition for T-S fuzzy models with time-varying delays. Design examples demonstrate the utility of this proposed design approach.
Scientific journal, English

T-S Fuzzy Modeling and PDC Approach to Control of Nonlinear F16 Aircraft Model
Yamaguchi Ken; Endou Takahiro; Tanaka Motoyasu; Ohtake Hiroshi; Tanaka Kazuo
Proceedings of the Fuzzy System Symposium, Japan Society for Fuzzy Theory and Intelligent Informatics, 28, 169-174, 2012, This paper presents a Takagi-Sugeno fuzzy modeling and linear matrix inequaility (LMI) based parallel distributed compensation (PDC) approach to modeling and control of an F16 aircraft nonlinear model. After presenting dynamics of an F16 nonlinear model, fuzzy model-based control results are discussed in comparison with linear control results. The fuzzy controllers designed using the LMI based PDC approach guarantee not only stability but also decay rate and constraints on control inputs (actuator saturation) and outputs. Finally, simulation results demonstrate that the fuzzy controllers can stabilize the original (not simplified) nonlinear F16 model with given initial conditions although the linear controllers cannot stabilize the systems.
English

Robust Controller Design for Polynomial Fuzzy Systems : A Sum of Squares Approach
Endou Takahiro; Tanaka Motoyasu; Ohtake Hiroshi; Tanaka Kazuo
Proceedings of the Fuzzy System Symposium, Japan Society for Fuzzy Theory and Intelligent Informatics, 28, 623-624, 2012, This paper presents a sum of squares (SOS) approach to robust control of polynomial fuzzy systems with a kind of parameter uncertainty. To begin with, we define a new type of polynomial fuzzy models with parameter uncertainties and derive a robust control design condition in terms of SOS. The SOS based design condition is applied to a helicopter model with uncertainty parameters. The control results, that demonstrate the validity of the SOS based robust control in comparison with the SOS based stabilizing (non-robust) control presented in our previous paper, will be discussed in the presentation of FSS2012.

A Takagi-Sugeno fuzzy model approach to vision-based control of a micro helicopter
Kazuo Tanaka; Hiroshi Ohtake; Motoyasu Tanaka; Hua O. Wang
Lead, Proceedings of the IEEE Conference on Decision and Control, 6217-6222, 2012, Peer-reviwed, This paper presents hovering control of an indoor micro helicopter only using single visual sensor feedback. The control technique is based on the parallel tracking and mapping (PTAM), a kind of visual simultaneous localization and mapping, using a small single wireless camera on the helicopter. The six degree of freedom of the helicopter is detected via the PTAM. The nonlinear dynamics of the helicopter is converted to a Takagi-Sugeno fuzzy model. To design the guaranteed cost (stable) controller, a Takagi-Sugeno fuzzy model-based design is carried out via a linear matrix inequality approach. The hovering control results demonstrate the utility of our approach even though single wireless vision sensor based stabilization is extremely a difficult task in practice. © 2012 IEEE.
International conference proceedings, English

A Descriptor System Approach to Servo Control for Nonlinear Systems
Hiroshi Ohtake; Sho Machida; Kazuo Tanaka; Hua O. Wang
2012 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE), IEEE, 1597-1602, 2012, Peer-reviwed, This paper presents fuzzy model-based servo control for a class of nonlinear descriptor systems. In our previous paper, servo control based on error dynamics using error vector and input difference was proposed. In this paper, we extend the servo control technique to nonlinear descriptor systems. The descriptor system can represent larger class of nonlinear systems than the typical state-space models. We show the construction method of fuzzy descriptor system for servo control and derive servo controller design conditions for fuzzy descriptor systems in the form of LMI. Moreover, the servo control which is applicable to switching of target point is also discussed. Design examples illustrate the utility of this approach.
International conference proceedings, English

A Takagi-Sugeno Fuzzy Model Approach to Vision-based Control of a Micro Helicopter
Kazuo Tanaka; Hiroshi Ohtake; Motoyasu Tanaka; Hua O. Wang
Lead, 2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), IEEE, 6217-6222, 2012, Peer-reviwed, This paper presents hovering control of an indoor micro helicopter only using single visual sensor feedback. The control technique is based on the parallel tracking and mapping (PTAM), a kind of visual simultaneous localization and mapping, using a small single wireless camera on the helicopter. The six degree of freedom of the helicopter is detected via the PTAM. The nonlinear dynamics of the helicopter is converted to a Takagi-Sugeno fuzzy model. To design the guaranteed cost (stable) controller, a Takagi-Sugeno fuzzy model-based design is carried out via a linear matrix inequality approach. The hovering control results demonstrate the utility of our approach even though single wireless vision sensor based stabilization is extremely a difficult task in practice.
International conference proceedings, English

A Polynomial Observer Design for a Wider Class of Polynomial Fuzzy Systems
Toshiaki Seo; Hiroshi Ohtake; Kazuo Tanaka; Ying-Jen Chen; Hua O. Wang
Corresponding, IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ 2011), IEEE, 1305-1311, 2011, Peer-reviwed, This paper presents a polynomial fuzzy observer design for a wider class of polynomial fuzzy systems via a sum of squares (SOS, for brevity) approach. The proposed SOS-based framework provides a number of innovations and improvements over the existing LMI-based approaches to Takagi-Sugeno (T-S) fuzzy controller and observer designs. First, we briefly summarize previous results for a class of polynomial fuzzy systems that is more general representation of the well-known T-S fuzzy system. Next, we propose a polynomial fuzzy observer to estimate states in a wider class of polynomial fuzzy systems and derive SOS conditions to design polynomial fuzzy controllers and observers. A remarkable feature of the SOS design conditions is that they realize the so-called separation principle, that is, that a polynomial fuzzy controller and observer for this class can be separately designed without lack of guaranteeing the stability of the overall control system in addition to converging state estimation error (via the observer) to zero. The design conditions in the proposed approach can be represented in terms of SOS and are symbolically and numerically solved via the recent developed SOSTOOLS and a semidefinite program (SDP) solver, respectively. To illustrate the validity and applicability of the proposed approach, a design example is provided. The example demonstrates advantages of the SOS-based approach for the existing LMI approaches to T-S fuzzy observer designs.
International conference proceedings, English

Fuzzy model-based servo control for discrete-time nonlinear systems with constraints
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
IFAC Proceedings Volumes (IFAC-PapersOnline), 18, 1, 9029-9034, 2011, Peer-reviwed, This paper presents servo control for discrete-time nonlinear systems with constraints on inputs and states using the fuzzy model-based control approach. Firstly, the nonlinear error system is constructed based on error vector between state and the target point by utilizing the input difference between current input and cancellation input. Secondly, the error system is exactly converted into a Takagi-Sugeno fuzzy model utilizing sector nonlinearity approach. Finally, the fuzzy servo controller is designed by simultaneously solving servo controller design condition and the constraint conditions on inputs and states. The design conditions are given in the form of LMI. Servo control with constraints on inputs and states is achieved by the designed servo controller. Design examples illustrate the utility of this approach. © 2011 IFAC.
International conference proceedings, English

Robust Filtering for Networked Systems with Random Transmission Delays and Packet Dropouts
Yunze Cai; Hua O. Wang; Kazuo Tanaka; Xiaoming Xu
2011 AMERICAN CONTROL CONFERENCE, IEEE, 1813-1818, 2011, Peer-reviwed, This paper addresses a robust H-infinity filtering problem for networked systems that are subject to both random transmission delays and packet dropouts. To start with, a data transmission model is established by employing random series with Bernoulli distributions. A sufficient condition for robust stability with H-infinity constraints is derived for the filtering error system. The robust filter is designed in terms of the feasibility of a linear matrix inequality (LMI). The numerical examples are provided to show the effectiveness of the data transmission model and the proposed filtering method.
International conference proceedings, English

An SOS-based Observer Design for Polynomial Fuzzy Systems
Kazuo Tanaka; Hiroshi Ohtake; Toshiaki Seo; Hua O. Wang
Lead, 2011 AMERICAN CONTROL CONFERENCE, IEEE, 4953-4958, 2011, Peer-reviwed, This paper presents a sum of squares (SOS, for brevity) based observer design for a more general class of polynomial fuzzy systems with the polynomial matrices A(i)(x(t)) and B-i(x(t)) that are permitted to be dependent of the states x( t). First, we briefly summarize previous works on SOS-based observer designs for two limited classes of polynomial fuzzy systems. To overcome the difficulty of the fact that does not realize the so-called separation principle design for the more general class, this paper provides a practical design procedure of a polynomial fuzzy controller and a polynomial fuzzy observer without lack of guaranteeing the stability of the overall control system in addition to converging state estimation error (via the observer) to zero. The design approach discussed in this paper is more general than the existing LMI approaches (to T-S fuzzy controller and observer designs) and also than the previous SOS-based observer designs. To illustrate the validity of the design approach, a design example is provided. The example shows the utility of our SOS approach to the polynomial fuzzy observer-based control for the more general class of polynomial fuzzy systems.
International conference proceedings, English

An Improved Approach to Fuzzy Model Construction and Servo Control with Constraints based on Error Dynamics
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2011 AMERICAN CONTROL CONFERENCE, IEEE, 4959-4963, 2011, Peer-reviwed, This paper presents an improved approach to servo control for nonlinear systems with constraints on inputs and states using the fuzzy model-based control approach. In our previous paper, servo control based on error dynamics using error vector and input difference was proposed. Although the approach can achieve servo control with constraints on both of inputs and states, error dynamics with time-varying extra terms cannot be applied. In this paper, time-varying cancellation input is newly introduced. By using the cancellation input, servo control for error dynamics with time varying extra terms is achieved. We derive servo controller design conditions and constraint conditions on inputs and states in the form of LMI. Design examples illustrate the utility of this approach.
International conference proceedings, English

可変迎角機構を有する飛行ロボットシミュレーションモデルの構築
東 善之; 田中一男; 大竹 博
Corresponding, 日本機械学会論文集(C編), 76, 762, 361-370, Feb. 2010, Peer-reviwed
Scientific journal, Japanese

Stability Analysis of Nonlinear Systems via Multiple Mixed Max-Min based Lyapunov Functions
Kazuo Tanaka; Hiroshi Ohtake; Takehito Yamaguchi; Hua O. Wang
Lead, 2010 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2010), IEEE, 2899-2905, 2010, Peer-reviwed, This paper presents stability analysis of nonlinear systems using a new type of Lyapunov functions. We define so-called multiple mixed max-min based Lyapunov functions that contain existing piecewise Lyapunov functions as a special case. The extension is realized by multiple mixed connection of max and min operations for plural local quadratic functions. Hence, stability analysis discussed in this paper is more relaxed than those based on existing piecewise Lyapunov functions in addition to quadratic Lyapunov functions. Relaxed stability conditions based on multiple mixed max-min based Lyapunov functions are derived by considering switching conditions among the plural local quadratic functions. The derived stability conditions are represented in terms of bilinear matrix inequalities (BMIs). Unfortunately, BMIs cannot be generally solved via LMI solvers. Therefore, to simply solve BMIs, we propose a practical way that combines an LMI solver and particle swarm optimization. In this paper, two analytical examples are provided. The examples illustrate that our approach provides more relaxed stability results than existing piecewise Lyapunov functions approaches.
International conference proceedings, English

Stability analysis for the polynomial fuzzy systems by utilizing equality constraints of sum-of-squares program
Ying-Jen Chen; Kazuo Tanaka; Hua O. Wang; Hiroshi Ohtake; Wen-June Wang
2010 International Conference on System Science and Engineering, ICSSE 2010, 36-40, 2010, Peer-reviwed, This paper presents the stability analysis for polynomial fuzzy systems by utilizing the equality constraints of sum-of-squares (SOS) Program. Recently, T-S fuzzy systems have been extended to polynomial fuzzy systems, in which the consequent parts could be polynomial sub-systems. Moreover, stability and stabilization analyses for polynomial fuzzy systems have been done based on polynomial Lyapunov functions that contain quadratic Lyapunov functions as a special case. Since polynomials exist in the sub-systems and the positive definite matrices of the Lyapunov functions, the linear matrix inequality (LMI) tools are not valid for the polynomial analyses. Instead of LMI tools, SOSTOOLS of Matlab toolbox is applied to solve solutions for the polynomial analyses. The SOS program of SOSTOOLS can solve two kinds of constraints that are equality constraints and inequality constraints. The existing stability and stabilization analyses for polynomial fuzzy systems represent their conditions only in the inequality constraints. This paper analyzes the stability of the polynomial fuzzy systems by polynomial Lyapunov functions, and represents the new stability conditions not only in terms of the inequality constraints but also in terms of the equality constraints. © 2010 IEEE.
International conference proceedings, English

Fuzzy Model-based Servo Control with Constraints on both of Inputs and States
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2010 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, IEEE, 107-110, 2010, Peer-reviwed, This paper presents servo control for nonlinear systems with constraints on both of inputs and states using the fuzzy model-based control approach. In our previous paper, we proposed servo control with input constraint by introducing input difference between present input and final input. However, it is difficult to constrain both of state of the nonlinear systems and the control input at the same time since time-derivatives of state are used. In this paper, we construct the nonlinear error system based on error vector between state and the target point for servo control. By employing the error system representation and the input difference, servo control with constraints on both of inputs and states can be achieved. We derive LMI conditions for designing servo controller and for constraining control inputs and states. Servo controller with constraints is designed by simultaneously solving servo controller design condition and the constraint conditions. A design example illustrates the utility of this approach.
International conference proceedings, English

A Sum-of-Squares Approach to Modeling and Control of Nonlinear Dynamical Systems With Polynomial Fuzzy Systems
Kazuo Tanaka; Hiroto Yoshida; Hiroshi Ohtake; Hua O. Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 17, 4, 911-922, Aug. 2009, Peer-reviwed, This paper presents a sum of squares (SOS) approach for modeling and control of nonlinear dynamical systems using polynomial fuzzy systems. The proposed SOS-based framework provides a number of innovations and improvements over the existing linear matrix inequality (LMI)-based approaches to Takagi-Sugeno (T-S) fuzzy modeling and control. First, we propose a polynomial fuzzy modeling and control framework that is more general and effective than the well-known T-S fuzzy modeling and control. Secondly, we obtain stability and stabilizability conditions of the polynomial fuzzy systems based on polynomial Lyapunov functions that contain quadratic Lyapunov functions as a special case. Hence, the stability and stabilizability conditions presented in this paper are more general and relaxed than those of the existing LMI-based approaches to T-S fuzzy modeling and control. Moreover, the derived stability and stabilizability conditions are represented in terms of SOS and can be numerically (partially symbolically) solved via the recently developed SOSTOOLS. To illustrate the validity and applicability of the proposed approach, a number of analysis and design examples are provided. The first example shows that the SOS approach renders more relaxed stability results than those of both the LMI-based approaches and a polynomial system approach. The second example presents an extensive application of the SOS approach in comparison with a piecewise Lyapunov function approach. The last example is a design exercise that demonstrates the viability of the SOS-based approach to synthesizing a stabilizing controller.
Scientific journal, English

Guaranteed Cost Control of Polynomial Fuzzy Systems via a Sum of Squares Approach
Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 39, 2, 561-567, Apr. 2009, Peer-reviwed, This correspondence 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 correspondence 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.
Scientific journal, English

Development of a Flying Robot With a Pantograph-Based Variable Wing Mechanism
Naohiro Hara; Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
Corresponding, IEEE TRANSACTIONS ON ROBOTICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 25, 1, 79-87, Feb. 2009, Peer-reviwed, 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.
Scientific journal, English

Sensor Reduction for Backing-Up Control of a Vehicle With Triple Trailers
Kazuo Tanaka; Kenji Yamauchi; Hiroshi Ohtake; Hua O. Wang
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 56, 2, 497-509, Feb. 2009, Peer-reviwed, 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.
Scientific journal, English

同軸反転型マイクロヘリコプタの飛行安定化制御
大竹 博; 飯村 健; 田中 一男
日本知能情報ファジィ学会誌, Japan Society for Fuzzy Theory and intelligent informatics, 21, 1, 100-106, Feb. 2009, Peer-reviwed, This paper presents flight control of micro helicopter with coaxial counter-rotating blades. By employing fuzzy control approach and by constructing fuzzy control rule maps based on human operator's experience and knowledge, we achieve hovering control and acrobatic path-following control of the micro helicopter.
Scientific journal, Japanese

H∞ control of T-S fuzzy systems using piecewise Lyapunov function based switching fuzzy controller
Ying-Jen Chen; Hiroshi Ohtake; Kazuo Tanaka; Wen-June Wang; Hua O. Wang
Proceedings of the IEEE Conference on Decision and Control, 3087-3092, 2009, Peer-reviwed, In this study, the piecewise Lyapunov function based switching fuzzy controller is proposed to get a relaxed criterion for the H∞ control of continuous T-S fuzzy systems. The particle swarm optimization (PSO) algorithm, which is useful for nonlinear optimization problem, is utilized with the LMI tool to get the optimal H∞ performance due to that some conditions of the criterion are bilinear with the s-procedure parameters. The simulation results have shown the validity of the proposed H∞ control method. ©2009 IEEE.
International conference proceedings, English

Polynomial fuzzy observer design: A sum of squares approach
Kazuo Tanaka; Hiroshi Ohtake; Motohiro Wada; Hua O. Wang; Ying-Jen Chen
Proceedings of the IEEE Conference on Decision and Control, 7771-7776, 2009, Peer-reviwed, This paper presents a sum of squares (SOS, for brevity) approach to polynomial fuzzy observer design for polynomial fuzzy systems. First, we briefly summarize previous results with respect to a polynomial fuzzy system and controller that are more general representation of the well-known Takagi-Sugeno (T-S) fuzzy system and controller, respectively. Secondly, we propose a polynomial fuzzy observer to estimate states of the polynomial fuzzy system and derive an SOS condition to design a polynomial fuzzy controller and observer. A key feature of the SOS design condition is that it realizes the socalled separation principle, that is, that a polynomial fuzzy controller and a polynomial fuzzy observer can be separately designed without lack of guaranteeing the stability of the overall control system. The design approach discussed in this paper is more general than the existing LMI approaches (to T-S fuzzy controller and observer designs). In addition, the design condition in the proposed approach can be represented in terms of SOS and is symbolically and numerically solved via the recent developed SOSTOOLS and a semidefinite program (SDP) solver, respectively. To illustrate the validity of the design approach, a design example is provided. The example shows the utility of our SOS approach to the polynomial fuzzy observer-based control. ©2009 IEEE.
International conference proceedings, English

Fuzzy model-based servo and model following control for nonlinear systems
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 39, 6, 1634-1639, 2009, Peer-reviwed, This correspondence presents servo and nonlinear model following controls for a class of nonlinear systems using the Takagi-Sugeno fuzzy model-based control approach. First, the construction method of the augmented fuzzy system for continuous-time nonlinear systems is proposed by differentiating the original nonlinear system. Second, the dynamic fuzzy servo controller and the dynamic fuzzy model following controller, which can make outputs of the nonlinear system converge to target points and to outputs of the reference system, respectively, are introduced. Finally, the servo and model following controller design conditions are given in terms of linear matrix inequalities. Design examples illustrate the utility of this approach. © 2009 IEEE.
Scientific journal, English

Improved Controller Design for Switching Fuzzy Model-based Control
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, IEEE, 4284-+, 2009, Peer-reviwed, This paper presents improved LMI (linear matrix inequality) controller design condition for switching fuzzy model-based control using slack variable approach based on the inverse use of the elimination lemma. In our previous papers, we derived controller design conditions for augmented switching fuzzy model which consists of a switching fuzzy model and a stable linear system. However, in the papers, we have to determine the stable linear system in advance. In this paper, by employing slack variable approach based on the inverse use of the elimination lemma, we derive LMI controller design conditions for the switching fuzzy model without determining the stable linear system in advance. A design example illustrates the utility of this approach.
International conference proceedings, English

Stabilization of Complex Switched Networks with Two Types of Delays via Impulsive Control
Meng Yang; Yan-Wu Wang; Hua O. Wang; Hiroshi Ohtake; Kazuo Tanaka; Jiang-Wen Xiao
2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, IEEE, 5783-+, 2009, Peer-reviwed, This paper presents a general complex switched network (CSN) model that contains switching behaviors in both its nodes and topology configuration. Stabilization of such directed time-varying CSNs with two types of delays is investigated. The two types of delays consist of the system delay at each node and the coupling time-delay between nodes. Based on the Lyapunov stability theory, delay independent stabilizing conditions for CSNs with both types of delays are obtained via impulsive control. A numerical example is provided for illustration.
International conference proceedings, English

Guaranteed Cost Control of T-S Fuzzy Systems using Piecewise Lyapunov Function based Switching Fuzzy Controller
Ying-Jen Chen; Hiroshi Ohtake; Wen-June Wang; Kazuo Tanaka; Hua O. Wang
2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3, IEEE, 440-+, 2009, In this study, the guaranteed cost control of continuous T-S fuzzy systems using piecewise Lyapunov function based switching fuzzy controller is presented. In our previous paper, the switching fuzzy controller, which switches depending on the piecewise Lyapunov function, was proposed. Based on the piecewise Lyapunov function and the switching fuzzy controller, more relaxed guaranteed cost control conditions are obtained. The relaxed conditions are bilinear with the s-procedure parameters. In this paper, the particle swarm optimization (PSO) algorithm, which is useful for the nonlinear optimization problem, is utilized to get the optimal control performance. A design example is provided to illustrate the validity of the design approach.
International conference proceedings, English

Fuzzy Model-based Servo Control for Nonlinear Systems with Input Constraint
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3, IEEE, 452-+, 2009, Peer-reviwed, This paper presents servo control for nonlinear systems with input constraint using the fuzzy model-based control approach. We introduce input difference between present input and final input which is a bias input to keep output at a target point after making output converge to the target point. By adding input difference and time-derivative nonlinear system, we construct the augmented system with input difference. We derive LMI conditions for designing servo controller and for constraining control input. By simultaneously solving servo controller design condition and the constraint condition, servo control with input constraint is achieved.
International conference proceedings, English

Switching Fuzzy Model Construction based on Optimal Dividing Planes
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2009 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, IEEE, 808-+, 2009, Peer-reviwed, This paper presents switching fuzzy model construction based on optimal dividing planes. In our previou papers, we proposed the switching fuzzy model with arbitrary dividing planes. However, dividing planes have been selected by controller designers before constructing the switching fuzzy model. Unfortunately, it is difficult to find suitable dividing planes for complicated nonlinear systems. Moreover, the switching fuzzy models constructed from different dividing planes are different. Therefore, the model construction affects the stability analysis results.
In this paper, we propose switching fuzzy model construction method using multi-dimensional sector nonlinearity concept based on optimal dividing planes. The linear consequent parts of the switching fuzzy model based on optimal dividing planes are constructed from sectors which have minimum distance between a nonlinear system and sectors, and have richer information of the nonlinear system than the consequent parts of the ordinary Takagi-Sugeno fuzzy model. Two examples are provided to illustrate the validity of this approach.
International conference proceedings, English

Relaxed Stabilization Conditions of T-S Fuzzy Systems Using Piecewise Lyapunov Function Based Switching Fuzzy Controller
Ying-Jen Chen; Hiroshi Ohtake; Kazuo Tanaka; Wen-June Wang; Hua O. Wang
2009 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, IEEE, 1276-+, 2009, Peer-reviwed, Based on the piecewise Lvapunov function, this study proposes a switching fuzzy controller, which switches depending on the Lyapunov function, to get relaxed stabilization conditions for the continuous T-S fuzzy system. The relaxed conditions are bilinear with the s-procedure parameters, therefore the particle swarm optimization (PSO) algorithm is utilized with the LMI tool to solve the relaxed conditions. Two simulation examples are given to show the relaxation and effectiveness of the proposed method.
International conference proceedings, English

Improvement of Simulation Model and Development of Control Mechanism of force direction for a Flying Robot with Cyclogyro Wing
Yoshiyuki Higashi; Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 2861-2866, 2009, Peer-reviwed, This paper discusses the improvement of the simulation model and the development of the new mechanism for flight control of a flying robot with the cyclogyro wing. In past study, we focused high maneuverability of the flying robots with the cyclogyro wing, whose rotor had rotation along horizontal axis, and developed some prototypes. The simulation model was also constructed based on the pressure of air. However the Reynolds number was not considered in the constructed simulation model. As a results, the model's accuracy was not enough. On the other hand, the control mechanism for the flight of cyclogyro wing is not yet developed. In this paper, the simulation model is improved by considering the cyclogyro's Reynolds number. The utility of the improved simulation model is verified by comparing simulation results with experimental results. Moreover the new mechanism is suggested for the flight control by controlling the generated force direction. The prototype of the new mechanism is developed and validated by the experiment.
International conference proceedings, English

H-infinity Control of T-S Fuzzy Systems Using Piecewise Lyapunov Function based Switching Fuzzy Controller
Ying-Jen Chen; Hiroshi Ohtake; Kazuo Tanaka; Wen-June Wang; Hua O. Wang
PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), IEEE, 3087-3092, 2009, Peer-reviwed, In this study, the piecewise Lyapunov function based switching fuzzy controller is proposed to get a relaxed criterion for the H-infinity control of continuous T-S fuzzy systems. The particle swarm optimization (PSO) algorithm, which is useful for nonlinear optimization problem, is utilized with the LMI tool to get the optimal H-infinity performance due to that some conditions of the criterion are bilinear with the s-procedure parameters. The simulation results have shown the validity of the proposed H-infinity control method.
International conference proceedings, English

Polynomial Fuzzy Observer Design: A Sum of Squares Approach
Kazuo Tanaka; Hiroshi Ohtake; Motohiro Wada; Hua O. Wang; Yin-Jen Chen
PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), IEEE, 7771-7776, 2009, Peer-reviwed, This paper presents a sum of squares (SOS, for brevity) approach to polynomial fuzzy observer design for polynomial fuzzy systems. First, we briefly summarize previous results with respect to a polynomial fuzzy system and controller that are more general representation of the well-known TakagiSugeno (T-S) fuzzy system and controller, respectively. Secondly, we propose a polynomial fuzzy observer to estimate states of the polynomial fuzzy system and derive an SOS condition to design a polynomial fuzzy controller and observer. A key feature of the SOS design condition is that it realizes the so called separation principle, that is, that a polynomial fuzzy controller and a polynomial fuzzy observer can be separately designed without lack of guaranteeing the stability of the overall control system. The design approach discussed in this paper is more general than the existing LMI approaches (to T-S fuzzy controller and observer designs). In addition, the design condition in the proposed approach can be represented in terms of SOS and is symbolically and numerically solved via the recent developed SOSTOOLS and a semidefinite program (SDP) solver, respectively. To illustrate the validity of the design approach, a design example is provided. The example shows the utility of our SOS approach to the polynomial fuzzy observer based control.
International conference proceedings, English

Information Control in a Unified Framework of Consensus Seeking
Henri Aguesse; Hua O. wang; Kazuo Tanaka
International Journal of Information and Systems Science, 5, 2, 199-209, 2009, Peer-reviwed
Scientific journal, English

脳波による車椅子の自動操縦実現のための２つの試み
田中一男; 大竹 博; 坂本 博一
計測自動制御学会論文集, 計測自動制御学会, 44, 12, 1006-1008, Dec. 2008, Peer-reviwed
Scientific journal, Japanese

Switching Model Construction and Controller Design for Dynamical Systems with Input Nonlinearity
Hiroshi Ohtake; Kazuo Tanaka
Journal of Advanced Computational Intelligence and Intelligent Informatics, 12, 6, 537-545, Dec. 2008, Peer-reviwed
Scientific journal, English

Development and Control of a Small Biped Walking Robotusing Shape Memory Alloys
Mami Nishida; Kazuo Tanaka; Hua O. Wang
Journal of Robotics and Mechatronics, 20, 5, 793-800, Nov. 2008, Peer-reviwed
Scientific journal, English

Fuzzy Model-based Servo Control for a Class of Nonlinear Systems
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
17th IFAC World Congress, 6850 –6854-159, Jul. 2008, Peer-reviwed
International conference proceedings, English

A Sum of Squares Approach to Guaranteed Cost Control of Polynomial Discrete Fuzzy Systems
Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
17th IFAC World Congress, 6861 –6868, Jul. 2008
International conference proceedings, English

Fuzzy Model-based Servo Control for a Class of Nonlinear Systems
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
17th IFAC World Congress, 6850 –6854, Jul. 2008, Peer-reviwed
International conference proceedings, English

Strategy of Finding the Travelable Area for Autonomous Mobile Robot Using Distance and Integration Value Obtained By Ultrasonic Wave Sensor(Mechanical Systems)
EMARU Takanori; TANAKA Kazuo; TSUCHIYA Takeshi
Transactions of the Japan Society of Mechanical Engineers. C, 一般社団法人日本機械学会, 74, 737, 98-107, Jan. 2008, Peer-reviwed, The ultrasonic TOF (Time-of-flight) ranging system is today the most common sensing system employed in indoor mobile robotic systems, primary due to the ready availability of low-cost systems, their small size, simple circuits, and their ease of interfacing with computers. TOF ranging systems measure the round-trip time required for a pulse of emitted energy to travel to a reflecting object, then echo back to a receiver. However, ultrasonic TOF ranging systems tend to neglect minute reflected waves below the threshold level. In this paper, we propose a novel approach to utilize the minute reflected waves by integrating the reflected waves. It is implemented using a transducer with scanning system, and has a great ability of finding the travelable area for a robot in environments in which the distance cannot be obtained precisely. The proposed system is constructed by simple way so as to improve the utility value of sonar. The validity of the proposed method is investigated by applying this method to autonomous mobile robot in various environments such as environment with multiple obstacles, in the end of the hall, and so on.
Japanese

Stabilization of polynomial fuzzy systems via a sum of squares approach
Kazuo Tanaka; Hiroto Yoshida; Hiroshi Ohtake; Hua O. Wang
22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control, 160-165, 2008, Peer-reviwed, This paper presents stabilization of polynomial fuzzy systems via a sum of squares (SOS) approach. First, we propose a polynomial fuzzy controller that is a more general representation of the well-known Takagi-Sugeno (T-S) fuzzy controller. Secondly, we derive stabilization conditions based on polynomial Lyapunov functions that contain quadratic Lyapunov functions as a special case. Hence, stabilization approach discussed in this paper is more general than that based on the existing LMI approaches to T-S fuzzy control system designs. The stabilization conditions in the proposed approach can be represented in terms of SOS and are numerically (partially symbolically) solved via the recent developed SOSTOOLS. To illustrate the validity of the design approach, a design example is provided. The example shows that our approach provides more relaxed design results than the existing LMI approach. © 2007 IEEE.
International conference proceedings, English

超音波センサにより距離値および反射波の積分値を用いた自律移動ロボットの通行可能領域検出法
江丸貴紀; 田中一男; 土谷武
日本機械学会論文集Ｃ編, 74, 737, 98-10, Jan. 2008, Peer-reviwed
Scientific journal, Japanese

Micro Helicopter Control: LMI Approach vs SOS Approach
Kazuo Tanaka; Takamichi Komatsu; Hiroshi Ohtake; Hua O. Wang
2008 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-5, IEEE, 347-+, 2008, Peer-reviwed, This paper presents a comparison result of micro helicopter control via a typical linear matrix inequality (LMI) approach and a sum of squares (SOS) approach. First we construct a dynamical model of a micro helicopter and convert it to a Takagi-Sugeno fuzzy model. Next, this paper summarizes a recent developed SOS design approach for polynomial fuzzy control systems based on polynomial Lyapunov functions. We emphasize that the SOS design approach to polynomial fuzzy control systems is more general than that based on the existing LMI design approaches to T-S fuzzy control systems. The control results of a micro helicopter show that the SOS design approach provides better control results than the LMI design approach.
International conference proceedings, English

Switching Fuzzy Model based Model Following Control for Discrete-time Systems
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2008 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-5, IEEE, 812-+, 2008, Peer-reviwed, This paper presents nonlinear model following control for discrete-time nonlinear systems using the switching fuzzy model-based control approach. We propose the construction method of augmented switching fuzzy model following control system for discrete-time nonlinear systems. Then we introduce the switching fuzzy controller which can make outputs of the nonlinear system converge to outputs of the reference nonlinear system, and derive the controller design conditions in terms of LMIs.
International conference proceedings, English

Stochastic controlling tolerable fault of Network Control Systems
Chunxi Yang; Zhi-Hong Guan; Jian Huang; Hua O. Wang; Kazuo Tanaka
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12, IEEE, 1979-+, 2008, Peer-reviwed, A problem of stabilization about uncertain Networked Control Systems (NCSs) with random but bounded delays is discussed in this paper. By using augmented state-space method, this class of problem can be modeled as discrete-time jump linear system governed by a finite-state Markov chains. A new switched model based on probability is proposed to research problems of reliable control when actuators become ageing or partial disable. Using improved V-K iteration algorithm, a class of reliable controller is designed to make system asymptotically mean square stable under several stochastic disturbance such as random time-delay and stochastic actuator failure and have the maximal redundancy degree.
International conference proceedings, English

Delay independent synchronization of complex network via hybrid control
Meng Yang; Yan-Wu Wang; Hua O. Wang; Kazuo Tanaka; Zhi-Hong Guan
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12, IEEE, 2266-+, 2008, Peer-reviwed, This paper studies synchronization properties of two classes of complex networks: directed time-varying network and undirected time-invariant network with constant edge weights. Based on Lyapunov stability theory, sufficient conditions for globally exponential and asymptotical synchronization are proposed for both of the two networks under control, which consists of an impulsive controller and a switching controller with time-invariant delayed. A numerical example is provided for illustration.
International conference proceedings, English

An SOS-based stable control of polynomial discrete fuzzy systems
Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12, IEEE, 4875-+, 2008, Peer-reviwed, This paper presents stability and stabilization conditions of polynomial discrete fuzzy systems. First, based on polynomial Lyapunov functions, we derive a stability condition of polynomial discrete fuzzy systems without inputs. Secondly, we derive a stabilization condition to design a stable polynomial fuzzy controller. Both of them are represented in terms of SOS and are numerically (partially symbolically) solved via the recent developed SOSTOOLS. In addition, polynomial discrete fuzzy systems and controllers contain discrete Takagi-Sugeno (T-S) fuzzy systems and controllers as a special case. Hence, the approach discussed in this paper is more general than that based on the existing LMI approaches to discrete T-S fuzzy control system designs. To illustrate the validity of the design approach, a design example is provided. The example shows the utility of our approach.
International conference proceedings, English

Fuzzy model-based servo control for discrete-time nonlinear systems
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12, IEEE, 4881-+, 2008, Peer-reviwed, This paper presents servo control for discrete-time nonlinear systems using the switching fuzzy model-based control approach. We propose the construction method of augmented switching fuzzy servo control system for discrete-time nonlinear systems. Then we introduce the switching fuzzy servo controller which can make outputs of the nonlinear systems converge to target points, and derive the controller design conditions in terms of LMIs. A design example illustrates the utility of this approach.
International conference proceedings, English

Development of a Multiple Parallel Link Rotor for Flying Robots
Shin Hasgeawa; Kazuo Tanaka; Hiroshi Ohtake
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 153-156, 2008, Peer-reviwed, This paper presents development of a new multiple parallel link rotor for flying robots and its mechanism improvement. A key feature of the developed rotor is to have several sets of variable wings that not only change attack angles according to wing positions but also are located so as to have same degree phase difference each other. First, we construct a simulation model to obtain lift and drag forces by considering the trajectories of the swinging wings, i.e., by considering the change of the attack angles. The simulation model agrees well with experimental results. Though the simulation results show that our developed rotor with a battery can hover around 7 [Hz] rotational frequency, the maximum rotation in experiments is 4.67 [Hz] due to a mechanism structure problem. As a result of improving its mechanism, we can achieve 7 [Hz] rotational frequency in experiments. This result shows that the developed flying robot with the new rotors is capable of generating sufficient lift force for flying.
International conference proceedings, English

Development of a Variable-Wing Mechanism Based on Flapping Motion of Birds
Taku Yokoyama; Kazuo Tanaka; Hiroshi Ohtake
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 157-162, 2008, Peer-reviwed, This paper presents an innovative variable-wing mechanism based on flapping motion of birds. The main feature of the mechanism proposed in this paper is to realize the complicated flapping motion of birds such as flapping, spanning, lead-lagging and feathering by using only a single actuator. We show the utility of the new variable-wing mechanism by comparing the motion generated by the new mechanism with the typical flapping motion of pigeons.
International conference proceedings, English

Autonomous flight control of flapping-of-wings robot using GPS
Hiromasa Ueno; Hiroshi Ohtake; Kazuo Tanaka
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 163-167, 2008, Peer-reviwed, This paper presents autonomous flight control of flapping-of-wings robot. The positions of the robot and destination point are measured by GPS sensor. We propose a simple control algorithm to make the robot approach to the destination point. In order to evaluate the algorithm, we show the computer simulation which takes influences of the measurement error of GPS and the change of the wind into account.
International conference proceedings, English

Passive Dynamic Walking with Elastic Energy
Masahiro Mizuno; Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 3097-+, 2008, Peer-reviwed, This paper presents passive dynamic walking with elastic energy. We propose a new type of passive dynamic walking robot by adding elastic materials such as spring or rubber between a supporting leg and a swing leg of the robot. By utilizing restoring force of spring or rubber, we can make the passive dynamic walking robot easily walk since the crotch angle between legs is restricted. In this paper, we firstly derive dynamics of the passive dynamic walking robot with elastic energy. Next, we show the effectiveness of adding elastic energy by computer simulation. Finally, we make the actual passive dynamic walking robot with elastic energy and carry out walking experiments.
International conference proceedings, English

The Quadruped Locomotion Robot with the Flexible Materials
Mami Nishida; Kazuo Tanaka
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, IEEE, 2649-2654, 2008, Peer-reviwed, This paper proposed a small and light actuator based on an easy ON-OFF control to movement walking robot. We named a Flexible, Flat Plate to FFP actuator as an actuator of a flexible locomotion robot. The FFP actuator is a versatile actuator that mechanically obtains flexible displacement by combining functional materials like the shape-memory alloy with a simple lamina structure lightly not broken. The center of gravity movement is achieved by the expansion and contraction of a flexible lamina. In the robots that proposes, the actuators and the structures are unification. The assembly of this robot is possible at few time. The resulting robot weighs a mear 5.8g (with a height of 80mm). By miniaturizing flexible robots, execution of more detailed work becomes possible. This robot is certain to save the loading payload approximately 1.5 times the empty weight of the robot (onboard load of the about 0g).
We achieved quadruped locomotion robot without the falling depending on the average speed of about 1.5mm/second.
International conference proceedings, English

Development of a cyclogyro-based flying robot with variable attack angle mechanisms
Kazuo Tanaka; Ryohei Suzuki; Takanori Emaru; Yoshiyuki Higashi; Hua O. Wang
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 12, 5, 565-570, Oct. 2007, Peer-reviwed, This paper presents an experimental study on the development of a cyclogyro-based flying robot with a new variable angle of attack mechanism. A cyclogyro is a flying machine supported in the air by power-driven rotors that rotate about a horizontal axis, like the paddle-wheels of a steamboat. Machines of this type have been designed by some companies but there has been no record of any successful flights. Our design starts with a new variable angle of attack mechanism with an eccentric (rotational) point in addition to a rotational point connecting to a motor. The main feature of the mechanism with the eccentric rotational point is the ability to change attack of angles in accordance with the wing positions (as determined by the rotational angles of the cyclogyro) without actuators. The design parameters (wing span, the number of wings, and eccentric distance) of the flying robot are determined through a series of experiments. Experimental results show that the cyclogyro-based flying robot with the new variable angle of attack mechanism is capable of generating sufficient lift force for flying.
Scientific journal, English

弾性エネルギを付加した受動歩行モデルの提案
水野正博; 大竹博; 田中一男
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 43, 11, 998-1000, Aug. 2007, Peer-reviwed, This paper presents passive dynamic walking with elastic energy. We propose a new type of passive dynamic walking robot by adding elastic materials such as spring or rubber between a supporting leg and a swing leg of the robot
Scientific journal, Japanese

A Descriptor System Approach to Fuzzy Control System Design via Fuzzy Lyapunov Functions
Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
IEEE Transactions on Fuzzy Systems, 15, 3, 333-341, Jul. 2007, Peer-reviwed
Scientific journal, English

Guaranteed cost control of polynomial fuzzy systems via a sum of squares approach
Kazuo Tanaka; Kenji Yamauchi; Hiroshi Ohtake; Hua O. Wang
Proceedings of the IEEE Conference on Decision and Control, 5954-5959, 2007, Peer-reviwed, This paper presents 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 representation of the well-known Takagi-Sugeno (T-S) fuzzy model and controller. Secondly, we derive a design condition based on polynomial Lyapunov functions that contain quadratic Lyapunov functions as a special case. Hence, the design approach discussed in this paper is more general than that based on the existing LMI approaches to T-S fuzzy control system designs. The design condition realizes 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, a design example is provided. The example shows that our approach provides more relaxed design results than the existing LMI approach. © 2007 IEEE.
International conference proceedings, English

Adaptive spanning-tree on changing topologies: Towards emergent behaviors in autonomous multi-agent systems
Henri Aguesse; Hua O. Wang; Kazuo Tanaka
Proceedings of the American Control Conference, 1167-1172, 2007, Peer-reviwed, We propose a method to make a population of autonomous agents build and maintain a directed spanning tree architecture on a changing communication topology. Currently known algorithms can build a spanning tree in a distributed fashion in R times, where R is the radius of the spanning tree, provided the topology remains fixed during this time span. Our method removes this latter condition. To this end, we use a discrete wave equation on a grounded graph, prove a property of its eigenfunctions and exploit it. Our algorithm beats the Spanning Tree Protocol IEEE 802.1, the current standard for local area networks in terms of resilience to topology changes. © 2007 IEEE.
International conference proceedings, English

Development of a flying robot with pantograph-based variable wing mechanism
Naohiro Hara; Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, IEEE, 1, 1, 349-354, 2007, We develop a flying robot with a new pantographbased variable wing mechanism for horizontal-axis rotorcrafts (cyclogyro rotorcrafts). A key feature of the new mechanism is a unique trajectory of variable wings that not only change angles of attack but also expand and contract according to wing positions. Experimental results show that the developed flying robot can generate 144% lift force for its own weight (equivalently 100 gf payload). Furthermore, as a result of optimizing design parameters of the robot through computer simulation, we arrive at the optimal design parameters with 200 gf payload. Both simulation and experimental results show the utility of the developed flying robot with the new mechanism.
International conference proceedings, English

Adaptive spanning-tree on changing topologies: Towards emergent behaviors in autonomous multi-agent systems
Henri Aguesse; Hua O. Wang; Kazuo Tanaka
2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, IEEE, 1004-1009, 2007, Peer-reviwed, We propose a method to make a population of autonomous agents build and maintain a directed spanning tree architecture on a changing communication topology. Currently known algorithms can build a spanning tree in a distributed fashion in R times, where R is the radius of the spanning tree, provided the topology remains fixed during this time span. Our method removes this latter condition. To this end, we use a discrete wave equation on a grounded graph, prove a property of its eigenfunctions and exploit it. Our algorithm beats the Spanning Tree Protocol IEEE 802.1, the current standard for local area networks in terms of resilience to topology changes.
International conference proceedings, English

Piecewise fuzzy model construction and controller design based on piecewise Lyapunov function
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, IEEE, 5529-+, 2007, Peer-reviwed, This paper presents piecewise fuzzy model construction divided by arbitrary affine hyper-planes and controller design based on the so-called piecewise Lyapunov function. In our previous papers, we proposed the switching fuzzy model construction method with arbitrary dividing hyper-planes. However, we assumed that the dividing planes contain the origin, that is, linear hyper-planes in the papers. In this paper, we propose piecewise fuzzy model construction method with arbitrary dividing hyper-planes which are permitted not to pass through the origin. We can obtain sectors which can cover nonlinear dynamics more tightly than ordinary method. By utilizing continuity matrices which are constructed from coefficients of dividing hyper-planes, we construct piecewise fuzzy model which is continuous on boundaries of divided regions caused by dividing planes. Moreover, we derive controller design conditions based on the so-called piecewise Lyapunov function in terms of LMIs.
International conference proceedings, English

A sum of squares approach to stability analysis of polynomial fuzzy systems
Kazuo Tanaka; Hiroto Yoshida; Hiroshi Ohtake; Hua O. Wang
2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, IEEE, 2654-+, 2007, Peer-reviwed, This paper presents a sum of squares (SOS) approach to stability analysis of polynomial fuzzy systems. Our SOS approach provides two innovative and extensive results for the existing LMI approaches to Takagi-Sugeno fuzzy systems. First, we propose a polynomial fuzzy model that is a more general representation of the well-known Takagi-Sugeno fuzzy model. Second, we derive stability conditions based on polynomial Lyapunov functions that contain quadratic Lyapunov functions as a special case. Hence, stability analysis discussed in this paper is more general than that based on the existing LMI approaches to Takagi-Sugeno fuzzy systems. The stability conditions in the proposed approach can be represented in terms of SOS and are numerically (partially symbolically) solved via the recent developed SOSTOOLS. To illustrate the validity and applicability of the proposed approach, two analytical examples are provided. The first example shows that our approach provides more relaxed stability results than both the existing LMI approaches and a polynomial system approach. The second example illustrates the utility of our approach in comparison with a piecewise Lyapunov function approach.
International conference proceedings, English

Construction of simulation model of a flying robot with variable attack angle mechanism
Yoshiyuki Higashi; Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, IEEE, 1594-+, 2007, Peer-reviwed, This paper discusses a simulation model of flying robots (developed in our previous paper) with a variable attack angle mechanism. The simulation model constructed in this paper are divided into three parts. The first part is a so-called attack angle model to compute the change of angle of attack. The second part is a so-called lift force model to compute lift force based on the computational result from the first part. In the second part, we compensate lift and drag coefficients with aero dynamical (experimental) data in previous studies on pitching (motion) wing since the variable attack angle mechanism realizes a pitching motion. The third part is a so-called power model to compute the electrical power of motors. The utility of the simulation model is verified by comparing simulation results with experimental results.
International conference proceedings, English

Application of FFP-Actuators to legged locomotion robots
Mami Nishida; Kazuo Tanaka
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, IEEE, 2999-3004, 2007, Peer-reviwed, This paper describes an application of flexible flat plate (FFP) actuators (consisting of shape memory alloy (SMA) and polyethylene plate) to some legged locomotion robots. A key feature is that the legged locomotion robots developed in this paper have no joints. In other words, the FFP actuators that become the robot legs (links) can directly generate power by their deflections. In addition, the assembly time of the FFP actuators is short due to their simple structure. After investigating the fundamental properties of the FFP actuators, we propose ten types of FFP-actuators that are available for assembling a wide variety of legged locomotion robots. Two-legged and four-legged locomotion robots developed in this paper realize walking by transferring the elastic potential energy (generated by deflections of the FFP actuators) to kinematic energy. We demonstrate that the leg displacement can be controlled by adjusting the deflection of the FFP actuators with simple ON-OFF signals.
International conference proceedings, English

Guaranteed cost control of polynomial fuzzy systems via a sum of squares approach
Kazuo Tanaka; Kenji Yamauchi; Hiroshi Ohtake; Hua O. Wang
PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, IEEE, 3349-+, 2007, Peer-reviwed, This paper presents 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 representation of the well-known Takagi-Sugeno (T-S) fuzzy model and controller. Secondly, we derive a design condition based on polynomial Lyapunov functions that contain quadratic Lyapunov functions as a special case. Hence, the design approach discussed in this paper is more general than that based on the existing LMI approaches to T-S fuzzy control system designs. The design condition realizes 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, a design example is provided. The example shows that our approach provides more relaxed design results than the existing LMI approach.
International conference proceedings, English

A Piecewise Approach to Control for Nonlinear Systems
Tadanari Taniguchi; Michio Sugeno; Kazuo Tanaka
SCIS & ISIS 2006, 1955-1958, Sep. 2006, Peer-reviwed
International conference proceedings, English

Fuzzy Control of Miro Helicopter with Coaxial Counter-rotating Blades
Hiroshi Ohtake; Ken Iimura; Kazuo Tanaka
SCIS & ISIS 2006, 1955-1958, Sep. 2006, Peer-reviwed
International conference proceedings, English

A Basic Study on Electroencephalogram-based Control
Yuya Tateoka; Tomohiro Yoshikawa; Takeshi Furuhashi; Kazuo Tanaka
SCIS & ISIS 2006, 1959-1962, Sep. 2006, Peer-reviwed
International conference proceedings, English

Minimal-Time Consensus in Autonomous Systems
Henri Aguesse; Hua O. Wang; Kazuo Tanaka
Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, 329-334, Jul. 2006, Peer-reviwed
International conference proceedings, English

脳動制御システムにおける判別パターン作成アルゴリズムの開発
田中一男; 松永和之
計測自動制御学会論文集, 計測自動制御学会, 42, 4, 393-395, Apr. 2006, Peer-reviwed
Scientific journal, Japanese

Recursive pointwise design for nonlinear systems
K Tanaka; H Ohtake; HO Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 14, 2, 305-313, Apr. 2006, Peer-reviwed, This paper presents a recursive pointwise design (RPD) method for a class of nonlinear systems represented by <(x)over dot >(t) = f(x(t)) + g(x(t))u(t). A main feature of the RPD method is to recursively design a stable controller by using pointwise information of a system. The design philosophy is that f(x(t)) and 9(x(t)) can be approximated as constant vectors in very small local state spaces. Based on the design philosophy, we numerically determine constant control inputs in very small local state spaces by solving linear matrix inequalities (LMIs) derived in this paper. The designed controller switches to another constant control input when the states move to another local state space. Although the design philosophy is simple and natural, the controller does not always guarantee the stability of the original nonlinear system <(x)over dot >(t) = f (x(t)) + g(x(t))u(t). Therefore, this paper gives ideas of compensating the approximation caused by the design philosophy. After addressing outline of the pointwise design, we provide design conditions that exactly guarantee the stability of the original system. The controller design conditions require to give the maximum and minimum values of elements in the functions f(x(t)) and g(x(t)) in each local state-space. Therefore, we also present design conditions for unknown cases of the maximum and minimum values. Furthermore, we construct an effective design procedure using the pointwise design. A feature of the design procedure is to subdivide only infeasible regions and to solve LMIs again only for the subdivided infeasible regions. The recursive procedure saves effort to design a controller. A design example demonstrates the utility of the RPD method.
Scientific journal, English

Switching fuzzy controller design based on switching Lyapunov function for a class of nonlinear systems
H Ohtake; K Tanaka; HO Wang
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 36, 1, 13-23, Feb. 2006, Peer-reviwed, This paper presents a switching fuzzy controller design for a class of nonlinear systems. A switching fuzzy model is employed to represent the dynamics of a nonlinear system. In our previous papers, we proposed the switching fuzzy model and a switching Lyapunov function and derived stability conditions for open-loop systems. In this paper, we design a switching fuzzy controller. We firstly show that switching fuzzy controller design conditions based on the switching Lyapunov function are given in terms of bilinear matrix inequalities, which is difficult to design the controller numerically. Then, we propose a new controller design approach utilizing an augmented system. By introducing the augmented system which consists of the switching fuzzy model and a stable linear system, the controller design conditions based on the switching Lyapunov function are given in terms of linear matrix inequalities (LMIs). Therefore, we can effectively design the switching fuzzy controller via LMI-based approach. A design example illustrates the utility of this approach. Moreover, we show that the approach proposed in this paper is available in the research area of piecewise linear control.
Scientific journal, English

Development and control of a micro biped walking robot using shape memory alloys
Mami Nishida; Kazuo Tanaka; Hua O. Wang
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, IEEE, 1604-+, 2006, Peer-reviwed, This paper presents a study on the development and control of a micro biped walking robot using shape memory alloys (SMAs). We propose a flexible flat plate (FFP) consisting of a polyethylene plate and SMAs. Based on a detailed investigation of the properties of the SMA-based FFP structure, we develop a lightweight micro walking robot incorporating multiple SMA-based FFPs. The walking robot has four degrees of freedom and is controlled by switching the ON-OFF current signals to the SMA-based FFPs. The switching timing, central to the control strategy to achieve walking behavior, is determined through experiments. The micro robot realizes biped walking by transferring the elastic potential energy (generated by deflections of the SMA-based FFPs) to kinematic energy. The resulting micro biped walking robot weighs a mere 2.8g (with a height of 70mm). Our experimental results demonstrate the viability and utility of the micro walking robot with the proposed SMA-based FFPs and the control strategy to achieve walking behavior.
International conference proceedings, English

Switching Model Construction and Stability Analysis for Nonlinear Systems
Hiroshi Ohtake; Kazuo Tanaka
Journal of Advanced Computational Intelligence and Intelligent Informatics, 10, 1, 3-10, Jan. 2006, Peer-reviwed
Scientific journal, English

A Descriptor system approach to fuzzy control system designs using fuzzy Lyapunov function
Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, IEEE, 1-12, 4367-4372, 2006, Peer-reviwed, This paper presents a descriptor system approach to fuzzy control system designs using fuzzy Lyapunov function. The redundancy of descriptor systems achieves reduction of the number of linear matrix inequality (LMI) conditions that directly relates to computational requirement. To derive more relaxed LMI conditions, we propose new types of fuzzy controller and fuzzy Lyapunov function. A main feature of the LMI conditions derived in this paper is to be able to consider feasibility of the LMIs according to the switching speed of each linear subsystems (exactly speaking, according to the lower bound of time derivative of membership functions). The first example shows that the LNH conditions based on the fuzzy Lyapunov function are less conservative than those based on a common (standard) Lyapunov function. The second example illustrates the utility of the fuzzy Lyapunov function approach for another piecewise Lyapunov function approach.
International conference proceedings, English

Switching fuzzy model construction and controller design with arbitrary switching planes
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, IEEE, 1-12, 5053-+, 2006, Peer-reviwed, This paper presents switching fuzzy model construction with arbitrary switching planes and controller design based on the switching Lyapunov function. In our previous papers, we proposed the switching fuzzy model with switching planes corresponding to quadrants. However, it is obvious that a switching fuzzy model differs with respect to switching planes and the model construction affects the stability analysis results. In this paper, we propose switching fuzzy model construction with arbitrary switching planes and derive controller design conditions based on the switching Lyapunov function in terms of LMIs.
International conference proceedings, English

Managing group behaviors in swarm systems by associations
Guohua Ye; Hua O. Wang; Kazuo Tanaka; Zhi-Hong Guan
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, IEEE, 1-12, 3537-3544, 2006, Peer-reviwed, In this paper, we present a framework for managing group behaviors in multi-agent swarm systems. The framework explores the benefits by integrating stream function based path planning methods with novel artificial potential based flocking methods to realize complex swarming behaviors. A key development is the introduction of a set of flocking by dynamic association (DA) algorithms that effectively, deal with a host of swarming issues such as flexible and agile formation, obstacle avoidance and inter-agent collision. In particular, the DA algorithms employ a so-called singular association (SA) rule for inter-agent interaction, i.e., each agent associates itself with only one other judiciously chosen agent. The resulting algorithms enjoy two important interrelated benefits. First, the SA rule greatly simplifies the interactions in swarm systems thus it is more readily to pursue rigorous analysis of such systems, some of which are included in this paper. Secondly, the simplicity of the SA rule is advantageous for practical implementations. Extensive simulation as well as preliminary experimental results are presented to illustrate the viability of the proposed framework.
International conference proceedings, English

Switching fuzzy model-based control for dynamical systems with input nonlinearity
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2006 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-5, IEEE, 285-+, 2006, Peer-reviwed, Fuzzy model-based control mainly deals with dynamical systems which affinely depend on control inputs. In this paper, we propose the switching fuzzy model construction and controller design for dynamical systems which is permitted to have nonlinearity not only in the states, but also in the inputs. By utilizing the dynamic state feedback control approach, we show that we can deal with membership functions which depend on control inputs and that the number of the fuzzy model rules which fire simultaneously can be decreased in comparison with the ordinary switching fuzzy model. We design the switching fuzzy dynamic state feedback controller and derive the controller design conditions based on the switching Lyapunov function in terms of LMIs. A design example illustrates the utility of this approach.
International conference proceedings, English

Optimal dynamic output feedback designs for backing-up control of a vehicle with triple trailers
Kazuo Tanaka; Kenji Yamauchi; Hiroshi Ohtake; Hua O. Wang
2006 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-5, IEEE, 2385-+, 2006, Peer-reviwed, This paper presents dynamic output feedback control designs for discrete Takagi-Sugeno fuzzy systems. A dynamic output feedback controller is constructed based on the concept of dynamic parallel distributed compensation (DPDC). Design conditions for optimal dynamic feedback control are obtained in terms of linear matrix inequalities (LMIs). In application to a vehicle with triple trailers setup, we utilize the optimal design conditions to avoid the jack-knife phenomenon. Our results demonstrate that the optimal dynamic output feedback 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 two potentiometers that were employed to measure the relative angles (of a vehicle with triple trailers) in our previous experiments.
International conference proceedings, English

Development of a cyclogyro-based flying robot with variable attack angle mechanisms
Yoshiyuki Higashi; Takanori Emaru; Kazuo Tanaka; Hua O. Wang
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, IEEE, 3261-+, 2006, We develop a cyclogyro-based flying robot with a new variable attack angle mechanism. Cyclogyro is a flying machine which is supported in the air by power-driven rotors, which rotate about a horizontal axis, like the paddle-wheels of a steamboat. Machines of this type have been designed by some companies, but there is no record of any successful flights. The new variable attack angle mechanism proposed in this paper has an eccentric (rotational) point in addition to a rotational point connecting to a motor. The variable attack angle mechanism is a kind of double crank mechanism consisting of the two different rotational points and wings. The main feature of the mechanism with the eccentric point is to be able to change attack of angles according to the wing positions (according to the rotational angles of the cyclogyro) without actuators. The mechanism generates enough lift force to fly. We determine design parameters (wing span, the number of wings and eccentric distance) of the flying robot through experiments. Experimental results show that the developed cyclogyro-based flying robot with the new variable attack angle mechanism can hover along a vertical guide.
International conference proceedings, English

Electroencephalogram-based control of a mobile robot
Kazuo Tanaka; Kazuyuki Matsunaga; Shigeki Hori
Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi), 152, 3, 39-46, Aug. 2005, Peer-reviwed, This paper presents electroencephalogram-based control of a mobile robot. The purpose of control is to achieve direction control of a mobile robot only by electroencephalogram. We develop an algorithm for directing direction thinking ("going left" or "going right") and apply it to direction control of a mobile robot, The algorithm is based on time-frequency domain analysis using continuous wavelet transformation. Our experimental results demonstrate the possibility of achieving direction control of a mobile robot only by electroencephalogram. © 2005 Wiley Periodicals, Inc.
Scientific journal, English

Electroencephalogram-based control of an electric wheelchair
K Tanaka; K Matsunaga; HO Wang
IEEE TRANSACTIONS ON ROBOTICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 21, 4, 762-766, Aug. 2005, Peer-reviwed, This paper presents a study on electroencephalogram (EEG)based control of an electric wheelchair. The objective is to control the direction of an electric wheelchair using only EEG signals. In other words, this is an attempt to use brain signals to control mechanical devices such as wheelchairs. To achieve this goal, we have developed a recursive training algorithm to generate recognition patterns from EEG signals. Our experimental results demonstrate the utility of the proposed recursive training algorithm and the viability of accomplishing direction control of an electric wheelchair by only EEG signals.
Scientific journal, English

Fuzzy Model-based Manipulator Control with elbow Joint Constraint
Hiroshi Ohtake; Kazuo Tanaka
1828-1831, Aug. 2005, Peer-reviwed
International conference proceedings, English

LMI-based controller design for dynamic variable structure systems
Hiroshi Ohtake; Kazuo Tanaka
Proceedings of SPIE - The International Society for Optical Engineering, 6052, 2005, Peer-reviwed, This paper presents controller design conditions for dynamic variable structure systems in terms of linear matrix inequalities (LMIs). In our previous paper, we proposed the dynamic variable structure system and derived its controller design conditions using switching fuzzy model-based control approach. However, the controller design conditions were given in terms of bilinear matrix inequalities (BMIs). In this paper, by introducing the augmented system which consists of the switching fuzzy model and a stable linear system, we derive new controller design conditions in terms of linear matrix inequalities (LMIs) for the dynamic variable structure systems. A simulation result shows the utility of this control approach.
International conference proceedings, English

Propose the controlling strategy of wheeled mobile robot based on the consciousness
Takanori Emaru; Kazuo Tanaka; Takeshi Tsuchiya
Proceedings of SPIE - The International Society for Optical Engineering, 6052, 2005, Peer-reviwed, We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This method enables robot to move in unknown environments as it controls its speed smoothly. It is implemented using a transducer with a scanning system, and has a great ability of obtaining the traversable area for a robot in unknown environments in which the distance cannot be precisely measured. The proposed system, termed the integration-type ultrasonic wave sensor system, has following arbitrary parameters that the system designer can determine: sampling time of sonar, sampling time of scanning, range of scanning, speed of scanning, and so on. It is very difficult to determine them appropriately in response to changing environments or tasks. In this paper, we try to determine the arbitrary parameters of the integration-type ultrasonic wave sensor system on the basis of the 'consciousness'. We have proposed the speed control or obstacle avoidance by using the integration-type ultrasonic wave sensor system, and we define it as the unconsciousness movements. On the other hand, higher-level tasks such as navigation or map building are defined as the consciousness movements. The purpose of our research is to propose a simple construction and controlling method of the robot system by introducing the concept of consciousness. In preparation for this purpose, some experiments and discussion will be performed in this paper.
International conference proceedings, English

Speed control of a sonar-based mobile robot determining sensing and action strategy simultaneously
T Emaru; K Tanaka; T Tsuchiya
2005 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS, IEEE, 184-189, 2005, Peer-reviwed, Today, the ultrasonic TOF (time-of-flight) ranging system is the most common sensing system employed in indoor mobile robotic systems, primarily due to the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. TOF ranging systems measure the round-trip time required for a pulse of emitted energy to travel to a reflecting object and then echo back to a receiver. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below the threshold level. We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This is implemented using a transducer with a scanning system, and has a great ability of obtaining the travelable area for a robot in environments in which the distance cannot be precisely measured. The proposed system is constructed in a simple manner so as to improve the utility value of the sonar. This paper introduces the speed control strategy under uncertainty of sensor information. By considering the uncertainty of sensor information, we change the action strategy. By changing the action strategy, sensor information which is obtained by the robot changes at the same time. By using this relationship, we construct the robust robot system. The validity of the proposed method is investigated by applying this method to an autonomous mobile robot in various environments such as one with multiple obstacles, at the end of the hall, and so
International conference proceedings, English

Speed control of a sonar-based mobile robot with considering the self-localization
Takanori Emaru; Kazuo Tanaka; Takeshi Tsuchiya
2005 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONS, VOLS 1-4, CONFERENCE PROCEEDINGS, IEEE, 125-130, 2005, Peer-reviwed, Today, the ultrasonic TOF (time-of-flight) ranging system is the most common sensing system employed in indoor mobile robotic systems, primarily due to the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below the threshold level. We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This is implemented using a transducer with a scanning system, and has a great ability of obtaining the travelable area for a robot in environments in which the distance cannot be precisely measured. However, it is very difficult for this sensing system to resolve more higher task such as navigation problem or global map generation because it uses only local information. This paper introduces gyroscope sensor in addition to sonar and PSD, and perform self-localization. The validity of the proposed method is investigated by applying this method to an autonomous mobile robot in various environments such as one with multiple obstacles, at the end of the hall, and so on.
International conference proceedings, English

Polar coordinate fuzzy controller design based on parameter-dependent Lyapunov function
H Ohtake; K Tanaka; HO Wang
FUZZ-IEEE 2005: Proceedings of the IEEE International Conference on Fuzzy Systems, IEEE, 377-382, 2005, Peer-reviwed, This paper presents new controller design conditions based on a parameter-dependent Lyapunov function for the polar coordinate fuzzy systems which were proposed in our previous papers. In the previous papers, we considered stability conditions and controller design conditions based on the so-called common quadratic Lyapunov function for the systems. In this paper, we utilize the descriptor system representation for the polar coordinate fuzzy system and the corresponding controller, and we derive the stabilizability conditions based on the parameter-dependent Lyapunov function to determine the feedback gains in the controller. The conditions are given in terms of LMIs.
International conference proceedings, English

Shared nonlinear control in Internet-based remote stabilization
K Tanaka; H Ohtake; HO Wang
FUZZ-IEEE 2005: Proceedings of the IEEE International Conference on Fuzzy Systems, IEEE, 714-719, 2005, Peer-reviwed, This paper proposes shared control in internet-based remote stabilization for nonlinear systems. This paper consists of two parts. The first part addresses the basis of internet-based remote stabilization for a single nonlinear system with time-varying delay. We derive a delay dependent sufficient condition for ensuring the stability of Takagi-Sugeno (T-S) fuzzy models with time-varying delays that are globally (or semi-globally at least) equivalent to nonlinear systems with network time-delays. A feature of the derived condition is to be able to obtain the maximum time-delay for ensuring the stability of internet-based remote control system for given feedback gains. The second part presents shared control of plural nonlinear systems via a single controller. To design a (common) shared controller to stabilize plural nonlinear systems simultaneously, we derive also a shared control version of the stability condition for T-S fuzzy models with time-varying delays. Design examples demonstrate the utility of this proposed design approach.
International conference proceedings, English

Fuzzy model-based control for dynamic variable structure systems
H Ohtake; K Tanaka; HO Wang
ACC: Proceedings of the 2005 American Control Conference, Vols 1-7, IEEE, 496-500, 2005, Peer-reviwed, This paper presents a dynamic variable structure system and its controller design conditions. The dynamic variable structure system, which is a class of hybrid dynamic systems, consists of plural subsystems which are switched by switching conditions. A key feature of the dynamic variable structure system is that each subsystem can have different degrees of freedom. In this paper, we employ switching fuzzy models to represent the nonlinear subsystem's dynamics, switching conditions and conservation laws with respect to states, momentum and/or energy of the system. We derive controller design conditions for. dynamic variable structure systems.
International conference proceedings, English

Fuzzy control system designs using redundancy of descriptor representation: A fuzzy Lyapunov function approach
K Tanaka; T Nebuya; H Ohtake; HO Wang
ACC: PROCEEDINGS OF THE 2005 AMERICAN CONTROL CONFERENCE, VOLS 1-7, IEEE, 1096-1101, 2005, Peer-reviwed, This paper presents fuzzy control system designs using redundancy of descriptor representation. A wider class of Takagi-Sugeno fuzzy controllers using the redundancy is employed to derive stabilization conditions for both common Lyapunov functions and fuzzy Lyapunov functions. We show that the fuzzy Lyapunov function approach is less conservative than the common Lyapunov function approach. A design example also illustrates the utility of the fuzzy Lyapunov function approach using redundancy of descriptor representation.
International conference proceedings, English

Acrobatic control of a pendubot
Wei Li; Kazuo Tanaka; Hua O. Wang
IEEE Transactions on Fuzzy Systems, 12, 4, 549-552, Aug. 2004, Peer-reviwed, This paper presents acrobatic control of an underactuated two-link robot called the pendubot. To achieve acrobatic control for the pendubot, we design a fuzzy controller for keeping first link swinging periodically while the second link maintains standing vertically. To facilitate the controller design, we represent the pendubot dynamics with a Takagi-Sugeno fuzzy model. We derive a linear matrix inequality (LMI) design condition to realize the acrobatic behavior. To accomplish the numerical feasibility design, we need to select carefully reference fuzzy model dynamics by taking into account some constraints. After selecting reference fuzzy model dynamics, an acrobatic controller is designed by solving the LMI condition. Simulation results show the utility of the proposed acrobatic control. © 2004 IEEE.
Scientific journal, English

A practical design approach to stabilization of a 3-DOF RC helicopter
K Tanaka; H Ohtake; HO Wang
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 12, 2, 315-325, Mar. 2004, Peer-reviwed, This paper presents a practical design approach to the stabilization of a three degrees of freedom (3-DOF) RC helicopter. First, the nonlinear model of the RC helicopter is constructed. To facilitate control design, a simplified version of the nonlinear model is derived. A Takagi-Sugeno fuzzy model is then constructed to represent the simplified nonlinear model. The control purpose is to stabilize the RC helicopter while taking into account practical performance considerations in terms of good speed of response and small control effort. To achieve the control objective, we impose a decay rate condition to ensure a good speed of response and an input constraint condition to avoid actuator saturations in the control design. Both conditions are represented in terms of linear matrix inequalities (LMIs). By simultaneously solving them, we render a stabilizing fuzzy controller that achieves good speed of response with small control effort. However, the controller designed for the simplified model can not always stabilize the original nonlinear model due to discrepancies introduced via the simplification process. To overcome this limitation, we design a robust fuzzy controller to compensate for the modeling discrepancies. The resulting robust stability condition with good speed of response is represented in terms of LMIs. By simultaneously solving this condition together with an input constraint condition, we arrive at a robust stabilizing fuzzy controller that achieves good speed of response without actuator saturations. Both simulation and experimental results are included, to demonstrate the viability and applicability of the approach.
Scientific journal, English

Derivation of LMI design conditions in switching fuzzy control
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., 5, 5100-5105, 2004, This paper presents controller design conditions based on switching Lyapunov function in terms of linear matrix inequalities (LMIs) for switching fuzzy systems. In our previous papers, we proposed switching fuzzy model construction and derived switching fuzzy controller design conditions. However, the conditions have been given in terms of bilinear matrix inequalities (BMIs), so it is difficult to design the controller. In this paper, the conditions are given in terms of LMIs by introducing the augmented system which consists of the switching fuzzy model and a stable linear system. We can effectively design the switching fuzzy controller via LMI-based approach. A design example illustrates the utility of this approach.
International conference proceedings, English

Speed Control of a Sonar-Based Mobile Robot By Using Integration-Type Ultrasonic Wave Sensor(Sensing and Data Fusion,Session: MA1-A)
EMARU Takanori; TANAKA Kazuo; TSUCHIYA Takeshi
The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, The Japan Society of Mechanical Engineers, 2004, 19-19, 2004
English

Electroencephalogram-based Control of a Mobile Robot
Kazuo Tanaka; Kazuyuki Matsunaga; Shigeki Hori
IEEJ Transactions on Electronics, Information and Systems, 124, 3, 890-896, 2004, Peer-reviwed, This paper presents electroencephalogram-based control of a mobile robot. The control purpose is to achieve direction control of a mobile robot only by electroencephalogram. We develop an algorithm for detecting direction thinking (»going left¼ or »going right¼) and apply it to direction control of a mobile robot. The detecting algorithm is based on time-frequency domain analysis using continuous wavelet transformation. Our experimental results demonstrate the possibility of achieving direction control of a mobile robot only by electroencephalogram. © 2004, The Institute of Electrical Engineers of Japan. All rights reserved.
Scientific journal, English

インパルス性雑音除去フィルタの計算高速化手法
江丸貴紀; 土谷武士; 田中一男
日本機械学会論文集C編, The Japan Society of Mechanical Engineers, 70, 689, 62-68, 2004, Peer-reviwed, In this paper, we propose the fast calculating method for eliminating the impulsive noise by using the non-linear digital filter, ESDS. In our research, we have proposed a new technique to estimate the smothed value and the differential value by using sliding mode system (ESDS). It works effectively to eliminate the impulsive noise. The system of it is represented by differential equations, and we have used Runge-Kutta (RK) methods in order to solve them. RK methods require heavy calculation, and it requires high-performance processor in order to calculate rapidly. Consequentially, by using the knowledge of the phase plain, it becomes possible to reduce the calculated amount of our proposed method. The experimental results show the our filter with RK method needs plenty of time for calculation, but that with the fast calculating method needs little time.
Scientific journal, Japanese

移動ロボットの脳動制御
田中一男; 松永和之; 堀滋樹
電気学会論文誌C編, 124, 3, 890-896, 2004, Peer-reviwed
Scientific journal, Japanese

Recursive pointwise design for nonlinear systems
K Tanaka; H Ohtake; HO Wang
PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6, IEEE, 470-475, 2004, Peer-reviwed, This paper presents a recursive pointwise design (RPD) method for a class of nonlinear systems represented by dx(t)/dt = f(x(t))+g(x(t))u(t). A main feature of the RPD method is to recursively design a stable controller by using pointwise information of a system. The design philosophy is that f(x(t)) and g(x(t)) can be approximated as constant vectors in very small local state spaces. Based on the design philosophy, we numerically determine constant control inputs in very small local state spaces by solving linear matrix inequalities (LMIs) derived in this paper. The designed controller switches to another constant control input when the states move to another local state space. Although the design philosophy is simple and natural, the controller does not always guarantee the stability of the original nonlinear system dx(t)/dt = f(x(t))+g(x(t))u(t). Therefore, this paper gives ideas of compensating the approximation caused by the design philosophy. After addressing outline of the pointwise design, we provide design conditions that exactly guarantee the stability of the original system. The controller design conditions requires to give the maximum and minimum values of elements in the functions f(x(t)) and g(x(t)) in each local state space. Therefore, we also present design conditions for unknown cases of the maximum and minimum values. Furthermore, we construct an effective design procedure using the pointwise design. A feature of the design procedure is to subdivide only infeasible regions and to solve LMIs again only for the subdivided infeasible regions. The recursive procedure saves effort to design a controller. A design example demonstrates the utility of the RPD method.
International conference proceedings, English

Internet-based remote stabilization for nonlinear systems
K Tanaka; H Ohtake; HO Wang
2004 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, PROCEEDINGS, IEEE, 1619-1624, 2004, Peer-reviwed, This paper presents internet-based remote stabilization for nonlinear systems. In internet-based remote control, we need to deal with time varying delays. Therefore, if a system is nonlinear, it reduces to a time varying delay nonlinear control problem that is one of the most challenging control problems. In this paper, we derive a design condition to stabilize the internet-based remote control system. First, a class of nonlinear time varying delay systems is represented as the Takagi-Sugeno (T-S) fuzzy model. A model-based fuzzy stabilization design utilizing the concept of parallel distributed compensation (PDC) is employed. A design condition is derived by considering time delay dependent sufficient conditions for ensuring the stability of closed-loop systems. In addition, the maximum time-delay for ensuring the stability of internet-based remote control system can be obtained from the derived design condition. Simulation results show the utility of this proposed design approach.
International conference proceedings, English

可変迎角機構をもつサイクロジャイロ型飛行ロボットの提案
田中一男; 長谷拓也; 江丸貴紀
日本ロボット学会誌, 22, 7, 920-923, 2004, Peer-reviwed
Scientific journal, Japanese

Resolving Crosstalk of Sonar by Applying Nonlinear Filter Based on the Sliding Mode
Takanori Emaru; Kazuo Tanaka; Takeshi Tsuchiya
Journal of Robotics and Mechatronics, 16, 6, 587-596, 2004, Peer-reviwed
Scientific journal, English

Electroencephalogram-Based Control of an Electric Wheelchair
Kazuyuki Matsunaga; Kazuo Tanaka
International Workshop on Fuzzy Systems & Innovation Comupting, 242-247, 2004, Peer-reviwed
International conference proceedings, English

Fuzzy Control of Dynamical Systems with Input Nonlinearit
Takashi Nebuya; Kazuo Tanaka; Hiroshi Ohtake
Joint 2nd International Conference on Soft Computing and Intelligent Systems and 5th International Symposium on Advanced Intelligent System, TUP-7-1 in CD, 2004, Peer-reviwed
International conference proceedings, English

A pattern assessment of attractors structured by acceleration plethysmogram time series data
Mituyuki Amata; Kazuo Tanaka; Yoshio Maniwa
Joint 2nd International Conference on Soft Computing and Intelligent Systems and 5th International Symposium on Advanced Intelligent Systems, Biomedical Fuzzy Systems Association, 17, UP-7-2 in CD-124, 2004, Peer-reviwed, Our study has specifically addressed scientifically classifying information from a pulse wave. In addition, we have tried classification assessment of disease state so far by applying nonlinear chaotic analysis to acceleration plethysmogram time series data. The present study examines a new analytical method to supplement information that is missed by the recurrence plot method. We report on this new method as we have used it in conventional research.
International conference proceedings, English

Derivation of LMI design conditions in switching fuzzy control
H Ohtake; K Tanaka; HO Wang
2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, IEEE, 5100-5105, 2004, Peer-reviwed, This paper presents controller design conditions based on switching Lyapunov function in terms of linear matrix inequalities (LMIs) for switching fuzzy systems. In our previous papers, we proposed switching fuzzy model construction and derived switching fuzzy controller design conditions. However, the conditions have been given in terms of bilinear matrix inequalities (BMIs), so it is difficult to design the controller. In this paper, the conditions are given in terms of LMIs by introducing the augmented system which consists of the switching fuzzy model and a stable linear system. We can effectively design the switching fuzzy controller via LMI-based approach. A design example illustrates the utility of this approach.
International conference proceedings, English

A multiple Lyapunov function approach to stabilization of fuzzy control systems
K Tanaka; T Hori; HO Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 11, 4, 582-589, Aug. 2003, Peer-reviwed, This paper addresses stability analysis and stabilization for Takagi-Sugeno fuzzy systems via a so-called fuzzy Lyapunov function which is a multiple Lyapunov function. The fuzzy Lyapunov function is defined by fuzzily blending quadratic Lyapunov functions. Based on the fuzzy Lyapunov function approach, we give stability conditions for open-loop fuzzy systems and stabilization conditions for closed-loop fuzzy systems. To take full advantage of a fuzzy Lyapunov function, we propose a new parallel distributed compensation (PDC) scheme that feedbacks the time derivatives of premise membership functions. The new PDC contains the ordinary PDC as a special case. A design example illustrates the utility of the fuzzy Lyapunov function approach and the new PDC stabilization method.
Scientific journal, English

Stable control for polar coordinate fuzzy systems
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 1, 810-815, 2003, This paper describes stable control for the polar coordinate fuzzy systems that were proposed in our previous paper. The previous paper considered stability conditions for the open-loop systems. This paper mainly discusses stabilization for the systems. First, we address polar coordinate fuzzy model construction-for a class of nonlinear systems with control input. Next, we propose a polar coordinate fuzzy controller to stabilize the systems. An interesting feature of the controller is to have the properties of both fuzzy controller and linear parameter varying controller. Furthermore, we derive LMI conditions to determine feedback gains of the controller. A design example shows that this approach provides more relaxed stabilization results than Takagi-Sugeno fuzzy model approach.
International conference proceedings, English

Polar Coordinate Fuzzy Model and Stability Analysis
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
Proceedings of the American Control Conference, 3, 1914-1919, 2003, This paper presents a polar coordinate fuzzy model and its stability condition. The new polar coordinate fuzzy model can exactly represent a class of nonlinear systems globally or semi-globally. The polar coordinate fuzzy model has local linear parameter varying models which are linear with respect to distance r in the polar coordinate. The varying parameters consist of sum and/or products of sin and/or cos with respect to angles θ1, θ2, . . ., θn-1 in the polar coordinate. The distance and angles can be calculated from state variables. Furthermore, we derive a stability condition for a polar coordinate fuzzy model. An example illustrates the utility of this approach.
International conference proceedings, English

Interaction among human, machine and patient with work state transition
T Koyama; T Tanaka; K Tanaka; MQ Feng
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, IEEE, 2362-2367, 2003, Peer-reviwed, In order to provide quality care for aged and disabled people without causing physical and mental burden to patients and nurses, we have been developing a prototype of a wearable typed robotic system named HARO (Human-Assisting RObot) that is operated by a nurse to amplify his or her physical power. This paper proposes a design method of force control system with consideration of transition of interaction force to a patient during certain nursing motion.
International conference proceedings, English

T-S fuzzy Model with Linear Rule Consequence and PDC Controller:A Universal Framework for Nonlinear Control Systems
Hua O. Wang; Jing Li; Kazuo Tanaka
International Journal of Fuzzy Systems, 5, 2, 106-113, 2003, Peer-reviwed
Scientific journal, English

膜翼を有する羽ばたき機の試作
川畑 章司; 田中 一男; 大竹 博
日本ロボット学会論文集, 121, 8, 916-922, 2003, Peer-reviwed
Scientific journal, Japanese

Operating feeling based design in human-robot collaborative control systems
N Kanamori; K Tanaka
2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, IEEE, 670-675, 2003, Peer-reviwed, The object of this paper is to give a guide for designing the human-robot collaborative control system attaching importance to maneuverability of the operator. The operative "feel" is quantitatively evaluated using the norm of input-output signal obtained from the sensors during operation. As an example of the human-robot collaborative system, the subjective operative "feel" of the operator is qualitatively analyzed during the sine wave following task using Mink operation arm. In addition, the control performance of the operator is examined from the viewpoint of R. control using the measurement data during the collaborative operation. As a result, it was suggested that the operator executes the given task while adequately reforming the sensitivity function and complementary sensitivity function of the closed loop system of the collaborative system. Use of this method enables design of the control system taking into consideration the operative "feel" of maneuverability.
International conference proceedings, English

Electroencephalogram-based control of a mobile robot
K Tanaka; K Matsunaga; N Kanamori; S Hori; HO Wang
2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, IEEE, 688-693, 2003, Peer-reviwed, This paper describes electroencephalogram-based control of a mobile robot. The control purpose is to achieve direction control of a mobile robot only by electroencephalogram. We develop an algorithm for detecting direction thinking ('going left' or 'going right') and apply it to direction control of a mobile robot. The detecting algorithm is based on time-frequency domain analysis using continuous wavelet transformation. Our experimental results demonstrate the possibility of achieving direction control of a mobile robot only by electroencephalogram.
International conference proceedings, English

Switching fuzzy control for nonlinear systems
H Ohtake; K Tanaka; HO Wang
PROCEEDINGS OF THE 2003 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, IEEE, 281-286, 2003, Peer-reviwed, This paper presents a controller design condition based on a switching Lyapunov function for a class of nonlinear systems. In our previous papers [1], [2], we proposed a switching fuzzy model and a switching Lyapunov function for open-loop systems. The switching Lyapunov function is constructed by mirroring structure of the switching fuzzy model. In this paper, stabilization conditions to design a switching fuzzy controller are derived. To avoid discontinuity of the switching control inputs, we derive a continuity condition of control inputs. A design example illustrates the utility of this approach.
International conference proceedings, English

Stable control for polar coordinate fuzzy systems
H Ohtake; K Tanaka; HO Wang
2003 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-5, CONFERENCE PROCEEDINGS, IEEE, 810-815, 2003, Peer-reviwed, This paper describes stable control for the polar coordinate fuzzy systems that were proposed in our previous paper The previous paper considered stability conditions for the open-loop systems. This paper mainly discusses stabilization for the systems. First, we address polar coordinate fuzzy model construction for a class of nonlinear systems with control input. Next, we propose a polar coordinate fuzzy controller to stabilize the systems. An interesting feature of the controller is to have the properties of both fuzzy controller and linear parameter varying controller Furthermore, we derive LMI conditions to determine feedback gains of the controller A design example shows that this approach provides more relaxed stabilization results than Takagi-Sugeno fuzzy model approach.
International conference proceedings, English

Piecewise nonlinear control
H Ohtake; K Tanaka; HO Wang
42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, IEEE, 4735-4740, 2003, Peer-reviwed, This paper presents piecewise nonlinear control for piecewise Takagi-Sugeno fuzzy systems described by a local Takagi-Sugeno fuzzy model in each piecewise region. We provide a piecewise sector nonlinearity idea to construct a piecewise Takagi-Sugeno fuzzy model from given nonlinear dynamics. In addition, a piecewise fuzzy Lyapunov function is employed to avoid conservatism of common Lyapunov stability results. We drive a stabilization condition based on the piecewise fuzzy Lyapunov function approach. A stabilizing piecewise fuzzy controller is designed by solving the derived conditions. Some examples demonstrate the effectiveness of our approach.
International conference proceedings, English

State Feedback Stabilization in Nonlnear Time Delay
Tsuyoshi Hori; Kazuo Tanaka
International Journal of Advanced Computational Intelligence, 3, 3, 109-114, Dec. 2002, Peer-reviwed
Scientific journal, English

遺伝的アルゴリズムによる脳波識別パターン作成の試み
堀滋樹; 金森直希; 田中一男
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 38, 10, 1041-1043, Oct. 2002, Peer-reviwed, This paper describes generation of electroencephalography recognition patterns via genetic algorithm. We develop a simpler procedure for generating recognition patterns from an applicability point of view. The technique is time domain analysis based on correlation of electroencephalography data. As an analytical result through experiments, it realizes electroencephalography recognition with 68.2% success rate for unknown data.
Scientific journal, Japanese

Operating Feeling Based in Human-robot Collaborative Control Systems
Naoki Kanamori; Kazuo Tanaka
Journal of Robotics and Mechatronics, 14, 16, 604-614, Oct. 2002, Peer-reviwed
Scientific journal, English

A Practical Design Approach to Four-Fans Flying Vehicle Control
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
Proceedings of the ICASE/SICE Joint Workshop, 72-76, Oct. 2002, Peer-reviwed
International conference proceedings, English

Stabilization of Fuzzy Time-delay Systems
Tsuyoshi Hori; Kazuo Tanaka
Proceedings of the ICASE/SICE Joint Workshop, 23-27, Oct. 2002, Peer-reviwed
International conference proceedings, English

Robust Stabilization of an R/C Helicopter
Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
14th International Federation of Automatic Control (IFAC) World Congress, Jul. 2002, Peer-reviwed
International conference proceedings, English

Principle of Stable Running of an Unicycle Robot
Takayuki Tanaka; Hisanobu Suzuki; Kazuo Tanaka
Journal of Robotics and Mechatronics, 4, 1, 37-45, Jun. 2002, Peer-reviwed
Scientific journal, English

Multi-objective Control of a Vehicle with Triple Trailers
Kazuo Tanaka; Shigeki Hori; Hua O. Wang
IEEE/ASME Transactions on Mechatoronics, 7, 3, 357-368, Jun. 2002, Peer-reviwed
Scientific journal, English

Subjective Evaluation of Operating Feeling in a Haptic Interface
KANAMORI Naoki; TANAKA Takayuki; TANAKA Kazuo
Transactions of the Japan Society of Mechanical Engineers. Series C., The Japan Society of Mechanical Engineers, 68, 669, 1467-1473, 25 May 2002, Peer-reviwed, This paper addresses subjective evaluation for operating feeling in a haptic interface. The NASA-TLX method, which is mental workload index analysis, is employed to investigate operating feeling for various impedance parameters and task parameters. The result shows the existence of three patterns of human operation. The patterns correspond to viscosity-based operation, restoring force-based operation and inertia-based operation, respectively. We verify the existence of three patterns by analyzing force sensor data. Furthermore, the verification of three-pattern classification is also investigated by the semantic differential method and factor analysis.
Scientific journal, Japanese

A Construction Method of Switching Lyapunov Function for Mechanical Systems
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2002 IEEE International Conference on Fuzzy Systems, CD-ROM, May 2002, Peer-reviwed
International conference proceedings, English

Multi-objective structure design for mechanical systems
S Hori; K Tanaka; HO Wang
PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOL 1 & 2, IEEE, 116-121, 2002, Peer-reviwed, This paper presents two cases of multi-objective structure designs for mechanical systems described by Takagi-Sugeno fuzzy models. One is a state feedback case. The other is a dynamic output feedback case. The design purpose is to determine not only feedback gains of a fuzzy controller but also structure parameters of a controlled object. In each case, structure-oriented design conditions are derived from decay rate and optimal control performance points of view. In the dynamic output feedback case, we derive LMI conditions by introducing a new type. of fuzzy controller. The multi-objective structure designs are applied to a parallel-type double inverted pendulum system. Simulation results show the effectiveness of the multi-objective structure designs.
International conference proceedings, English

Evaluation method of man-machine system based on muscular characteristic
T Koyama; T Tanaka; K Tanaka; MQ Feng
IEEE ROMAN 2002, PROCEEDINGS, IEEE, 71-76, 2002, Peer-reviwed, In order to provide quality nursing care for bed-bound and disabled people without causing physical and mental stress to both patients and nurses, we have been developing a prototype of a human-assisting robotic system, referred to as HARO (Human-Assisting RObot), which is worn by an operator to amplify his or her power. This paper focuses on the suggestion of new evaluating method about assisting ability of a man-machine system based on muscular character, body mechanics and operator's link model.
International conference proceedings, English

A piecewise Takagi-Sugeno fuzzy model construction and relaxation of stability conditions
T Hori; K Tanaka; HO Wang
PROCEEDINGS OF THE 41ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, IEEE, 2149-2150, 2002, Peer-reviwed, We present a piecewise Takagi-Sugeno fuzzy model and its stability analysis via a piecewise fuzzy Lyapunov function. A key feature of avoiding conservatism is that the piecewise fuzzy Lyapunov function mirrors the known structure of a piecewise Takagi-Sugeno fuzzy model. In addition, to construct a piecewise Takagi-Sugeno fuzzy model from given nonlinear dynamics, we employ the so-called piecewise sector nonlinearity concept which is a new extensive idea for the global or semi-global sector nonlinearity concept. An example illustrates the effectiveness of our approach.
International conference proceedings, English

Model construction, rule reduction, and robust compensation for generalized form of Takagi-Sugeno fuzzy systems
T Taniguchi; K Tanaka; H Ohtake; HO Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 9, 4, 525-538, Aug. 2001, Peer-reviwed, This paper presents a systematic procedure of fuzzy control system design that consists of fuzzy model construction, rule reduction, and robust compensation for nonlinear systems. The model construction part replaces the nonlinear dynamics of a system with a generalized form of Takagi-Sugeno (T-S) fuzzy systems, which is newly developed in this paper. The generalized form has a decomposed structure for each element of Ai and Bi matrices in consequent parts. The key feature of this structure is that it is suitable for constructing IF-THEN rules and reducing the number of IF-THEN rules. The rule reduction part provides a successive procedure to reduce the number of IF-THEN rules. Furthermore, we convert the reduction error between reduced fuzzy models and a system to model uncertainties of reduced fuzzy models. The robust compensation part achieves the decay rate controller design guaranteeing robust stability for the model uncertainties. Finally, two examples demonstrate the utility of the systematic procedure developed in this paper.
Scientific journal, English

Switching Control of an R/C Hovercraft: Stabilization and Smooth Switching
Kazuo Tanaka; Masaaki Iwasaki; Hua O. Wang
IEEE Transactions on Systems, Man and Cybernetics, Part B, 31, 6, 853-863, Jun. 2001, Peer-reviwed
Scientific journal, English

An Algorithm for Constructing Generalized T-S Fuzzy Model from Nonlinear Models
Tadanari Taniguchi; Kazuo Tanaka
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 67, 655, 732-738, 2001, Peer-reviwed, This paper describes an algorithm for constructing generalized T-S fuzzy models from nonlinear models. We first present a generalized form of Takagi-Sugeno fuzzy systems. The generalized form has a decomposed structure for each element of Âp and Bp matrices in consequent parts. Next, an algorithm for constructing generalized T–S fuzzy model from nonlinear models is proposed. A construction example for a typical mechanical system is illustrated. The results show the utility of the proposed algorithm. © 2001, The Japan Society of Mechanical Engineers. All rights reserved.
Scientific journal, English

ファジィモデルの一般化表現の提案とモデル化アルゴリズム
谷口唯成; 田中一男
日本機械学会論文集Ｃ編, 67, 655, 732-738, 2001, Peer-reviwed
Scientific journal, Japanese

Sector Nonlinearityの概念を用いたファジィモデルの同定
田中一男; 大竹 博
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 37, 4, 372-378, 2001, Peer-reviwed, This paper presents a fuzzy modeling technique utilizing the so-called sector nonlinearity concept. To fully take advantage of the sector nonlinearity concept, we modify the Takagi-Sugeno fuzzy model and develop an algorithm to identify model parameters. The algorithm consists of two parts. In the first part, a sector candidate that satisfies a compatibility condition is found from input-output data of an original nonlinear system. The second part determines membership functions in premise parts so as to minimize identification error between an original nonlinear system and the fuzzy model. Identification examples illustrate the utility of our approach.
Scientific journal, Japanese

Fuzzy control of Nonlinear time-delay systems: Stability and design issues
YR Gu; HO Wang; K Tanaka; LG Bushnell
PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6, IEEE, 4771-4776, 2001, Peer-reviwed, In this paper, a class of nonlinear time-delay systems based on the Takagi-Sugeno (T-S)fuzzy model is defined. We investigate the delay-independent stability of this model. A model-based fuzzy stabilization design utilizing the concept of the so-called "parallel distributed compensation" (PDC) is employed. The main idea of the controller design is to derive each control rule to compensate each rule of a fuzzy system. Also, the problems of H-infinity control is considered. The associated control synthesis problems are formulated as linear matrix inequality (LMI) problems.
International conference proceedings, English

A fuzzy Lyapunov approach to fuzzy control system design
K Tanaka; T Hori; HO Wang
PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6, IEEE, 4790-4795, 2001, Peer-reviwed, This paper discusses the stability of Takagi-Sugeno, fuzzy models via the so-called fuzzy Lyapunov function which is a multiple Lyapunov function. The fuzzy Lyapunov function is defined by fuzzily blending quadratic Lyapunov functions. Based on a fuzzy Lyapunov approach, we gives stability conditions for open-loop fuzzy systems. All the conditions derived here are represented in terms of linear matrix inequalities (LMIs) and contain upper bounds of the time derivative of premise membersihp functions as LMI variables. Hence, the treatment of the upper bounds play an important and effective role in system analysis and design. In addition, relaxed stability conditions are also derived by considering the property of the time derivative of premise membership functions. Several analysis and design examples illustrate the utility of the fuzzy Lyapunov approach.
International conference proceedings, English

Fuzzy modeling via sector nonlinearity concept
H Ohtake; K Tanaka; HO Wang
JOINT 9TH IFSA WORLD CONGRESS AND 20TH NAFIPS INTERNATIONAL CONFERENCE, PROCEEDINGS, VOLS. 1-5, IEEE, 127-132, 2001, Peer-reviwed, This paper presents a new fuzzy modeling technique via the so-called sector nonlinearity concept. To fully take advantage of the sector nonlinearity concept, we propose a new type of Takagi-Sugeno fuzzy model and develop an algorithm to identify model parameters. The algorithm consists of two steps. The purpose of the first step is to determine sector coefficients from input-output data. The second part identifies membership functions from the determined sector coefficients and the input-output data. Identification examples illustrate the utility of this approach.
International conference proceedings, English

Nonlinear rule reduction and robust control
T Taniguchi; K Tanaka
JOINT 9TH IFSA WORLD CONGRESS AND 20TH NAFIPS INTERNATIONAL CONFERENCE, PROCEEDINGS, VOLS. 1-5, IEEE, 2050-2055, 2001, Peer-reviwed, We propose modeling and model reduction using generalized form of Takagi-Sugeno fuzzy systems. First, we define a generalized form of Takagi-Sugeno fuzzy systems. The structure of these fuzzy systems has some advantages. One is that this fuzzy systems accord with dynamics of the original model. The other is that it is suitable for reducing the number of rules. Thus, these fuzzy systems are constructed by many if-then rules. Secondly, we derive the conditions to reduce the number of rules are represented in terms of LMIs. The main idea is to find a structure of if-then rules of the reduced model that agrees well with dynamics of the original model. Furthermore, we estimate the lower bound of the norm of model uncertainty of the Takagi-Sugeno fuzzy system that can cover the reduction error. Finally, we illustrate an example of model reduction and robust control for a nonlinear system.
International conference proceedings, English

Stable control for R/C helicopter
K Tanaka; H Ohtake; T Hori
JOINT 9TH IFSA WORLD CONGRESS AND 20TH NAFIPS INTERNATIONAL CONFERENCE, PROCEEDINGS, VOLS. 1-5, IEEE, 2056-2061, 2001, Peer-reviwed, This paper presents stable control for an R/C helicopter whose degree of freedom is reduced by fixing at a (joint) point. The nonlinear model of the R/C helicopter is constructed, After simplifying the nonlinear dynamics, we replace the simplified nonlinear dynamics with a Takagi-Sugeno fuzzy model. The control purpose is to realize good speed of response as well as stabilization with small control effort from practical control points of view. We present a decay rate condition and an input constraint condition that realize good speed of response and avoidance of actuator saturations, respectively. Both of them are represented in terms of linear matrix inequalities (LMIs). By simultaneously solving them, we design a stable fuzzy controller that, achieves good speed of response with small control effort.
International conference proceedings, English

Development and Motion Control of a Wearable-Human Assisting Robot for Nursing Use
Takeshi Koyama; Kazuo Yamafuji; Kazuo Tanaka; Takayuki Tanaka
Proceedings of International Conference on Machine Automation, Sep. 2000, Peer-reviwed
International conference proceedings, English

Fuzzy descriptor systems and nonlinear model following control
T Taniguchi; K Tanaka; HO Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 8, 4, 442-452, Aug. 2000, Peer-reviwed, This paper defines a fuzzy descriptor system by extending the ordinary Takagi-Sugeno (T-S) fuzzy model. Several kinds of stability conditions for the fuzzy descriptor system are derived and represented in terms of linear matrix inequalities (LMIs), We illustrate a motivative example of defining the fuzzy descriptor system instead of the ordinary TS fuzzy model, An LMI design approach is employed to find stable feedback gains and a common Lyapunov function. In addition, this paper presents a nonlinear model following control for the fuzzy descriptor system, A new parallel distributed compensation, the so-called "twin parallel distributed compensations" (TPDC), to realize the nonlinear model following control is proposed, The TPDC fuzzy controller mirrors the structures of the fuzzy descriptor systems that represent a nonlinear system and a nonlinear reference model. We present a design technique based on the TPDC. All the design conditions are represented in terms of LMIs, The proposed method is a unified approach to nonlinear model following control, It contains the regulation and servo control problems as special cases. Finally, design examples are illustrated to show the utility of the nonlinear model following control.
Scientific journal, English

An Algarithm for Constructing Generaliged T-S Fuzzy Model
T. Taniguchi; K. Tanaka; H. O. Wang
The Fourth Asian Fuzzy System Symposium 2000, 439-444, Jun. 2000, Peer-reviwed
International conference proceedings, English

Stabilization of Switching Fuzzy Systems
K. Tanaka; M. Iwasaki; H. O. Wang
The Fourth Asian Fuzzy System Symposium 2000, Tsukada, 963-968, Jun. 2000, Peer-reviwed
International conference proceedings, English

A Robotic System Which Assists Unmanned Production based on Cooperation between Off-line Robots and On-line Robots（Part 2, Operational analysis of optimal relationship between off-line robots and on-line robots depanding on MTBF Concept, design and develo
Hong-Zhi Yang; Kazuo Yamafuji; Kazuo Tanaka
Proceedings of 2000 Japan-USA Symposium on Flexible Automation, 1-6, Jun. 2000, Peer-reviwed
International conference proceedings, English

Dynamic parallel distributed compensation for Takagi-Sugeno fuzzy systems: An LMI approach
J Li; HO Wang; D Niemann; K Tanaka
INFORMATION SCIENCES, ELSEVIER SCIENCE INC, 123, 3-4, 201-221, Apr. 2000, Peer-reviwed, This paper presents a unified systematic framework for designing dynamic feedback controllers for nonlinear systems described by Takagi-Sugeno (T-S) models, Both stabilization and multi-objective control synthesis problems have been addressed. The control laws are in the form of so-called dynamic parallel distributed compensation (DPDC) which are essentially nonlinear dynamic feedback controllers. The associated control synthesis problems are formulated as linear matrix inequality (LMI) problems, i.e,, the parameters of the DPDC controllers are obtained from a set of LMI conditions. The approach in this paper can also be applied to hybrid or switching systems. (C) 2000 Published by Elsevier Science Inc. All rights reserved.
Scientific journal, English

Generalized Takagi-Sugeno fuzzy systems: Rule reduction and robust control
K Tanaka; T Taniguchi; HO Wang
NINTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2000), VOLS 1 AND 2, IEEE, 688-693, 2000, Peer-reviwed, This paper presents model reduction and robust control using a generalized form of Takagi-Sugeno fuzzy systems. We first define a generalized form of Takagi-Sugeno fuzzy systems. The generalized form has a decomposed structure for each element of Ai and Bi matrices in consequent parts. The key feature of this structure is that it is suitable For reducing the number of rules. Conditions to reduce the number of rules are represented in terms of LMIs. The main idea is to find a structure of if-then rules of the reduced model that agrees well with dynamics of the original model. Furthermore, we estimate the lower bound of the norm of model uncertainty of the Takagi-Sugeno fuzzy system that can cover the reduction error. Finally, an example of model reduction and robust control for a nonlinear system is illustrated. In this example, we achieve a robust controller design so as to compensate the uncertainly of the Takagi-Sugeno fuzzy system.
International conference proceedings, English

T-S fuzzy model with linear rule consequence and PDC controller: A universal framework for nonlinear control systems
HO Wang; J Li; D Niemann; K Tanaka
NINTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2000), VOLS 1 AND 2, IEEE, 549-554, 2000, Peer-reviwed, In this paper, we present two results concerning the fuzzy modeling and control of nonlinear systems. The first result is on the approximation of smooth nonlinear dynamical systems using linear Takagi-Sugeno fuzzy models. The second result is on the approximation of smooth nonlinear state-feedback controllers using the the so-called parallel distributed compensation (PDC) controller. Both results are based on the effectiveness of using linear Takagi-Sugeno systems to approximate nonlinear function, which is also proven in this paper.
International conference proceedings, English

Stable switching fuzzy control and its application to a hovercraft type vehicle
K Tanaka; M Iwasaki; HO Wang
NINTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2000), VOLS 1 AND 2, IEEE, 804-809, 2000, Peer-reviwed, This paper describes stable switching fuzzy control and its application to a hovercraft type vehicle (HTV). A switching fuzzy system is employed to represent the nonlinear dynamics of the HTV that is a typical nonholonomic system. A switching fuzzy controller is constructed by mirroring the structure of the switching fuzzy system. LMI stability conditions to design the switching fuzzy controller are presented. The design technique is applied to trajectory control of the HTV. The simulation results for the trajectory control show the validity of the switching fuzzy model and controller design.
International conference proceedings, English

Stability and smoothness conditions for switching fuzzy systems
K Tanaka; M Iwasaki; HO Wang
PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6, IEEE, 2474-2478, 2000, Peer-reviwed, This paper describes stability and smoothness conditions for switching fuzzy systems. We first present a switching fuzzy system that has locally Takagi-Sugeno fuzzy models and switches them according to states, external variables and/or time. A switching fuzzy controller is constructed by mirroring the structure of the switching fuzzy system. LMI stability conditions are derived to design the switching fuzzy controller in [1] and [2]. Switching of several controllers causes non-continuity of control input at switching points. The phenomenon influences important control performance, e.g., ride quality in vehicle control. In this paper we derive a smoothness condition to avoid the phenomenon. The smoothness condition is also represented via LMIs. A stable switching fuzzy controller satisfying the smoothness condition is designed by simultaneously solving both of LMIs. The design technique is applied to trajectory control of a R/C hovercraft. The simulation and experimental results for the trajectory control show the validity of the switching fuzzy control.
International conference proceedings, English

Development of a robotic system which assists unmanned production based on cooperation between off-line robots and on-line robots. Part 2. Operational analysis of off-line robots in a cellular assembly shop
HZ Yang; K Yamafuji; K Tanaka
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, SPRINGER-VERLAG LONDON LTD, 16, 1, 65-70, 2000, Peer-reviwed, In order to support unmanned production at night and extend to 24 hour unmanned production, we proposed the introduction of off-line robots, As part of the work for the realisation of this concept, the operational analysis of the off-line robots in a cellular assembly shop is carried out in this paper. First, a stochastic analysis is made to determine the optimal number of assembly cells for each off-line robot, and factors affecting the optimal number are investigated by practical examples. Next, two methods of determining the optimal service sequence for the off-line robot are investigated, and finally a comparison between the two methods is made.
Scientific journal, English

ファジィモデル追従制御
谷口唯成; 田中一男
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 36, 2, 204-210, 2000, Peer-reviwed, This paper presents an approach to fuzzy model following control. The proposed method is a unified approach that contains the regulation and servo control problems as special cases. A new parallel distributed compensation (PDC) to realize fuzzy model following control is presented. The new PDC fuzzy controller mirrors the structures of Takagi-Sugeno fuzzy models that represent a nonlinear system and a nonlinear reference model. First, we present a linearization technique as a basic result. Conditions to linearize the error system between the feedback system and the nonlinear reference model are obtained in terms of linear matrix inequalities (LMIs). It is remarked that the derived LMI conditions may be sometimes conservative. To overcome the difficulty, we present a relaxed approach that employs relaxed LMI conditions. Design examples are illustrated to show the utility of the fuzzy model following control, particularly, the relaxed approach.
Scientific journal, Japanese

Principle of Cat-Turn Motion and Realigation of Cat-Turning by a Robot wiht Vertebrate-type Backbones Driven by Rubber Actuators
Takashi Kawamura; Kazuo Yamafuji; Kazuo Tanaka
Machine Intelligeuce & Robotic Control, 2, 1, 27-34, 2000, Peer-reviwed
Scientific journal, English

ファジィモデリングと制御器の反復型アルゴリズムの提案
田中一男; 堀 強
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 36, 6, 505-511, 2000, Peer-reviwed, This paper presents an iterative LMI approach to fuzzy modeling and controller design for nonlinear systems with unknown parameters. The main feature is to achieve iteratively and effectively the fuzzy modeling and controller design. Three LMI conditions to identify the parameters of Takagi-Sugeno fuzzy models are derived. The parameters are identified by solving a minimization problem utilizing the LMIs. More importantly, we design a robust fuzzy controller that compensates the identification error occurred in the fuzzy modeling part. A design example shows the utility of the iterative approach to the fuzzy modeling and controller design.
Scientific journal, Japanese

Principle of Cat-Turn Motion and Realization of Cat-Turning by a Robot with Vertebrate-Type Back-bones Driven by Rubber Actuators
Takashi Kawamura; Kazuo Yamafuji; Kazuo Tanaka; Takayuki Tanaka
International Journal of Mechanics and Control, 1, 1, 19-34, 2000, Peer-reviwed
Scientific journal, English

Modeling and Control for a Two-Link Manipulator
Tsuyoshi Hori; Kazuo Tanaka; Kazuo Yamafuji
International Journal of Mechanics and Control, 1, 1, 35-41, 2000, Peer-reviwed
Scientific journal, English

多重連結型ビークルの軌道安定化のための簡易設計法
田中一男; 堀 強; 岩崎正明
電気学会論文誌Ｃ編, 120, 12, 2027-2032, 2000, Peer-reviwed
Scientific journal, Japanese

An Integrated Fuzzy Control System Design for Nonlinear Systems
Kazuo Tanaka; Tsuyoshi Hori; Kazuo Yamafuji; Hua O. Wang
Proceedings of 38th IEEE Conference on Decision and Control, phoenix, 4349-4354, Dec. 1999, Peer-reviwed
International conference proceedings, English

Universal Trajectory Tracking Control Using Fuzzy Descriptou Systems
Tadanari Taniguchi; Kazuo Tanaka; Hua O. Wang
Proceedings of 38th IEEE Conference on Decision and Control, phoenix, 4852-4857, Dec. 1999, Peer-reviwed
International conference proceedings, English

Synthesis of Gaiu-Scheduled Controller for a Class of LPV Systems
Jing Li; Hua. Wang; David Niemann; Kazuo Tanaka
Proceedings of 38th IEEE Conference on Decision and Control, phoenix, 2314-2319, Dec. 1999, Peer-reviwed
International conference proceedings, English

Elucidation of Twisting Motion of a Falling Cat and Realization of the CAT-TURN Motion by a Robot
Kazuo Yamafuji; Takashi Kawamura; Kazuo Tanaka; Maria Feng
Proceedings of 30th International Symposium on Robotics, 527-533, Oct. 1999, Peer-reviwed
International conference proceedings, English

A Robotic System for Unmanned Production
Hong-Zhi Yang; Kazuo Yamafuji; Kazuo Tanaka; Takayuki Tanaka
Proceedings of 30th International Symposium on Robotics, 199-205, Oct. 1999, Peer-reviwed
International conference proceedings, English

Autonomous Locomotion Control of an Intelligent Mobile Robot for Service Use
Takayuki Tanaka; Kazuo Yamafuji; Kazuo Tanaka
Proceedings of 30th International Symposium on Robotics, 675-680, Oct. 1999, Peer-reviwed
International conference proceedings, English

Fuzzy Descriptor Systems and Fuzzy Controller Designs
Tadanari Taniguchi; Kazuo Tanaka; Hua O. Wang
Proc. of Eigth International Fuzzy Systems Association World Congress, 2, 655-659, Aug. 1999, Peer-reviwed
International conference proceedings, English

An LMI Approach to Backing Control of a Vehicle with Three Trailens
Kazuo Tanaka; Tadanari Taniguchi; Hua O. Wang
Proc. of Eigth Internationl Fuzzy Systems Association World Congress, 2, 640-644, Aug. 1999, Peer-reviwed
International conference proceedings, English

An Integrated Algorithm of Fuzzy Modelling and Controller Design for Nonlinear Systems
Kazuo Tanaka; Tsuyoshi Hori; Kazuo Yamafuji; Hua O. Wan
Proc. of 1999 IEEE International Conference on Fuzzy Systems, Soeul, 2, 887-892, Aug. 1999, Peer-reviwed
International conference proceedings, English

A New PDC for Fuzzy Reference Models
Tadanari Taniguchi; Kazuo Tanaka; Kazuo Yamafuji; Hua O. Wang
Proc. of 1999 IEEE International Conference on Fuzzy Systems, Soeul, 2, 898-903, Aug. 1999, Peer-reviwed
International conference proceedings, English

New Robust and Optimal Desigus for Takagi-Sugeno Fuzzy Control Systems
Kazuo Tanaka; Tsuyoshi Hori; Hua O. Wang
Proceedings of 1999 IEEE International Conference on Control Applications, Hawaii, 2, 415-420, Aug. 1999, Peer-reviwed
International conference proceedings, English

Trajectory Control of an Articulated Vehicle with Triple Trailers
Kazuo Tanaka; Tadanari Taniguchi; Hua O. Wang
Proceedings of 1999 IEEE International Confereuce on Control Applications, Hawaii, 2, 1673-1678, Aug. 1999, Peer-reviwed
International conference proceedings, English

Dynamic Output Feedback Desigus for Nonlinear Systems
Kazuo Tanaka; Tsuyoshi Hori; Hua O. Wang
Proceedings of 1999 IEEE International Confereuce on Systems,Man and Cybernetics, Tokyo, 3, 56-61, Aug. 1999, Peer-reviwed
International conference proceedings, English

Robust and Optimal Fuzzy Control : A Linear Matrix Inequality Approach
Kazuo Tanaka; Tadanari Taniguchi; Hua O. Wang
Proceedings of 1999 International Federation of Automatic Control(IFAC) Warld Congress, Beijing, 213-218, Jul. 1999, Peer-reviwed
International conference proceedings, English

Parallel Distributed Compensation for Takagi-Sugeno Fuzzy Models : New Stability Conditions and Dynamic Feedback Designs
David Niemann; Jing Li; Hua O. Wang; Kazuo Tanaka
Proceedings of 1999 International Fedration of Automatic Control(IFAC) World Congress, Beijing, 207-212, Jul. 1999, Peer-reviwed
International conference proceedings, English

Fuzzy Descriptor Systems : Stability Analysis and Design via LMIs
Tadanari Taniguchi; Kazuo Tanaka; Kazuo Yamafuji; Hua O. Wang
Proc. of 1999 American Control Conference, San Diego, 1827-1831, Jun. 1999, Peer-reviwed
International conference proceedings, English

Parallel Distributed Compensation for Takagi-Sugeno Fuzzy Models : Multiobjective Controller Design
Jing Li; David Niemann; Hua O. Wang; Kazuo Tanaka
Proc. of 1999 American Control Conference, San Diego, 1832-1836, Jun. 1999, Peer-reviwed
International conference proceedings, English

Nonlinear Model Following Control via Takagi-Sugeno Fuzzy Model
Tadanari Taniguchi; Kazuo Tanaka; Kazuo Yamafuji; Hua O. Wang
Proc. of 1999 American Control Conference, San Diego, 1827-1831, Jun. 1999, Peer-reviwed
International conference proceedings, English

ファジィ状態観測器を用いた制御系設計
田中 一男; 谷口 唯成
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 35, 3, 422-427, 1999, Peer-reviwed, This paper presents new stability conditions and design methods for fuzzy observer-based control. New stability conditions are obtained by relaxing the stability conditions derived in previous works. We present LMI-based designs for fuzzy regulators and fuzzy observers using so-called "parallel distributed compensation" and the relaxed stability conditions. A design example for the ball and beam system shows the utility of the new stability conditions and the proposed design procedures.
Scientific journal, Japanese

Nonlinear Model Following Control via Takagi-Sugeno Fuzzy Model
Tadanari Taniguchi; KazuoTanaka
Journal of Advanced Computational Intelligence, 3, 2, 68-74, 1999, Peer-reviwed
Scientific journal, English

Computational Intelligence with New Physical Controllability Measure for Robust Control Algorithm of Extension-Cableless Robotic Unicycle
Viktor S. Ulyanov; Kazuo Yamafuji; Sergei V. Ulyanov; Kazuo Tanaka
Journal of Advanced Computational Intelligence, 3, 2, 136-145, 1999, Peer-reviwed
Scientific journal, English

Autonomous Locomotion Control of an Intelligent Mobile Robot for Service Use
The 9th International Conference on Advauced Robotics, 675-681, 1999, Peer-reviwed
International conference proceedings, English

Robust and Optimal Fuzzy Control - A Linear Matrix Inequality Approach -
Kazuo Tanaka; Tadanari Taniguchi; Hua O. Wang
1999 International Federation of Automatic Control（IFAC） World Congress, 213-218, 1999, Peer-reviwed
International conference proceedings, English

Multiobjective dynamic feedback control of Takagi-Sugeno model via LMIs
J. Li; D. Niemann; H. O. Wang; K. Tanaka
Proc. of 4th Joint Conference of Information Sciences, Durham, 1, 159-162, Oct. 1998, Peer-reviwed
International conference proceedings, English

A unified approach to controlling chaos via arm LMI-based fuzzy control system design
K Tanaka; T Ikeda; HO Wang
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-FUNDAMENTAL THEORY AND APPLICATIONS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 45, 10, 1021-1040, Oct. 1998, Peer-reviwed, This paper presents a unified approach to controlling chaos via a fuzzy control system design based on linear matrix inequalities (LMI's), First, Takagi-Sugeno fuzzy models and some stability results are recalled, To design fuzzy controllers, chaotic systems are represented by Takagi-Sugeno fuzzy models. The concept of parallel distributed compensation is employed to determine structures of fuzzy controllers from the Takagi-Sugeno fuzzy models. LMI-based design problems are defined and employed to find feedback gains of fuzzy controllers satisfying stability, decay rate, and constraints on control input and output of fuzzy control systems. Stabilization, synchronization, and chaotic model following control for chaotic systems are realized via the unified approach based on LMI's, An exact linearization (EL) technique is presented as a main result in the stabilization. The EL technique also plays an important role in the synchronization and the chaotic model following control. Two cases are considered in the synchronization. One is the feasible case of the EL problem, The other is the infeasible case of the EL problem. Furthermore, the chaotic model following control problem, which is more difficult than the synchronization problem, is discussed using the EL technique. Simulation results shaw the utility of the unified design approach based on LMI's proposed in this paper.
Scientific journal, English

Backing control problem of a mobile robot with multiple trailers: Fuzzy modeling and LMI-based design
K Tanaka; T Kosaki; HO Wang
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 28, 3, 329-337, Aug. 1998, Peer-reviwed, This paper presents backing control of computer-simulated mobile robots with multiple trailers by fuzzy modeling and control. We deal with two kinds of mobile robots: a mobile robot with five trailers and a mobile robot with ten trailers. To design fuzzy controllers, nonlinear models of the mobile robots with multiple trailers are represented by Takagi-Sugeno fuzzy models (TS fuzzy model), Before making TS fuzzy models, we simplify the nonlinear dynamics of the mobile robots. Under an assumption, TS fuzzy models are made from the simplified nonlinear models. The so-called parallel distributed compensation (PDC) is employed to design fuzzy controllers from the TS fuzzy models, Next, we derive a stability condition based on the Lyapunov approach. The stability condition of the designed fuzzy control system is cast in terms of linear matrix inequalities (LMI's) since it is reduced to a problem of finding a common Lyapunov function for a set of Lyapunov inequalities, Convex optimization techniques based on LMI's are utilized to solve the problem of finding stable feedback gains and a common Lyapunov function for the designed fuzzy control system. The simulation results show the effects of the fuzzy modeling, the controller design via the PDC, and the stability analysis based on LMI's.
Scientific journal, English

Fuzzy regulators and fuzzy observers: Relaxed stability conditions and LMI-based designs
K Tanaka; T Ikeda; HO Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 6, 2, 250-265, May 1998, Peer-reviwed, This paper presents new relaxed stability conditions and LMI- (linear matrix inequality) based designs for both continuous and discrete fuzzy control systems. They are applied to design problems of fuzzy regulators and fuzzy observers, First, Takagi and Sugeno's fuzzy models and some stability results are recalled. To design fuzzy regulators and fuzzy observers, nonlinear systems are represented by Takagi-Sugeno's (T-S) fuzzy models, The concept of parallel distributed compensation is employed to design fuzzy regulators and fuzzy observers from the TS fuzzy models. New stability conditions are obtained by relaxing the stability conditions derived in previous papers, LMI-based design procedures for fuzzy regulators and fuzzy observers are constructed using the parallel distributed compensation and the relaxed stability conditions. Other LMI's with respect to decay rate and constraints on control input and output are also derived and utilized in the design procedures. Design examples for nonlinear systems demonstrate the utility of the relaxed stability conditions and the LMI-based design procedures.
Scientific journal, English

Absolute stability conditions in a fuzzy phase-lead compensation and their extension to MIMO systems
K Tanaka; T Ikeda
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 45, 2, 333-340, Apr. 1998, Peer-reviwed, This paper presents absolute stability conditions in a fuzzy phase-lead compensation and their extension to multi-input-multi-output (MIMO) systems. A theorem which realizes an effective phase-lead compensation is recalled. A so-called "transformation matrix" is derived in the theorem. A fuzzy phase-lead compensator (FPLC) is constructed by using the transformation matrix. The circle condition is employed to derive absolute stability conditions of feedback systems in a fuzzy phase-lead compensation. Next, a generalized class of FPLC's is defined, and its stability conditions are derived from the viewpoints of H-infinity norm and quadratic stability. It is found that the stability conditions realize stability analysis not only for single-input-single-output (SISO) systems, but also for MIMO systems.
Scientific journal, English

Fuzzy control based on quadratic performance function - a linear matrix inequality approach
Kazuo Tanaka; Tadanari Taniguchi; Hua O. Wang
Proceedings of the IEEE Conference on Decision and Control, IEEE, 3, 2914-2919, 1998, This paper presents an LMI approach to optimal fuzzy control based on quadratic performance function. First, stability conditions are presented by relaxing the previous stability results. The relaxed stability conditions are represented in terms of LMIs. The optimal fuzzy controller design utilizing the relaxed stability conditions is proposed. The optimal fuzzy controller is designed by solving the minimization problem that minimizes the upper bound of a given quadratic performance function. Finally, a design example for the well-known nonlinear control benchmark problem, the TORA system, demonstrates the utility of the optimal fuzzy control based on quadratic performance function.
Scientific journal, English

ファジィディスクリプタシステムの設計に関する一考察
谷口唯成; 田中一男
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 34, 3, 281-283, 1998, Peer-reviwed, A fuzzy descriptor system is defined in this paper. Three kinds of stability conditions for the fuzzy descriptor system are derived and represented in terms of linear matrix inequalities (LMIs). The stability analysis is reduced to a problem of finding a common Lyapunov function. An LMI design approach is employed to find stable feedback gains and a common Lyapunov function.
Scientific journal, Japanese

Model-based fuzzy control of TORA system: Fuzzy regulator and fuzzy observer design via LMIs that represent decay rate, disturbance rejection, robustness, optimality.
K Tanaka; T Taniguchi; HO Wang
1998 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS AT THE IEEE WORLD CONGRESS ON COMPUTATIONAL INTELLIGENCE - PROCEEDINGS, VOL 1-2, IEEE, 1, 313-318, 1998, Peer-reviwed, This paper presents a model-based fuzzy control of translational oscillations with a proof mass actuator (TORA) which is well known as a nonlinear control benchmark problem. The fuzzy regulator and fuzzy observer are designed by solving LMIs (linear matrix inequalities) that represent control performance such as decay rate, disturbance rejection, robust stability, minimization of quadratic performance function and constraints on the control input and output. Simulation results show the utility of the model-based fuzzy control utilizing the LMIs.
International conference proceedings, English

Fuzzy control of chaotic systems using LMIs: Regulation, synchronization and chaos model following
K Tanaka; HO Wang
1998 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS AT THE IEEE WORLD CONGRESS ON COMPUTATIONAL INTELLIGENCE - PROCEEDINGS, VOL 1-2, IEEE, 1, 434-439, 1998, Peer-reviwed, This paper presents an LMI-based fuzzy control of chaotic systems. The approach proposed here can be applied not only to regulation but also to synchronization and chaos model following in the same control framework. Simulation results show the utility of the design approach based on LMIs proposed in this paper.
International conference proceedings, English

Multi-objective fuzzy control of high rise high speed elevators using LMIs
K Tanaka; M Nishimura; HO Wang
PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6, IEEE, 1, 3450-3454, 1998, Peer-reviwed, This paper presents an LMI (linear matrix inequality) based fuzzy control approach to a high rise/high speed elevator. Motion control of the high rise/high speed elevators is a typical multi-objective control problem. To effectively solve the multi-objective control problem, LMIs that represent control performance such as decay rate, constraints on control input and output, robust stability, disturbance rejection, minimization of quadratic performance index and their mixed control problem are obtained. Convex optimization techniques based on LMIs are utilized to obtain feedback gains satisfying the above control performance. Finally, simulation results show the utility of the LMI based design procedure and realization of the multi-objective control.
International conference proceedings, English

2次形式評価関数とロバスト性を考慮したファジィシステムの混合設計問題
池田貴幸; 田中一男
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 34, 11, 1692-1697, 1998, Peer-reviwed, This paper presents a systematic design of fuzzy control systems based on quadratic performance function and robust stability. First, robust stability conditions for a class of uncertain fuzzy systems are derived. An LMI-based approach is employed to design a robust fuzzy controller. Next, a fuzzy controller design based on quadratic performance indexes is realized by solving a minimization problem of the upper bound of a give quadratic performance index. Furthermore, a mixed control problem that simultaneously considers both of them is defined and solved efficiently by derived LMI conditions. Finally, a design example, stabilization of an inverted pendulum system, shows the effect of the proposed design method.
Scientific journal, Japanese

Fuzzy control based on quadratic performance function - A linear matrix inequality approach
K Tanaka; T Taniguchi; HO Wang
PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, IEEE, 2914-2919, 1998, Peer-reviwed, This paper presents an LMI approach to optimal fuzzy control based on quadratic performance function. First, stability conditions are presented by relaxing the previous stability results. The relaxed stability conditions are represented in terms of LMIs. The optimal fuzzy controller design utilizing the relaxed stability conditions is proposed. The optimal fuzzy controller is designed by solving the minimization problem that minimizes the upper bound of a given quadratic performance function. Finally, a design example for the well-known nonlinear control benchmark problem, the TORA system, demonstrates the utility of the optimal fuzzy control based on quadratic performance function.
International conference proceedings, English

Design of a stable fuzzy controller for an articulated vehicle
K Tanaka; T Kosaki
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 27, 3, 552-558, Jun. 1997, Peer-reviwed, This paper presents a backward movement control of an articulated vehicle via a model-based fuzzy control technique. A nonlinear dynamic model of the articulated vehicle is represented by a Takagi-Sugeno fuzzy model. The concept of parallel distributed compensation is employed to design a fuzzy controller from the Takagi-Sugeno fuzzy model of the articulated vehicle. Stability of the designed fuzzy control system is guaranteed via Lyapunov approach. The stability conditions are characterized in terms of linear matrix inequalities since the stability analysis is reduced to a problem of finding a common Lyapunov function for a set of Lyapunov inequalities. Simulation results and experimental results show that the designed fuzzy controller effectively achieves the backward movement control of the articulated vehicle.
Scientific journal, English

Fuzzy controller and observer design for backing control of a trailer-truck
Kazuo Tanaka; Tadanari Taniguchi; Hua O. Wang
Engineering Applications of Artificial Intelligence, Elsevier Ltd, 10, 5, 441-452, 1997, This paper presents a fuzzy controller and observer design for backward movement control of a trailer-truck. A nonlinear dynamic model of the trailer-truck is represented by a Takagi-Sugeno fuzzy model. The concept of parallel distributed compensation is employed to design a fuzzy controller and a fuzzy observer from the Takagi-Sugeno fuzzy model of the trailer-truck. Stability conditions of the fuzzy control system are derived, using the Lyapunov approach. It is shown that the stability conditions are characterized in terms of linear matrix inequalities (LMIs). Stability of the overall fuzzy control system, including a fuzzy controller and a fuzzy observer, is guaranteed by using a convex optimization technique based on LMIs. Simulation and experimental results show that the fuzzy controller and the fuzzy observer effectively achieve backward movement control of the trailer-truck. © 1997 Published by Elsevier Science Ltd. All rights reserved.
Scientific journal, English

Model-based fuzzy control for two trailers problem: Stability analysis and design via linear matrix inequalities
Kazuo Tanaka; Tadanari Taniguchi; Hua O. Wang
IEEE International Conference on Fuzzy Systems, IEEE, 1, 343-348, 1997, We design a backward movement control system for a vehicle with two trailers via a model-based fuzzy control technique. A Takagi-Sugeno fuzzy model is constructed to describe the nonlinear dynamics of the vehicle. The so-called parallel distributed compensation is employed to determine a control rule structure of a fuzzy controller from the fuzzy model of the vehicle. The parameters of the fuzzy controller are obtained via an LMI (linear matrix inequalities) based design with respect to decay rate, constraint on the control input and constraint on the output. Simulation and experimental results show that the designed fuzzy controller effectively achieves the backward movement control of the articulated vehicle without jack-knife phenomenon.
International conference proceedings, English

系の安定性を考慮した改良型遺伝的アルゴリズムによる非線形制御器のパラメータ調整(共著)
TANAKA Kazuo; HATANAKA Shinichiro
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 33, 4, 296-301, 1997, Peer-reviwed, This paper presents a revised genetic algorithm (RGA) for parameter adjustment of nonlinear controllers. The RGA is based on the principle of selecting stabilizable chromosomes. The quadratic stabilization technique is used to realize the principle, i.e., to check stabilizability of the chromosomes which describes the parameters of nonlinear controller in the form of binary notation. In addition, the RGA has an index parameter of the robustness for control systems. It is, therefore, possible to design robust controllers by appropriately selecting a value of the index parameter. This simulation results show that the RGA can realize avoidance of instability phenomenon, fast parameter adjustment and robust controller design.
Scientific journal, Japanese

Fuzzy control of a vehicle with two trailers
K Tanaka; HO Wang; T Taniguchi
PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6, I E E E, 2861-2862, 1997, Peer-reviwed, We design a backward movement control system for a vehicle with two trailers. A linear matrix inequality (LMI) based design that considers stability, decay rate and constraints on control input and output is employed to design a fuzzy controller. Simulation and experimental results show that the designed fuzzy controller effectively achieves the backward movement control.
International conference proceedings, English

Fuzzy control system design via LMIs
K Tanaka; T Ikeda; HO Wang
PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6, I E E E, 2873-2877, 1997, Peer-reviwed, This paper presents new stability conditions satisfying decay rate for both continuous and discrete fuzzy control systems. LMI (linear matrix inequality) based designs for decay rate are also considered using the concept of parallel distributed compensation (PDC). To design fuzzy control systems, nonlinear systems are represented by Takagi-Sugeno fuzzy models. The PDC is employed to design fuzzy controllers from the Takagi-Sugeno fuzzy models. The stability analysis discussed here is reduced to a problem of finding a common Lyapunov function for a set of linear matrix inequalities. Convex optimization techniques involving LMIs are utilized to find a common Lyapunov function and stable feedback gains satisfying decay rate. A simple example demonstrates the utility of the LMI-based designs proposed in this paper.
International conference proceedings, English

2台トレーラを有する移動ロボットのファジィ後退制御
田中一男; 小嵜貴弘
計測自動制御学会論文集, 33, 6, 541-546, 1997, Peer-reviwed
Scientific journal, Japanese

Application of Model-based Fuzzy Control to a Magnetic Suspension System
Seventh International Fuzzy Systems Association World Congress, 3, 366-369, 1997, Peer-reviwed
International conference proceedings, English

ファジィ推論により目標値を設定するファジィ補正型PID制御とそのプラント過渡状態制御への適用
谷 哲次; 歌代 誠; 馬野元秀; 田中一男
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 33, 10, 1002-1009, 1997, Peer-reviwed, In transient states of feed oil switching and operation mode changing, the nonlinear response with a time delay makes difficult to control a plant automatically. However, a well experienced operator can control it by his experience in such a state. We propose a hybrid control system by replacing the procedure of a well experienced operator. The proposed hybrid control system consists of three component; (1) the base control component which calculates an average from long-term tendency of the plant, (2) the compensating component which compensates the output of the base control component by predicting the status of the plant and (3) the target setting component which sets a suitable target value of controller. We choose PID controller for the base control component, fuzzy controller for the compensating component and fuzzy controller for the target setting component.
This control system is applied to the tower-top temperature control of the naphtha desulfurize plant at Idemitsu Hokkaidou Refinery and we have a good control performance in transient states of feed oil switching and operation mode changing.
Scientific journal, Japanese

An LMI approach to fuzzy controller designs based on relaxed stability conditions
K Tanaka; T Ikeda; HO Wang
PROCEEDINGS OF THE SIXTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS I - III, I E E E, 1, 171-176, 1997, Peer-reviwed, New stability conditions satisfying decay rate are derived for both continuous and discrete fuzzy control systems. LMI (linear matrix inequality) based design procedures that consider decay rate and constraints on control input and output are constructed using the concept of parallel distributed compensation (PDC). To design fuzzy control systems, nonlinear systems are represented by Takagi-Sugeno fuzzy models. The PDC is employed to design fuzzy controllers from the Takagi-Sugeno fuzzy models. The stability analysis discussed here is reduced to a problem of finding a common Lyapunov function for a set of linear matrix inequalities. Convex optimization techniques involving LMIs are utilized to find a common Lyapunov function and stable feedback gains satisfying decay rate and constraints on control input and output. Design examples demonstrate the utility of the LMI-based designs proposed in this paper.
International conference proceedings, English

Model-based fuzzy control system design for magnetic bearings
T Kosaki; M Sano; K Tanaka
PROCEEDINGS OF THE SIXTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS I - III, I E E E, 2, 895-899, 1997, Peer-reviwed, This paper describes the application of a model-based fuzzy control technique to active magnetic bearing systems. The stabilization problem of the magnetic bearing systems is reduced to the two degrees-of-freedom control problem about rotational motion including interaction We derive a multivariable fuzzy controller for this problem from the fuzzy model of rotor dynamics using the concept of parallel distributed compensation. Moreover the stability of the designed control system is proved by means of the Lyapunov stability condition. A common Lyapunov function is found by solving an optimization problem based on linear matrix inequality (LMI) conditions. The performance of the developed fuzzy controller is verified through simulation.
International conference proceedings, English

Controlling chaos via model-based fuzzy control system design
K Tanaka; T Ikeda; HO Wang
PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, IEEE, 2, 1488-1493, 1997, Peer-reviwed, This paper presents an LMI-based fuzzy control of chaotic systems. The approach proposed here can be applied not only to regulation but also to synchronization and chaos model following in the same control framework. Simulation results show the utility of the design approach based on LMIs proposed in this paper.
International conference proceedings, English

An approach to stability criteria of neural-network control systems
K Tanaka
IEEE TRANSACTIONS ON NEURAL NETWORKS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 7, 3, 629-642, May 1996, Peer-reviwed, This paper discusses stability of neural network (NN)-based control systems using Lyapunov approach, First, it is pointed out that the dynamics of NN systems can be represented by a class of nonlinear systems treated as linear differential inclusions (LDI), Next, stability conditions for the class of nonlinear systems are derived and applied to the stability analysis of single NN systems and feedback NN control systems, Furthermore, a method of parameter region (PR) representation, which graphically shows the location of parameters of nonlinear systems, is proposed by introducing new concepts of vertex point and minimum representation, From these concepts, an important theorem, which is useful for effectively finding a Lyapunov function, is derived, Stability criteria of single NN systems are illustrated in terms of PR representation, Finally, stability of feedback NN control systems, which consist of a plant represented by an NN and an NN controller, is analyzed.
Scientific journal, English

Robust stabilization of a class of uncertain nonlinear systems via fuzzy control: Quadratic stabilizability, H-infinity control theory, and linear matrix inequalities
K Tanaka; T Ikeda; HO Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 4, 1, 1-13, Feb. 1996, Peer-reviwed, This paper presents stability analysis for a class of uncertain nonlinear systems and a method for designing robust fuzzy controllers to stabilize the uncertain nonlinear systems. First, a stability condition for Takagi and Sugeno's fuzzy model is given in terms of Lyapunov stability theory. Next, new stability conditions for a generalized class of uncertain systems are derived from robust control techniques such as quadratic stabilization, H-infinity control theory, and linear matrix inequalities. The derived stability conditions are used to analyze the stability of Takagi and Sugeno's fuzzy control systems with uncertainty which can be regarded as a generalized class of uncertain nonlinear systems. The design method employs the so-called parallel distributed compensation. Important issues for the stability analysis and design are remarked. Finally, three design examples of fuzzy controllers for stabilizing nonlinear systems and uncertain nonlinear systems are presented.
Scientific journal, English

An approach to fuzzy control of nonlinear systems: Stability and design issues
HO Wang; K Tanaka; MF Griffin
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 4, 1, 14-23, Feb. 1996, Peer-reviwed, We present a design methodology for stabilization of a class of nonlinear systems. First, we represent a nonlinear plant with a Takagi-Sugeno fuzzy model. Then a model-based fuzzy controller design utilizing the concept of the so-called ''parallel distributed compensation'' is employed. The main idea of the controller design is to derive each control rule so as to compensate each rule of a fuzzy system. The design procedure is conceptually simple and natural. Moreover, the stability analysis and control design problems can be reduced to linear matrix inequality (LMI) problems. Therefore, they can be solved efficiently in practice by convex programming techniques for LMI's. The design methodology is illustrated by application to the problem of balancing and swing-up of an inverted pendulum on a cart.
Scientific journal, English

並列分散的補償の概念を用いたトレーラ・トラックタイプロボットのファジィ後退制御
田中一男; 小嵜貴弘
計測自動制御学会論文集, 計測自動制御学会, 32, 3, 363-368, 1996, Peer-reviwed
Scientific journal, Japanese

Fuzzy modeling and control of chaotic systems
HO Wang; K Tanaka; T Ikeda
ISCAS 96: 1996 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS - CIRCUITS AND SYSTEMS CONNECTING THE WORLD, VOL 3, I E E E, 3, 209-212, 1996, Peer-reviwed
International conference proceedings, English

Fuzzy Control of an Articulated Vehicle and Its Stability Analysis
13th World Congress International Federation of Automatic Control, F, 115-120, 1996, Peer-reviwed
International conference proceedings, English

An approach to stabilization of uncertain fuzzy systems
K Tanaka; T Ikeda; H Wang
FUZZ-IEEE '96 - PROCEEDINGS OF THE FIFTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, I E E E, 1, 72-77, 1996, Peer-reviwed
International conference proceedings, English

An LMI-based stable fuzzy control of nonlinear systems and its application to control of chaos
HO Wang; K Tanaka
FUZZ-IEEE '96 - PROCEEDINGS OF THE FIFTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, I E E E, 2, 1433-1438, 1996, Peer-reviwed
International conference proceedings, English

Fuzzy control of a mobile robot with multiple trailers - Stability analysis and parallel distributed compensation
K Tanaka; T Kosaki; HO Wang
PROCEEDINGS OF THE 1996 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, I E E E, 259-264, 1996, Peer-reviwed
International conference proceedings, English

Design of fuzzy control systems based on relaxed LMI stability conditions
K Tanaka; T Ikeda; H Wang
PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, I E E E, 1, 598-603, 1996, Peer-reviwed, This paper presents new stability conditions and LMI (linear matrix inequality) based designs for both continuous and discrete fuzzy control systems. First, Takagi and Sugeno's fuzzy models and some stability results are recalled. To design fuzzy control systems, nonlinear systems are represented by Takagi-Sugeno fuzzy models. The concept of parallel distributed compensation is employed to design fuzzy controllers from the Takagi-Sugeno fuzzy models. New stability conditions are obtained by relaxing the stability conditions derived in previous papers. The stability analysis of the feedback system is reduced to a problem of finding a common Lyapunov function for a set of linear matrix inequalities. Convex optimization techniques involving LMIs are utilized to find a common Lyapunov function. A procedure to design the fuzzy controller is constructed using the parallel distributed compensation and the relaxed stability conditions. Some stability issues are remarked. A simple example demonstrates the effects of the derived stability conditions.
International conference proceedings, English

STABILITY AND STABILIZABILITY OF FUZZY-NEURAL-LINEAR CONTROL-SYSTEMS
K TANAKA
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 3, 4, 438-447, Nov. 1995, Peer-reviwed, This paper discusses stability analysis of fuzzy-neural-linear (FNL) control systems which consist of combinations of fuzzy models, neural network (NN) models, and linear models, We consider a relation among the dynamics of NN models, those of fuzzy models and those of linear models, It is pointed out that the dynamics of linear models and NN models can be perfectly represented by Takagi-Sugeno (T-S) fuzzy models whose consequent parts are described by linear equations, In particular, we present a procedure for representing the dynamics of NN models via T-S fuzzy models, Next, we recall stability conditions for ensuring stability of fuzzy control systems in the sense of Lyapunov, The stability criteria is reduced to the problem of finding a common Lyapunov function for a set of Lyapunov inequalities, The stability conditions are employed to analyze stability of FNL control systems, Finally, stability analysis for four types of FNL control systems is demonstrated.
Scientific journal, English

MODELING AND CONTROL OF CARBON-MONOXIDE CONCENTRATION USING A NEURO-FUZZY TECHNIQUE
K TANAKA; M SANO; H WATANABE
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 3, 3, 271-279, Aug. 1995, Peer-reviwed, Modeling and control of carbon monoxide (CO) concentration using a neuro-fuzzy technique are discussed. A self-organizing fuzzy identification algorithm (SOFIA) for identifying complex systems such as CO concentration is proposed. The main purpose of SOFIA is to reduce the computational requirement for identifying a fuzzy model. In particular, we simplify a procedure for finding the optimal structure Of fuzzy partition. The delta rule, which is a basic learning method in neural networks, is used for parameter identification of a fuzzy model. SOFIA consists of four stages which effectively realize structure identification and parameter identification. The procedure of SOFIA is concretely demonstrated by a simple example which has been used in some modeling exercises. The identification result shows effectiveness of SOFIA. Next, we apply SOFIA to a prediction problem for CO concentration in the air at the busiest traffic intersection in a large city of Japan. Prediction results show that the fuzzy model is much better than a linear model. Furthermore, we simulate a control system for keeping CO concentration at a constant level by using the identified fuzzy model. A self-learning for adaptively modifying controller parameters by delta rule is introduced because the dynamics of real CO concentration system changes gradually over a long period of time. Two self-learning controllers are designed in this simulation, One is a self-learning linear PI controller. The other is a self-learning fuzzy PI controller. We investigate robustness and adaptability of this control system for disturbance and parameter perturbation of the CO concentration model. Simulation results show that the self-learning fuzzy controller is more robust and adaptive.
Scientific journal, English

FREQUENCY SHAPING FOR FUZZY CONTROL-SYSTEMS WITH UNKNOWN NONLINEAR PLANTS BY A LEARNING-METHOD OF NEURAL-NETWORK
K TANAKA; M SANO
FUZZY SETS AND SYSTEMS, ELSEVIER SCIENCE BV, 71, 1, 71-84, Apr. 1995, Peer-reviwed, This paper deals with a frequency shaping, which means an improvement of frequency response, for fuzzy control systems with unknown non-linear plants by a learning method of neural network. We derive an important theorem, which is related to phase-lead compensation, by introducing concept of frequency characteristics such as gain crossover frequency and phase margin. Using the theorem, a fuzzy phase-lead compensator, which have parameters for effectively compensating phase characteristics of control systems, is constructed. After proposing a design procedure of the fuzzy phase-lead compensator for linear plants, we extend it to a design procedure for unknown non-linear plants. A frequency shaping for unknown non-linear plants is realized by Widrow-Hoff learning rule which is a basic learning algorithm of neural networks. Simulation results show the effect of frequency shaping by Widrow-Hoff learning rule.
Scientific journal, English

TRAJECTORY STABILIZATION OF A MODEL CAR VIA FUZZY CONTROL
K TANAKA; M SANO
FUZZY SETS AND SYSTEMS, ELSEVIER SCIENCE BV, 70, 2-3, 155-170, Mar. 1995, Peer-reviwed, This paper deals with trajectory stabilization of a computer simulated model car via fuzzy control. Stability conditions of fuzzy systems are given in accordance with the definition of stability in the sense of Lyapunov. First, we approximate a computer simulated model car, whose dynamics is nonlinear, by T-S (Takagi and Sugeno) fuzzy model. Fuzzy control rules, which guarantee stability of the control system under a condition, are derived from the approximated fuzzy model. The simulation results show that the fuzzy control rules effectively realize trajectory stabilization of the model car along a given reference trajectory from all initial positions under a condition and the dynamics of the approximated fuzzy model agrees well with that of the model car.
Scientific journal, English

Stability analysis of feedback systems in fuzzy phase-lead compensation
K TANAKA; T IKEDA
1995 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-5, I E E E, 2165-2170, 1995, Peer-reviwed
International conference proceedings, English

PARALLEL DISTRIBUTED COMPENSATION OF NONLINEAR SYSTEMS BY TAKAGI-SUGENO FUZZY MODEL
HO WANG; K TANAKA; M GRIFFIN
PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS I-IV, I E E E, 2, 531-538, 1995, Peer-reviwed
International conference proceedings, English

DESIGN OF FUZZY CONTROLLER FOR BACKER-UPPER OF A 5-TRAILERS AND TRUCK
K TANAKA; K YOSHIOKA
PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS I-IV, I E E E, 3, 1543-1548, 1995, Peer-reviwed
International conference proceedings, English

ファジィ制御による非線形システムの2次安定化条件
田中一男; 池田貴幸
計測自動制御学会論文集, 計測自動制御学会, 31, 12, 1988-1995, 1995, Peer-reviwed
Scientific journal, Japanese

A ROBUST STABILIZATION PROBLEM OF FUZZY CONTROL-SYSTEMS AND ITS APPLICATION TO BACKING UP CONTROL OF A TRUCK-TRAILER
K TANAKA; M SANO
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2, 2, 119-134, May 1994, Peer-reviwed, A robust stabilization problem for fuzzy systems is discussed in accordance with the definition of stability in the sense of Lyapunov. We consider two design problems: nonrobust controller design and robust controller design. The former is a design problem for fuzzy systems with no premise parameter uncertainty. The latter is a design problem for fuzzy systems with premise parameter uncertainty. To realize two design problems, we derive four stability conditions from a basic stability condition proposed by Tanaka and Sugeno: nonrobust condition, weak nonrobust condition, robust condition, and weak robust condition. We introduce concept of robust stability for fuzzy control systems with premise parameter uncertainty from the weak robust condition. To introduce robust stability, admissible region and variation region, which correspond to stability margin in the ordinary control theory, are defined. Furthermore, we develop a control system for backing up a computer simulated truck-trailer which is nonlinear and unstable. By approximating the truck-trailer by a fuzzy system with premise parameter uncertainty and by using concept of robust stability, we design a fuzzy controller which guarantees stability of the control system under a condition. The simulation results show that the designed fuzzy controller smoothly achieves backing up control of the truck-trailer from all initial positions.
Scientific journal, English

Learning Control of an Adaptive Structural Manipulator by Fuzzy Phase-lead Compensation
Proc. of NAFIPS/IFIS/NASA'94, 1, 237-242, 1994, Peer-reviwed
International conference proceedings, English

A Note on Stability and Stabilizability of Fuzzy-Neural-Linear Control Systems
Proc. of NAFIPS/IFIS/NASA'94, 1, 106-111, 1994, Peer-reviwed
International conference proceedings, English

ファジィ最適フィールドバック制御系の設計
田中一男; 佐野 学
日本機械学会論文集C, The Japan Society of Mechanical Engineers, 60, 570, 583-590, 1994, Peer-reviwed, Recently, fuzzy control has been applied to many practical industrial applications. However, as one of the disadvantages of fuzzy control, it is said that we lack, at present, analytical tools for fuzzy control systems. In this paper, a design method which can quantitatively evaluate control performance is proposed for fuzzy optimal control systems. The feature of the design method is to consider not only the dynamics described in consequent parts but also the influence of fuzzy partitions defined in premise parts. The solution of an optimal feedback law consists of two steps. First, a fuzzy system, proposed by Takagi and Sugeno, is approximated by a linear time-varying system. The well-known complex method is used for the approximation since the problem of finding optimum parameters of a linear time-varying system which minimizos the mean squares error criterion is reduced to a non-linear programming. Next, the optimal feedback law is obtained by using the optimal control method for linear time-varying systems. Finally, the effectiveness of this design method is verified by simulation results.
Scientific journal, Japanese

ニューラルネットワークとファジィルールによるハイブリッド制御方式とその潤滑油精製装置への適用
谷 哲次; 村越俊二; 馬野元秀; 田中一男
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 30, 7, 845-852, 1994, Peer-reviwed, A practical control method using neural network and fuzzy control techniques is applied to the level control of the tank in a solvent dewaxing plant. The purposes of the control are to stabilize the tank level and to smoothly change the outflow rate from the tank which conflicts with the stabilization of the tank level.
This plant has non-linear characteristics such as refrigerating process and filtering process, so it is difficult to predict the inflow rate to the tank. Especially, the response of the inflow rate to the tank has a large dead time when the feed oil to the plant is switched. Furthermore, the heater installed in the down stream of the tank restricts the outflow rate from the tank.
This neuro-fuzzy hybrid control system consists of three components,
(1) a statistical component, which calculates long-time tendencies of the outflow rate from operation data.
(2) a correction component, which is a fuzzy controller for compensating the outflow rate calculated by the statistical component, and
(3) a prediction component, which uses neural networks to generate suitable control target patterns for the fuzzy controller in advance.
This neuro-fuzzy hybrid controller for the real plant works well not only in steady state but also in transient state.
Scientific journal, Japanese

ファジィモデリングによる体動感知型心拍応答ペースメーカーのための心拍数予測モデルの同定(共著)
田中一男; 柏木法人; 中島 博
日本ファジイ学会論文誌, Japan Society for Fuzzy Theory and Intelligent Informatics, 6, 4, 756-764, 1994, Peer-reviwed, The purpose of this paper is to identify a pulse rate prediction model for an activity sensing pacer by SOFIA (Self-Organizing Fuzzy Identification Algorithm), which is a simplified method of fuzzy modeling proposed by Sugeno and Kang. Input and output variables of the pulse rate prediction model are workload and pulse rate, respectively. First, it is pointed out by comparing identfication result of SOFIA with that of a linear model that the input-output relation between workload and pulse rate is highly nonlinear. Finally, as a result of compairing prediction result by the identified fuzzy model with those by other pacers, it is shown that SOFIA is useful for predicting pulse rate for activity sensing pacers.
Scientific journal, Japanese

FUZZY STABILITY-CRITERION OF A CLASS OF NONLINEAR-SYSTEMS
K TANAKA; M SANO
INFORMATION SCIENCES, ELSEVIER SCIENCE INC, 71, 1-2, 3-26, Jun. 1993, Peer-reviwed, A fuzzy stability criterion of a class of nonlinear systems is discussed in accordance with the definition of stability in the sense of Lyapunov. First, a sufficient condition that guarantees stability of a fuzzy system is given in terms of Lyapunov's direct method. Two concepts for stability of fuzzy systems are defined: locally stable and globally table. Second, a construction procedure for Lyapunov functions is presented. Finally, the construction procedure is applied to the fuzzy stability criterion of a class of nonlinear systems that can be approximated by fuzzy systems.
Scientific journal, English

非線形性を持つ制御対象に対するファジィサーボ系の簡易設計法
田中一男; 佐野 学
日本機械学会論文集C, The Japan Society of Mechanical Engineers, 59, 557, 131-137, 1993, Peer-reviwed, Fuzzy control has been applied to many kinds of real industrial processes. In the design of complex systems such as multi-input/multi-output systems and nonlinear systems, it is difficult to acquire expert control knowledge and to determine optimal parameters of membership functions. This paper presents a simplified design method for fuzzy servo systems for nonlinear plants. The features of this method are as follows. (1) This method consists of a simple design procedure. (2) This method guarantees stability of fuzzy servo systems. (3) This method results in the rejection of steady-state error and disturbance. Finally, the effectiveness of this design method is verified by a simulation experiment of control of the water level of a multi tank system.
Scientific journal, Japanese

周波数に基づくファジィ制御器の設計とδ(デルタ)ルールによる自己調整
田中一男; 佐野 学; 竹間丈浩
計測自動制御学会論文集, 計測自動制御学会, 29, 7, 826-832, 1993, Peer-reviwed
Scientific journal, Japanese

機械学習によるファジィモデリングの生成とその最適加熱炉温度予測システムへの適用
谷 哲次; 追田 誠; 馬野元秀; 田中一男
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 29, 12, 1444-1451, 1993, Peer-reviwed, Knowledge acquisition is a critical stage in developing expert systems. ID3 is an approach to overcome it.
ID3 can create crisp IF-THEN rules automatically based on entropy of cases. However the number of rules increases when there are many cases even if they have slightly different values.
Fuzzy modeling technique is applied to many fields because it can represent fuzzy knowledge. In order to apply fuzzy modeling to the real world problems, identification of variables in premise part is essential. It is, however, difficult because it involves many numbers of variables in the real world.
Therefore this paper proposes a practical method to identify effective variables in a premise part of fuzzy IF-THEN rules. This method is that,
(1) Calculate priorities of variables and boundary values for fuzzy sets by information contents and identify effective variables in a premise part by the priorities and operators' experiences.
(2) Identify consequence part using multiple regression analysis in subspace determined by a premise part.
This method is applied to prediction of heater outlet temperature by crude names and their rates and/or feed rate and so on. And we have a good result, that is,
(1) We created practical fuzzy model to predict heater outlet temperature and
(2) It has shown that enough accuracy without adding new rules or without modifying rules for two and a half years.
Scientific journal, Japanese

STABILITY ANALYSIS OF NEURAL NETWORKS USING STABILITY CONDITIONS OF FUZZY-SYSTEMS
K TANAKA; M SANO
SECOND IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1 AND 2, I E E E, 1, 422-428, 1993, Peer-reviwed
International conference proceedings, English

CONCEPT OF STABILITY MARGIN FOR FUZZY-SYSTEMS AND DESIGN OF ROBUST FUZZY CONTROLLERS
K TANAKA; M SANO
SECOND IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1 AND 2, I E E E, 29-34, 1993, Peer-reviwed
International conference proceedings, English

ANALYSIS AND DESIGN OF FUZZY CONTROLLERS IN FREQUENCY-DOMAIN
K TANAKA; M SANO
PROCEEDINGS OF THE IECON 93 - INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1-3, I E E E, 1, 236-241, 1993, Peer-reviwed
International conference proceedings, English

STABILITY ANALYSIS AND DESIGN OF FUZZY CONTROL-SYSTEMS
K TANAKA; M SUGENO
FUZZY SETS AND SYSTEMS, ELSEVIER SCIENCE BV, 45, 2, 135-156, Jan. 1992, Peer-reviwed, The stability analysis and the design technique of fuzzy control systems using fuzzy block diagrams are discussed. First, we show the concept of fuzzy blocks and consider the connection problems of fuzzy blocks diagrams. We derive some theorems and corollaries with respect to two basic types of connections of fuzzy blocks. In order to preserve some properties in a connection of fuzzy blocks, continuous piecewise-polynomial membership functions are defined. Secondly, a sufficient condition which guarantees the stability of fuzzy systems is obtained in terms of Lyapunov's direct method. We give an important fact based on this condition. Thirdly, we propose a new design technique of a fuzzy controller. The fuzzy block diagrams and the stability analysis are applied to the design problems of a model-based fuzzy controller.
Scientific journal, English

ファジィ制御系における位相進み補償の実現
田中一男; 佐野 学; 竹間丈浩
日本ファジィ学会論文集, 4, 3, 163-170, 1992, Peer-reviwed
Scientific journal, Japanese

ファジィシステムの安定解析とリアプノフ関数の構成法
田中一男; 菅野道夫
日本機械学会論文集C, The Japan Society of Mechanical Engineers, 58, 550, 1766-1772, 1992, Peer-reviwed, The stability analysis of fuzzy systems is discussed in accordance with the definition of stability in the sense of Lyapunov. The main disadvantage of Lyapunov's stability criterion is that it gives only the sufficient conditions for stability, not the necessary conditions. Furthermore, there are no unique methods of determining Lyapunov functions for a wide class of systems. The purpose of this paper is to propose a construction procedure of Lyapunov functions for a class of fuzzy systems. First, we discuss stability analysis of fuzzy systems using Lyapunov's direct method. A sufficient for ensuring stability of fuzzy systems is obtained. Secondly, two conditions which are used for finding Lyapunov functions are derived : a necessary condition and a ncessary and sufficient condition for ensuring existence of Lyapunov functions. Finally, the effectiveness of this procedure is verified by some examples.
Scientific journal, Japanese

ファジィ同定アルゴリズムの簡略化法と都市ゴミ焼却炉のモデリング
田中一男; 佐野 学; 鈴木一如
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 28, 11, 1355-1363, 1992, Peer-reviwed, This paper proposes a simplified method on fuzzy identification algorithm. The main purpose of this method is to reduce computational quantity for identifying a fuzzy model. In particular, the procedure for finding an optimal structure of fuzzy partition is simplified. This algorithm consists of four stages which realize structure identification and parameter identification of a fuzzy model. The Widrow-Hoff learning algorithm, which is a learning method of neural networks, is used for parameter identification of a fuzzy model.
The aim of the first stage is to identify a linear model. The second stage finds an optimal structure of fuzzy partition which is defined by fuzzy sets in premise parts. The third stage realizes structure identification in consequent parts of a fuzzy model which has an optimal structure of fuzzy partition determined in the second stage. The last stage achieves parameter identification of a final fuzzy model.
The procedure of this algorithm is concretely demonstrated by a simple example, which has been used in some modeling exercises. Finally, this algorithm is applied to modeling of a municipal refuse incinerator. Identification results show that this algorithm is very useful for modeling of complex systems such as the municipal refuse incinerator.
Scientific journal, Japanese

廃液中和のためのファジィ制御系の設計
田中一男; 伏木純之; 川合英夫; 新井直人; 横山隆一
日本ファジィ学会論文集, 4, 6, 1156-1163, 1992
Scientific journal, Japanese

SUCCESSIVE IDENTIFICATION OF A FUZZY MODEL AND ITS APPLICATIONS TO PREDICTION OF A COMPLEX SYSTEM
M SUGENO; K TANAKA
FUZZY SETS AND SYSTEMS, ELSEVIER SCIENCE BV, 42, 3, 315-334, Aug. 1991, Peer-reviwed, A successive identification method of a fuzzy model is suggested. The identification mechanism consists of two levels. One is the supervisor level and the other is the adjustment level. The supervisor level determines a policy of parameter adjustment using a set of fuzzy adjustment rules. The adjustment rules are derived from the fuzzy implications of a fuzzy model and are extended to fuzzy adjustment rules by using an extended concept of Zadeh's contrast intensification. The adjustment level executes the policy of parameter adjustment determined with the fuzzy adjustment rules. The parameter adjustment consists of premise parameter adjustment and consequent parameter adjustment. Both of them are realized by the weighted recursive least square algorithm. Finally, it is shown from two examples that the method is very useful for modeling complex systems.
Scientific journal, English

1次遅れ+むだ時間系におけるファジィコントローラのパラメータ調整公式
田中一男; 佐野 学
日本ファジィ学会論文集, 3, 3, 583-591, 1991, Peer-reviwed
Scientific journal, Japanese

ファジィ制御とPID制御の複合制御系の構成とその加熱炉温度制御への応用
谷 哲次; 田中一男
計測自動制御学会論文集, 27, 11, 1274-1280, 1991, Peer-reviwed
Scientific journal, Japanese

MANUAL CONTROL OF AN INTRINSICALLY UNSTABLE SYSTEM AND ITS MODELING BY FUZZY-LOGIC
T TERANO; S MASUI; K TANAKA; Y MURAYAMA
INFORMATION SCIENCES, ELSEVIER SCIENCE INC, 45, 2, 249-273, Jul. 1988, Peer-reviwed
Scientific journal, English

パラフォイール型飛行ロボットの複雑経路追従のための入力飽和を考慮した非線形コスト保証制御と実験による検証
宮林陸; 高橋佑徳; 田中一男
Corresponding, May 2024, 日本機械学会ロボティクス・メカトロニクス講演会, Summary national conference

飛行ロボットの誘導制御における複雑な経路ベクトル場生成法の提案と特異点処理および障害物回避の実現
嶋津樹, 高橋佑徳, 田中 一男
Corresponding, May 2024, 日本機械学会ロボティクス・メカトロニクス講演会, Summary national conference

無人航空機のための複雑経路生成と安定化制御
山本芽生; 高橋佑徳; 田中 一男
Corresponding, Sep. 2023, 第 39 回ファジィシステムシンポジウム, Japanese, Summary national conference

パラフォイール型飛行ロボットの方向舵トリムおよび横風推定のための外乱オブザーバと経路安定化制御器の設計
高橋佑徳; 嶋津樹; 山本芽生; 田中 一男
Corresponding, Jun. 2023, 日本機械学会ロボティクス・メカトロニクス講演会, Japanese, Summary national conference

Flying-wing 型無人航空機の経路追従のためのリアプノフ関数に基づく実用的制御法の提案
山本芽生; 高橋佑徳; 吉井悠人; 田中 一男
Corresponding, Jun. 2023, 日本機械学会ロボティクス・メカトロニクス講演会, Japanese, Summary national conference

Control of two points for a snake robot
中島 瑞; 田中 基康; 田中 一男
システム制御情報学会, 16 May 2018, システム制御情報学会研究発表講演会講演論文集, 62, 5p, Japanese, 40021550408, AN10257408

1P2-R07 Development and Control of an Articulated Mobile Robot for Cleaning on Steps and Narrow Paths
TANAKA Motoyasu; SUZUKI Kengo; TANAKA Kazuo; MATSUNO Fumitoshi
In this paper, we develop an articulated mobile robot for cleaning on steps and narrow paths. The robot consists of links which has a cleaning unit, wheels for propulsion, a pitch joint for three-dimensional motion, and sensors for collision detection, and the links are serially connected by a yaw joint. A control method which the robot effectively cleans a plane floor is proposed, and simulations and experiments were carried out to demonstrate the effectiveness of it. Furthermore, experiments were performed to test feasibility of climbing a step., The Japan Society of Mechanical Engineers, 17 May 2015, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P2-R07(1)"-"1P2-R07(4)", Japanese, 110010055072, AA11902933

2A1-E09 Robust Stabilization of a Powered Paraglider and Its Application to Aerial Shooting Experiments
TAKAHASHI Yutoku; TANAKA Motoyasu; TANAKA Kazuo
Corresponding, This paper presents robust stabilization of a powered paraglider and its application to aerial shooting experiments. By considering uncertainties for aero-dynamics of a canopy, we construct two kinds of nonlinear models that correspond to the longitudinal and lateral motions. Two robust controllers for the longitudinal and lateral motions with the uncertainties are separately designed using a linear matrix inequality based design. The designed controllers guarantee the stability of the closed loop systems for the longitudinal and lateral motions with the uncertainties. The experimental results demonstrate the utility of the robust controller design and realization of the aerial shooting tasks., The Japan Society of Mechanical Engineers, 17 May 2015, ロボティクス・メカトロニクス講演会講演概要集, 2015, "2A1-E09(1)"-"2A1-E09(4)", Japanese, 110010055168, AA11902933

2A1-A01 Realization of Automatic Take-off and Landing Control of Powered Paraglider(Aerial Robot and Mechatronics (1))
ITO Yui; TANAKA Motoyasu; TANAKA Kazuo
This paper presents automatic take-off and landing control of powered paraglider (PPG). In our previous paper, two stable controllers for altitude and direction were designed and worked well in flight experiments. These controllers are utilized for automatic landing control without any modification. Automatic landing control is carried out by setting gradually lower altitudes (as target altitudes) along a target landing line. Automatic take-off control is based on feed-forward control that reflects the manual take-off operation by a skilled person. The experimental results demonstrate the viability of the automatic take-off and landing control designed in this paper., The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "2A1-A01(1)"-"2A1-A01(4)", Japanese, 110009966838, AA11902933

3P2-P01 Development of a Head Mounted Display based Brain Machine Interface and Micro Helicopter Control via Steady State Visual Evoked Potentials(Neurorobotics & Cognitive Robotics)
KAJIWARA Toshiya; Inoue Reo; KIKUSHIMA Tatsuya; FURQON Radian; TANAKA Motoyasu; TANAKA Kazuo
This paper presents development of a head mounted display based brain machine interface (BMI) and its application to micro helicopter control via steady state visual evoked potentials (SSVEP). The head mounted display based BMI system developed in this paper brings us the possibility of being easy to use due to its portability and no training requirements. We demonstrate that a micro helicopter is well controlled using our BMI system, that is, using brain signals, although helicopter control is very difficult due to nonlinear coupling in addition to instability., The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "3P2-P01(1)"-"3P2-P01(4)", Japanese, 110009967413, AA11902933

An improvement of generalization ability of respitation rate classification using plethysmogram data
迫田 晃; 大竹 博; 田中 一男
日本知能情報ファジィ学会, 09 Sep. 2013, ファジィシステムシンポジウム講演論文集, 29, 542-545, Japanese, 1882-0212, 40019825240, AA12165648

1A2-B02 Approximate Path Tracking Control of Snake Robot Joints with Switching Constraints(Bio-Mimetics and Bio-Mechatronics (2))
TANAKA Motoyasu; TANAKA Kazuo; MATSUNO Fumitoshi
This paper presents approximate path tracking control method of all joints of a snake robot and its verification by simulations. We use a wheeled snake robot which has passive wheels and active joints. The robot can switch the wheels which touch the ground and the lifting wheels by lifting up some parts of its body. The model of the robot becomes kinematically redundant system if it lifts up some wheels. We design a controller for approximate path tracking by using the kinematic redundancy and the selection of the lifting parts. Simulation results show that the proposed controller is effective for decreasing the path tracking error., The Japan Society of Mechanical Engineers, 22 May 2013, ロボティクス・メカトロニクス講演会講演概要集, 2013, "1A2-B02(1)"-"1A2-B02(4)", Japanese, 110009963777, AA11902933

2P1-J06 Development and Control of a Massage System Using a Redundant Multi-link Robot(New Control Theory and Motion Control)
SATO Junsuke; TANAKA Motoyasu; TANAKA Kazuo; MATSUNO Fumitoshi
This paper introduces a newly developed massage system using the redundant multi-link robot. The position of the wheel is designed to be easy to control of the position of the contact points, and the position controller to make multiple contacts with the subject is proposed. The controller can accomplish the collision avoidance between the subject and the body except the controlled contact points by using redundancy. Simulations and experimental results show the effectiveness of the proposed robot and controller., The Japan Society of Mechanical Engineers, 22 May 2013, ロボティクス・メカトロニクス講演会講演概要集, 2013, "2P1-J06(1)"-"2P1-J06(4)", Japanese, 110009963464, AA11902933

1A2-F07 Development of a HILS System for Flying Robot Control and Its Application to Control System Design(Aerial Robot and Mechatronics (2))
SEKI Yasufumi; KAWAI Hiroshi; KURAMOCHI Nobuyuki; TANAKA Motoyasu; OHTAKE Hiroshi; TANAKA Kazuo
This paper presents development of a HILS (Hardware in the Loop Simulation) system for flying robot (a powered paraglider (PPG)) control and its application to control system design. The HILS system consists of three dimensional six degree of freedom model, aerodynamic model, sensor/actuator model, etc., of the PPG in the computer and the control unit including sensors, i.e., a global positioning system (GPS), a three-axis gyroscope, a geomagnetism sensor and a CCD camera. Controllers for altitude and direction are designed and tested on the HILS environment. The HILS result demonstrates the viability of the altitude and direction control., The Japan Society of Mechanical Engineers, 22 May 2013, ロボティクス・メカトロニクス講演会講演概要集, 2013, "1A2-F07(1)"-"1A2-F07(4)", Japanese, 110009963803, AA11902933

A study on Classification of Respiration Rates based on Plethysmogram Data
Akira Sakoda; Hiroshi Ohtake; Kazuo Tanaka
2013, Proceedings of the 14th International Symposium on Advanced Intelligent Systems

A study on Discrimination of Respiration Rates based on Plethysmogram Data
迫田 晃; 大竹 博; 田中 一男
日本知能情報ファジィ学会, 12 Sep. 2012, ファジィシステムシンポジウム講演論文集, 28, 480-483, Japanese, 1882-0212, 40019438755, AA12165648

脳波指令で動く車いすの開発
田中一男
精密工学会, Aug. 2012, 精密工学会誌, 78, 8, 662-665, Japanese, Peer-reviwed, Introduction other, 0912-0289, 40019407792, AN1003250X

2A2-K09 Trajectory Tracking Control of a Flying Robot and Its Verification by Experiments(Aerial Robot and Mechatronics(2))
KAWAI Hiroshi; KURAMOCHI Nobuyuki; TANAKA Motoyasu; OHTAKE Hiroshi; TANAKA Kazuo
This paper presents trajectory tracking control of a kind of flying robots (a powered paraglider (PPG)) and its verification by experiments. The PPG has a GPS sensor to control its 3D position and a wireless camera to gather information from the air. We update the autonomous flight system (constructed in our previous paper) by adding the function of real-time monitoring on 3D positions and control inputs. In addition, we design a stable controller to guarantee the stability of the trajectory tracking control system for the simplified three-degree-of-freedom dynamics of the PPG. Experimental results show that altitude control is perfectly realized via the stable controller and circular flight control is also demonstrated., The Japan Society of Mechanical Engineers, 27 May 2012, ロボティクス・メカトロニクス講演会講演概要集, 2012, "2A2-K09(1)"-"2A2-K09(4)", Japanese, 110009908865, AA11902933

2A2-K07 Development of a Flapping Wing Robot using RC Servomotors(Aerial Robot and Mechatronics(2))
OHTAKE Hiroshi; HIATE Kenshiro; TANAKA Kazuo
This paper presents a development of a flapping wing robot using RC servomotors. By using RC servomotors, during the flight, we can easily not only change the flapping angles and the flapping frequencies, but also keep wings with arbitrary angles. Thus, a variety of flight modes can be achieved. In this paper, we develop the flapping wing robot with RC servomotors, and measure the lift force and the thrust force generated by the flapping motion of the robot. The realizability of flight of the flapping wing robot with RC servomotors is discussed., The Japan Society of Mechanical Engineers, 27 May 2012, ロボティクス・メカトロニクス講演会講演概要集, 2012, "2A2-K07(1)"-"2A2-K07(4)", Japanese, 110009908863, AA11902933

2A2-K10 Modeling of a Magnus Effect based Aerial Vehicle and Its Verification by Experiments(Aerial Robot and Mechatronics(2))
IWAKURA Yuya; OZAWA Koji; TANAKA Motoyasu; OHTAKE Hiroshi; TANAKA Kazuo
This paper discusses modeling of the Magnus effect based aerial vehicle presented in our previous paper and its verification by experiments. To realize both low-speed flying and short-distance takeoff in rescue mission purpose, the developed vehicle has a set of (rotationa1) cylindrical wings that is located at the both side (lift and right sides) of the main body of the aerial vehicle. First, we improve the simulation model (constructed in our previous paper) for calculating lift force so as to reduce the errors between the simulation model and experimental data. Next, a three-degree-of-freedom model for the roll angle and x-z positions is constructed and is employed to optimize the dihedral angle of the cylindrical wings. Finally, we demonstrate in experiments that the Magnus effect based aerial vehicle developed in this paper realizes both low-speed flying and short-distance takeoff., The Japan Society of Mechanical Engineers, 27 May 2012, ロボティクス・メカトロニクス講演会講演概要集, 2012, "2A2-K10(1)"-"2A2-K10(4)", Japanese, 110009908866, AA11902933

A Sum of Squares Approach to Control System Design for Discrete Polynomial Fuzzy Systems
妹尾 俊明; 大竹 博; 田中 一男
日本知能情報ファジィ学会, 12 Sep. 2011, ファジィシステムシンポジウム講演論文集, 27, 444-447, Japanese, 1882-0212, 40019531366, AA12165648

1A2-O06 Autonomous Flying Robot Control and Its Application to Gathering Information from the Air(Aerial Robot and Mechatronics)
KAWAI Hiroshi; OHTAKE Hiroshi; TANAKA Kazuo
This paper presents autonomous flying robot (unmanned aerial vehicle) control using a powered paraglider and its application to gathering information from the air. To accomplish the purpose, the autonomous flying robot has a global positioning system (GPS) sensor and a wireless camera. Three PID controllers realize two-dimensional directions control and altitude control. Experiment results show the utility of the autonomous control system and gathering information (from the air) using the wireless camera., The Japan Society of Mechanical Engineers, 26 May 2011, ロボティクス・メカトロニクス講演会講演概要集, 2011, "1A2-O06(1)"-"1A2-O06(3)", Japanese, 110009690818, AA11902933

1A2-O07 Trajectory Tracking Control of Flying Robot with Passive Stabilizing Mechanism(Aerial Robot and Mechatronics)
KOMAI Toshiyuki; KAWAI Hiroshi; OHTAKE Hiroshi; TANAKA Kazuo
This paper presents trajectory tracking control of a flying robot with passive stabilizing mechanism that achieves passive stabilization of roll and pitch angles. In our previous papers, we achieved stable hovering flight of the flying robot with the passive stabilizing mechanism. This paper focuses on the influence of the gasbag on flying locomotion. Two experiments whose flying velocities are different are performed and the effect of the passive stabilizing mechanism is discused., The Japan Society of Mechanical Engineers, 26 May 2011, ロボティクス・メカトロニクス講演会講演概要集, 2011, "1A2-O07(1)"-"1A2-O07(4)", Japanese, 110009690819, AA11902933

2P1-H07 Motor Imagery Classification using Bayesian Logistic Regression and Its Application to Sensor-Based Wheelchair Control(Biosignal & Robotics Mechatronics)
Aoki Haruo; Tanaka Takuya; Ohtake Hiroshi; Tanaka Kazuo
This paper presents motor imagery classification using Bayesian logistic regression and its application to sensor-based wheelchair control. First, to classify four kinds of motor imageries (that corresponds to four actions:go left, right, straight and stop in wheelchair control) in electroencephalogram (EEG) signals, we provide a new practical approach combining common spatial pattern (CSP), Bayesian logistic regression and automatic relevance determination (ARD). In addition, a well-balanced control scheme for considering both the EEG classification result (from the proposed practical approach) and obstacle information (from a two-dimensional laser scan sensor) is applied to wheelchair direction control. The experimental results demonstrate the utility of our approach., The Japan Society of Mechanical Engineers, 26 May 2011, ロボティクス・メカトロニクス講演会講演概要集, 2011, "2P1-H07(1)"-"2P1-H07(4)", Japanese, 110009711480, AA11902933

208305 Development of Quadrotor-type Flying Robot with Propellers for Level Flight
OKUMURA Masashi; OHTAKE Hiroshi; TANAKA Kazuo
This paper presents a development of a quadrotor-type flying robot with four propellers for level flight. A key feature of the developed flying robot is to have four propulsive rotors besides four rotors for altitude and attitude control. By using the propulsive rotors, the developed flying robot is capable of performing level flight under the condition that attitude of the body is stable. Moreover, in this paper, we discuss attitude control of the flying robot and design the controller for the robot., The Japan Society of Mechanical Engineers, 17 Mar. 2011, 日本機械学会関東支部総会講演会講演論文集, 2011, 17, 269-270, Japanese, 110009663853, AA11902161

119304 Development of a P300-based Brain-Machine Interface for meal-assistance robots
CHIBA Shinichiro; OHTAKE Hiroshi; TANAKA Kazuo
This paper presents development of a P300-based brain-machine interface system for meal-assistance robots. The system consists of an electroencephalograph for measuring electroencephalogram (EEG) including P300 signal, a meal-assistance robot which is developed by SECOM CO.,LTD, a display system with a video camera for generating visual stimulus and a laptop computer. A support vector machine (SVM) is employed for four-class classification based on P300 signal. By using the developed system, it is expected that the disabled patients can have meal by only watching dishes which are displayed on the display system., The Japan Society of Mechanical Engineers, 17 Mar. 2011, 日本機械学会関東支部総会講演会講演論文集, 2011, 17, 103-104, Japanese, 110009663770, AA11902161

119305 EEG Classification using Hidden Markov Models for Brain Machine Interface
ICHIKAWA Taku; OHTAKE Hiroshi; TANAKA Kazuo
This paper presents an electroencephalogram (EEG) classification method using hidden Markov models (HMM) in order to achieve a real-time classification for brain-machine interface (BMI). In our previous papers, frequency features of EEG signals are utilized for the classification. However, four-second long EEG signals are required in order to obtain appropriate frequency feature and it makes a real time processing for BMI difficult. In this paper, we employ HMM approach, which can deal with time-series data of EEG signals, to achieve a real time classification. Moreover, we propose a way of classifying two kinds of images from output probabilities of HMMs. The classification results show the possibility of a real-time classification., The Japan Society of Mechanical Engineers, 17 Mar. 2011, 日本機械学会関東支部総会講演会講演論文集, 2011, 17, 105-106, Japanese, 110009663771, AA11902161

Relaxation of Stabilization Conditions for Discrete Fuzzy Systems
井上 皓平; 田中 一男; 大竹 博
日本知能情報ファジィ学会, 13 Sep. 2010, ファジィシステムシンポジウム講演論文集, 26, 945-950, Japanese, 1882-0212, 40019532205, AA12165648

A Boosting-based Approach to Multi-class EEG Classification for Brain Machine Interface
青木 治雄; 田中 一男; 大竹 博
日本知能情報ファジィ学会, 13 Sep. 2010, ファジィシステムシンポジウム講演論文集, 26, 284-287, Japanese, 1882-0212, 40019528089, AA12165648

Design of SOS-Based Observer for Polynomial Fuzzy Systems
和田 基宏; 妹尾 俊明; 田中 一男
日本知能情報ファジィ学会, 13 Sep. 2010, ファジィシステムシンポジウム講演論文集, 26, 423-428, Japanese, 1882-0212, 40019528765, AA12165648

H∞ Control of T-S Fuzzy Systems Using Piecewise Lyapunov Function Based Switching Fuzzy Controller
Chen Ying-Jen; 大竹 博; 田中 一男
日本知能情報ファジィ学会, 13 Sep. 2010, ファジィシステムシンポジウム講演論文集, 26, 417-422, Japanese, 1882-0212, 40019528752, AA12165648

EEG Classification using ARX Models and Its Application to Control of an Electric Wheelchair
三宅 龍馬; 大竹 博; 田中 一男
日本知能情報ファジィ学会, 13 Sep. 2010, ファジィシステムシンポジウム講演論文集, 26, 302-305, Japanese, 1882-0212, 40019528186, AA12165648

1A2-D03 Development of Flying Robot with Passive Stabilizing Mechanism
KOMAI Toshiyuki; OHTAKE Hiroshi; TANAKA Kazuo
This paper discusses a new concept of a so-called passive stabilizing mechanism that achieves passive stabilization of roll and pitch angles of flying robots. The dynamics of a flying robot with the passive stabilizing mechanism is derived and stabilization of roll and pitch angles by the mechanism is verified by numerical simulations. We design a nonlinear controller to control yaw angle and x, y, z positions. The simulation results show that trajectory control in addition to stabilizing roll and pitch angles of the flying robot is accomplished by combining the nonlinear controller and the passive stabilizing mechanism., The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1A2-D03(1)"-"1A2-D03(4)", Japanese, 110008741358, AA11902933

1A2-C21 Vision-based Flight Control of Indoor Micro Helicopter
SATO Yuuichi; OHTAKE Hiroshi; TANAKA Kazuo; KOMAI Toshiyuki
This paper presents vision based flight control of an indoor micro helicopter by using visual SLAM. A small single wireless camera is put on the helicopter. Visual information obtained by the camera is used to estimate position and posture of the helicopter in real time by utilizing visual SLAM (PTAM). We construct the measurement system with the calibration function from the local coordinate system in PTAM to the world coordinate system and with the functions of noise detection and elimination. By using the constructed system, hovering flight and path tracking control of indoor micro helicopter are performed., The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1A2-C21(1)"-"1A2-C21(4)", Japanese, 110008741346, AA11902933

1A1-E29 Electric Wheelchair Control via a Training-Free Brain-Machine Interface
Sakamoto Hirokazu; Miyake Ryuma; Aoki Haruo; Ohtake Hiroshi; Tanaka Kazuo
This paper presents development of a training-free brain-machine interface (BMI) for electroencephalogram (EEG)-based wheelchair control. To enhance classification rate for EEG signals of non-training subjects, two new approaches with the discriminant analysis are applied to two-class image classification based on frequency feature of EEG signals. As a result of applying the proposed approaches to wheelchair control experiments, we achieve 100% and 83% successful rates for two kinds of tasks. The experimental results demonstrate the utility of our appraoch and the viability of accomplishing wheelchair control using our training-free BMI., The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1A1-E29(1)"-"1A1-E29(4)", Japanese, 110008741218, AA11902933

Stability Analysis of Nonlinear Systems using Multi-Max/Min based Lyapunov functions
山口 剛人; 大竹 博; 田中 一男
日本知能情報ファジィ学会, 14 Jul. 2009, ファジィシステムシンポジウム講演論文集, 25, 6p, Japanese, 1882-0212, 40019527929, AA12165648

Polynomial Fuzzy Observer Design based on SOS
和田 基宏; 田中 一男; 大竹 博
日本知能情報ファジィ学会, 14 Jul. 2009, ファジィシステムシンポジウム講演論文集, 25, 6p, Japanese, 1882-0212, 40019526408, AA12165648

Feature Selection of Electroencephalogram Signals and Image Classification based on Machine Learning
青木 治雄; 坂本 博一; 田中 一男
日本知能情報ファジィ学会, 14 Jul. 2009, ファジィシステムシンポジウム講演論文集, 25, 6p, Japanese, 1882-0212, 40019528374, AA12165648

1A2-E15 Position Estimation and Control of an Indoor Micro Helicopter Using an Attached Single Camera
IIMURA Ken; OHTAKE Hiroshi; TANAKA Kazuo; ATOJI Yasutaka
This paper presents vision based flight control of an indoor micro helicopter in the corridor of buildings. Since the helicopter has limited payload, a small single wireless camera is employed on a sole sensor device. Visual information obtained by the camera is used to estimate position of the helicopter related to the corridor. We focus on edge lines between walls and floor of the corridor and vanishing points on the shot image. Real time measurement and flight control are performed with the real indoor micro helicopter. At the first step, the experiments are held in the ideal environment which is simulated to the corridor and autonomous hovering flight was succeeded. Finally, we have experiments in the real corridor and achieve hovering flight and straight-ahead fight control., The Japan Society of Mechanical Engineers, 25 May 2009, ロボティクス・メカトロニクス講演会講演概要集, 2009, "1A2-E15(1)"-"1A2-E15(4)", Japanese, 110008698020, AA11902933

Switching Fuzzy Model Construction based on Optimal Dividing Planes（共著）
Hiroshi Ohtake; Kazuo Tanaka; Hua O. Wang
2009, 2009 IEEE International Conference on Fuzzy Systems, 808-813

車椅子の脳動制御
田中一男
2009, 日本機械学会誌, 111, 1080, 927-929, Japanese, Peer-reviwed, Introduction other

脳波で動く車いす
田中一男
日本工業出版, 2009, 検査技術, 14, 2, 48-52, Japanese, Peer-reviwed, Introduction other, 1342-9825, 40016444773, AA12468038

Fuzzy Model-based Model Following Control for Nonlinear Systems
大竹 博; 田中 一男
日本知能情報ファジィ学会, 03 Sep. 2008, ファジィシステムシンポジウム講演論文集, 24, 971-976, Japanese, 1882-0212, 40019547339, AA12165648

1P1-F21 Optimization Design of a Multi-Parallel Link Rotor
Hasegawa Shin; Tanaka Kazuo; Ohtake Hiroshi
This paper presents development of a multiple parallel link rotor for flying robots and its efficiency improvment. A key feature of the developed rotor is to have three sets of variable wings that not only change attack angles according to wing positions but also are located so as to have 90 degrees phase difference each other. A 340g rotor with the new mechanism, which is categorized as a horizontal-axis rotor (cyclogyro rotor), is built up. First, we construct a simulation model to obtain lift and drag forces by considering the trajectories of the swinging wings, i.e., by considering the change of the attack angles. The simulation model agrees well with experimental results. Though the simulation results show that our developed rotor with a battery can hover around 7 [Hz] rotational frequency, the maximum rotation in experiments is 7 [Hz] due to low efficiency. As a result of improving its efficiency, we can achieve 7 [Hz] rotational frequency in experiments. This result shows that the developed flying robot with the new rotors is capable of generating sufficient lift force for flying., The Japan Society of Mechanical Engineers, 06 Jun. 2008, ロボティクス・メカトロニクス講演会講演概要集, 2008, "1P1-F21(1)"-"1P1-F21(4)", Japanese, 110008696126, AA11902933

1P1-F22 Payload Enhancement of Flying Robot with Pantograph-based Variable Wing Mechanism throgh Computer Simulation Considering Wing Deflection
HARA Naohiro; TANAKA Kazuo; Ohtake Hiroshi; Hasegawa Shin
This paper presents simulational and experimental studies on the design parameter optimization for the flying robot with pantograph-based variable wing mechanism. A key feature of the mechanism is not only to change attack angles but also expand and contract according to wing positions. In our previous study, experimental results show that the robot optimized with computer simulation can generate 140gf pay load. But the simulation model do not agree well with experimental results especially about the wing span. In this paper we construct the new simulation model considering wing deflection. The new simulation model agrees with experimental results and make it possible to optimize wing span. As a result of optimization using the new simulation model, we obtain the new optimal parameter. Experimental results show that the robot with new optimal parameters can generate 266gf payload., The Japan Society of Mechanical Engineers, 06 Jun. 2008, ロボティクス・メカトロニクス講演会講演概要集, 2008, "1P1-F22(1)"-"1P1-F22(4)", Japanese, 110008696127, AA11902933

1P1-F15 Model-based Control of a Small Indoor-type Helicopter. : Guaranteed Cost Control base on Quadratic Cost Function.
KOMATSU Takamichi; YAMAGUCHI Takehito; OHTAKE Hiroshi; TANAKA Kazuo
This paper presents stable control of a small indoor-type helicopter only with internal sensors. The helicopter carries PSD sensors, Ultrasonic sensor and SDmotion sensor as internal sensors. We construct the nonlinear dynamic model of the small indoor-type helicopter and convert the nonlinear dynamics to a Takagi-Sugeno fuzzy model by the concept of sector nonlinearity. We design guaranteed cost controller via a fuzzy model-based control approach by utilizing linear matrix inequalities (LMIs). Simulation results show the utility of our design approach., The Japan Society of Mechanical Engineers, 06 Jun. 2008, ロボティクス・メカトロニクス講演会講演概要集, 2008, "1P1-F15(1)"-"1P1-F15(4)", Japanese, 110008696121, AA11902933

2P1-E03 Towards a Development of Above-knee Prosthesis based on Passive Dynamic Walking
Mizuno Masahiro; Ohtake Hiroshi; Tanaka Kazuo
This paper presents a proposal for development of above-knee prosthesis based on passive dynamic walking. Some of researchers study active above-knee prosthesis which is supported by actuators such as motors in order to achieve natural walking. On the other hand, passive dynamic walking is energy-efficient and can achieve natural walking like human. By applying control technique based on passive dynamic walking to active above-knee prosthesis, we expect that walking with above-knee prosthesis becomes more natural. In this paper, as the first step to realize active above-knee prosthesis with passive dynamic walking technique, we show the concept of our active above-knee prosthesis and propose the new control technique for quasi-passive dynamic walking. Moreover, we propose control method of step length based on the quasi-passive dynamic walking. A simulation result shows the utility of proposed control method., The Japan Society of Mechanical Engineers, 06 Jun. 2008, ロボティクス・メカトロニクス講演会講演概要集, 2008, "2P1-E03(1)"-"2P1-E03(4)", Japanese, 110008696513, AA11902933

Optimal Controller Design of Polynomial Fuzzy Systems via a Sum of Squares Approach
山内 健司; 田中 一男; 大竹 博
日本知能情報ファジィ学会, 29 Aug. 2007, ファジィシステムシンポジウム講演論文集, 23, 114-119, English, 1882-0212, 40019588514, AA12165648

Fuzzy Model-based Servo Control for Discrete-time Nonlinear Systems
大竹 博; 田中 一男
日本知能情報ファジィ学会, 29 Aug. 2007, ファジィシステムシンポジウム講演論文集, 23, 102-107, Japanese, 1882-0212, 40019588489, AA12165648

Stable Control of a Small Helicopter
小松 嵩宙; 田中 一男; 大竹 博
日本知能情報ファジィ学会, 29 Aug. 2007, ファジィシステムシンポジウム講演論文集, 23, 92-97, Japanese, 1882-0212, 40019588472, AA12165648

2A2-B01 Development of a Multiple Parallel Link Mechanism with Phase Difference and Its Application to Flying Robot
HASEGAWA Shin; TANAKA Kazuo; OHTAKE Hiroshi
This paper presents development of a multiple parallel link mechanism with phase difference and its application to a flying robot. A key feature of the developed mechanism is to have three sets of variable wings that not only change attack angles according to wing positions but also are located so as to have 120 degrees phase difference each other. A 296g flying robot with the new mechanism, which is categorized as a horizontal-axis rotorcraft (cyclogyro rotorcraft), is built up. First, we construct a simulation model to obtain lift and drug forces by considering the trajectories of the swinging wings, i.e., by considering the change of the attack angles. The simulation model agrees well with experimental results. The simulation results show that our developed flying robot with a battery can hover around 7 [Hz] rotational frequency. Thus, both simulation and experimental results show that the developed flying robot with the new mechanism is capable of generating sufficient lift force for flying., The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A2-B01(1)"-"2A2-B01(4)", Japanese, 110008695502, AA11902933

2A2-A01 Optimal design of flying robot with pantograph-based variable wing mechanism and its experimental evaluation
HARA Naohiro; TANAKA Kazuo; Ohtake Hiroshi
This paper presents experimental and simulational studies on the design parameter optimization for the flying robot with pantograph-based variable wing mechanism. A key feature of the mechanism is not only to change attack angles but also to expand and contract according to wing positions. Our previous simulation results have shown that the flying robot with the optimized design parameters can generate 180gf payload. In this paper, we build the flying robot with the optimized design parameters and investigate its payload performance. Experimental results show that the robot can generate 140gf payload. However, experimental results do not agree well with simulation results. Hence, we construct a new simulation model by introducing parameter identification of aerodynamical coefficients with experimental data, The new simulation model agrees with experimental results. As a result of optimization using the new simulation model, we obtain the new optimal parameter with l6Ogf payload., The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A2-A01(1)"-"2A2-A01(4)", Japanese, 110008695491, AA11902933

2A2-A02 Stable Flight Control of Micro Helicopter
IIMURA Ken; OHTAKE Hiroshi; TANAKA Kazuo
Recently, there are a lot of research on swarm intelligence using multiple mobile robots. In most of the research, the mobile robots detect their own position based on visual information of video cameras fixed to a ceiling. However, since the video cameras are fixed to a ceiling, there is a problem that the experimental field is limited. The goal of our research is to support the detection of the robots' position by using micro-helicopter with a micro-camera to extend the experimental field freely. As the first step to the goal, this paper presents flight control of micro helicopter with coaxial counter-rotating blades. By employing fuzzy control approach to control the helicopter, we achieve hovering control and path-following control of the helicopter., The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A2-A02(1)"-"2A2-A02(4)", Japanese, 110008695492, AA11902933

Switching Fuzzy Model-based Control for Dynamical Systems with Input Nonlinearity
大竹 博; 田中 一男
日本知能情報ファジィ学会, 06 Sep. 2006, ファジィシステムシンポジウム講演論文集, 22, 949-954, Japanese, 1882-0212, 40019584279, AA12165648

Realization of Sensor Reduction and Optimal Dynamic Output Feedback Designs for Backing-up Control of a Vehicle with Triple Trailers
山内 健司; 田中 一男; 大竹 博
日本知能情報ファジィ学会, 06 Sep. 2006, ファジィシステムシンポジウム講演論文集, 22, 917-922, English, 1882-0212, 40019584205, AA12165648

Nonlinear Tracking Control via Piecewise Lyapunov Functions
谷口 唯成; 菅野 道夫; 田中 一男
日本知能情報ファジィ学会, 06 Sep. 2006, ファジィシステムシンポジウム講演論文集, 22, 963-966, Japanese, 1882-0212, 40019584309, AA12165648

Switching Fuzzy Model Construction and Controller Design with Arbitrary Switching Planes
大竹 博; 田中 一男
日本知能情報ファジィ学会, 07 Sep. 2005, ファジィシステムシンポジウム講演論文集, 21, 900-903, Japanese, 1882-0212, 40019587129, AA12165648

Switching Fuzzy Control Based on Virtual Equilibrium Convergence
北村 悠宇; 田中 一男; 大竹 博
日本知能情報ファジィ学会, 07 Sep. 2005, ファジィシステムシンポジウム講演論文集, 21, 912-915, Japanese, 1882-0212, 40019587145, AA12165648

1P1-S-018 Speed Control of a Sonar-Based Mobile Robot Determining Sensing and Action Strategy Simultaneously(Mobile Robot 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
Emaru Takanori; Tanaka Kazuo; Tsuchiya Takeshi
The Japan Society of Mechanical Engineers, 09 Jun. 2005, ロボティクス・メカトロニクス講演会講演概要集, 2005, 78-78, Japanese, 110006210115, AA11902933

2P1-S-060 Experimental Study on Optimal Parameters of a Flying Robot with Variable Attack Angle Mechanism(Flying Robot 4,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
Suzuki Ryohei; Tanaka Kazuo; Emaru Takanori
The Japan Society of Mechanical Engineers, 09 Jun. 2005, ロボティクス・メカトロニクス講演会講演概要集, 2005, 219-219, Japanese, 110006210669, AA11902933

移動ロボットの能動制御
田中一男
2005, 電学論C, 125, 3, 407-412, 20001291643

脳波でロボットを動かすという試み-脳動制御で機械を操作する-
田中一男
CQ出版社, 2005, Interface１月号, 31, 1, 139-145, Japanese, Introduction other, 0387-9569, 40006517324, AN10546799

機械システムの脳動制御
田中一男
2005, 自動車技術会, 59, 5, 120-121, Japanese, Introduction other

Strategy of pass planning for wheeled mobile robot by using integration-type ultrasonic wave sensor
E T; Oikawa K; Tanaka K; T T
The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 29-29, Japanese, 110004069477, AA11902933

A Flying Robot with Varialbe Attack Angle Mechanism
Suzuki R; Tanaka K; Emaru T
The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 213-213, Japanese, 110004070189, AA11902933

Fuzzy Model-based Control for Dynamic Variable Structure Systems
大竹 博; 田中 一男
日本知能情報ファジィ学会, 02 Jun. 2004, ファジィシステムシンポジウム講演論文集, 20, 112-115, Japanese, 1882-0212, 40019587492, AA12165648

Fuzzy Control System Design using Redundancy of Descriptor Representation
根布谷 岳志; 田中 一男; 大竹 博
日本知能情報ファジィ学会, 02 Jun. 2004, ファジィシステムシンポジウム講演論文集, 20, 94-97, Japanese, 1882-0212, 40019587392, AA12165648

アドバンストファジィ制御
田中一男
2004, システム制御情報学会誌, 48, 1, 4-9, Japanese, Introduction other

スイッチングリアプノフ関数に基づく制御器設計
大竹 博; 田中 一男
日本知能情報ファジィ学会, 08 Sep. 2003, ファジィシステムシンポジウム講演論文集, 19, 943-946, Japanese, 1341-9080, 40006070930, AN10359394

Human-Assist System for Nursing Use : 12th Report, Design of control system for improvement of assisting effect
Koyama T.; Tanaka T.; Tanaka K.; Feng M. Q.
本報では, 生体情報である表面筋電位を用いてロボット装着時と未装着時の介護者の筋力を比較し, 全てのマンマシン系で利用可能なアシスト効果評価手法を提案する。, The Japan Society of Mechanical Engineers, 2003, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2003, 0, 84-84, Japanese, 200902285241628295, 110002506371

Fuzzy Control of Nonlinear Time-Delay Systems
TANAKA Kazuo; HORI Tsuyoshi
In this paper, a class of nonlinear time-delay systems based on the Takagi-Sugeno (T-S) fuzzy model is defined. We derive delay-independent stability conditions for this class. A model-based fuzzy stabilization design utilizing the concept of parallel distributed compensation (PDC) is employed. The main idea of the controller design is to derive each control rule to compensate each rule of a fuzzy system. The associated control synthesis problems are formulated as linear matrix inequality (LMI) problems., The Japan Society of Mechanical Engineers, 14 Nov. 2002, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 12, 101-104, Japanese, 110002496527, AA1190206X

Trouble Recognition of A Robot Assisiting Unmanned Production
SHIMIZU SHIGENORI; SEKIGUCHI NAOHIRO; TANAKA TAKAYUKI; TANAKA KAZUO; ARASHIMA KENJI
12 Oct. 2002, 日本ロボット学会学術講演会予稿集(CD-ROM), 20th, 1A37, Japanese, 200902162380229589

A Piecewise Takagi-Sugeno Fuzzy Model Construction and Relaxation of Stability Conditions
HORI Tsuyoshi; TANAKA Kazuo
日本ファジィ学会, 28 Aug. 2002, ファジィシステムシンポジウム講演論文集, 18, 459-462, Japanese, 1341-9080, 10015751759, AN10359394

A Construction Method of Switching Lyapunov Function for Switching Fuzzy Model
OHTAKE Hiroshi; TANAKA Kazuo
日本ファジィ学会, 28 Aug. 2002, ファジィシステムシンポジウム講演論文集, 18, 1-4, Japanese, 1341-9080, 10015750868, AN10359394

Operating Feeling of Wearable Robot and the Application to Control System Design
KANAMORI Naoki; TANAKA Takayuki; TANAKA Kazuo
This paper addresses subjective evaluation for operating feeling in a wearable robot. The NASA-TLX method, which is mental workload index analysis, is employed to investigate operating feeling for various impedance parameters and task parameters. The result shows the existence of three patterns of human operation. The patterns correspond to viscosity-based operation, restoring force-based operation and inertia-based operation, respectively. We verify the existence of three patterns by analyzing force sensor data. Furthermore, the verification of three pattern classification is also investigated by the semantic differential method and factor analysis., Information Processing Society of Japan (IPSJ), 21 Jan. 2002, IPSJ SIG Notes, 126, 3, 31-33, Japanese, 0919-6072, 200902129595164448, 110002931371, AN10112482

Human-Assist System for Nursing Use : 11th Report, Estimation of Human's Aim
Koyama T.; Tanaka T.; Tanaka K.; Maria Q. Feng
我々は介護者の肉体的・精神的負担を軽減するため, 介護者が装着しその腕力を増力することを目的とした, 介護用ヒューマン・アシスト・システムHAROの開発を進めている。本報では, HAROの操作性を向上させるために, HARO装着部に内蔵された操作力センサによって検出される操作力と介護者の筋電との相関をバイオメカニクスの観点から明確にし, その相関と操作力から介護者の意図を推定する。これにより, 介護者の筋骨格系に則した挙動やアシストが可能となる。, The Japan Society of Mechanical Engineers, 2002, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2002, 0, 48-48, Japanese, 200902150717713684, 110002505077

Human-Assisting System for Nursing Use : 10th Report, Design of control system for work-state transition
Yoshikawa K.; Koyama T.; Tanaka T.; Tanaka K.
われわれは介護用ヒューマン・アシスト・システムを開発し, 操作力センサと外力センサを統合した制御系の設計をおこなってきた。本研究では被介護者への抱き上げ作業の過程において, 被介護者との非接触である自由状態と接触している負荷状態, さらに自由状態と負荷状態との間の不連続な変化に対して過渡状態を設け, それぞれに対応した制御系を設計する。擬似被介護者 (約30kgのおもり) の持ち上げ実験をおこない, 提案する制御系が操作者の円滑な作業に有効であることを示す。, The Japan Society of Mechanical Engineers, 2002, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2002, 0, 48-49, Japanese, 200902169363182220, 110002505079

fibrous optical actuator containing photochromic molecules
Yamagishi N.; Tanaka T.; Kawamura T.; Tanaka K.
本研究では光エネルギによって構造が可逆的に変化するフォトクロミック分子に注目し, その動作をアクチュエータの動力として利用することを目的とする。フォトクロミック分子をナイロン6フィラメントの結晶組織中に拡散させ, 同分子の構造変化を利用した柔軟で静粛な繊維型アクチュエータを試作した。本アクチュエータは光によるエネルギ供給と制御が可能であり, 全体としてのシステムの小型・軽量化が期待できる。実験によりアクチュエータとしての利用を前提とした特性評価を行う。, The Japan Society of Mechanical Engineers, 2002, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2002, 0, 117-117, Japanese, 200902180569671884, 110002505870

モデルに基づくファジィ制御：これまでの研究成果と将来展望
田中一男
日本知能情報ファジィ学会, 2002, 日本ファジィ学会誌, 14, 4, 338-347, Japanese, Introduction other, 0915-647X, 110002940978, AN10231506

介護用ヒューマン・アシスト・システム 第9報 実用的な介護動作のための制御システムの設計
吉川広祐; 小山猛; 田中孝之; 田中一男
18 Sep. 2001, 日本ロボット学会学術講演会予稿集, 19th, 295, Japanese, 200902112368399188

一本足ロボットの動作特性と制御
堀滋樹; 田中孝之; 田中一男; 宮島晃
18 Sep. 2001, 日本ロボット学会学術講演会予稿集, 19th, 128, Japanese, 200902110995355100

Principle of Stable Running for an Unicycle Robot.
TANAKA TAKAYUKI; HORI SHIGEKI; TANAKA KAZUO; SUZUKI HISANOBU
18 Sep. 2001, 日本ロボット学会学術講演会予稿集, 19th, 229-230, Japanese, 200902114987517805

操作アームの操作感分析
金森直希; 田中孝之; 田中一男
18 Sep. 2001, 日本ロボット学会学術講演会予稿集, 19th, 205, Japanese, 200902116238761875

Stabilization of a R/C Helicopter via Fuzzy Model-based Nonlinear Control
TANAKA Kazuo; OHTAKE Hiroshi
日本ファジィ学会, 05 Sep. 2001, ファジィシステムシンポジウム講演論文集, 17, 719-722, Japanese, 1341-9080, 10015750672, AN10359394

A New Type of Parallel Distributed Compensation in Fuzzy Lyapunov Function Design Approach
HORI Tsuyoshi; TANAKA Kazuo
日本ファジィ学会, 05 Sep. 2001, ファジィシステムシンポジウム講演論文集, 17, 711-714, Japanese, 1341-9080, 10015750661, AN10359394

Control System Design via a Fuzzy Lyapunov Function
TANAKA Kazuo; HORI Tsuyoshi
日本ファジィ学会, 05 Sep. 2001, ファジィシステムシンポジウム講演論文集, 17, 701-704, Japanese, 1341-9080, 10015750651, AN10359394

Fuzzy Modeling based on Minimum Distance Sectors
OHTAKE Hiroshi; TANAKA Kazuo
日本ファジィ学会, 05 Sep. 2001, ファジィシステムシンポジウム講演論文集, 17, 135-138, Japanese, 1341-9080, 10015749587, AN10359394

Structure-oriented Design for Nonlinear Systems (第17回ファジィシステムシンポジウム--科学技術と自然の調和を目指して)
田中 一男; 堀 滋樹; 谷口 唯成
日本ファジィ学会, 05 Sep. 2001, ファジィシステムシンポジウム講演論文集, 17, 679-682, English, 1341-9080, 40004689309, AN10359394

H_∞ Norm-Based Fuzzy Modeling and Robust Control
TANAKA Kazuo; HORI Tsuyoshi
Oct. 2000, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 10, 401-402, Japanese, 10016715974, AA1190206X

Fuzzy Modeling using Sector Nonlinearity Concept
OHTAKE Hiroshi; TANAKA Kazuo
Oct. 2000, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 10, 305-308, Japanese, 10016715816, AA1190206X

A Constructing Method of Generalized T-S Fuzzy Models
TANIGUCHI Tadanari; TANAKA Kazuo
Oct. 2000, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 10, 39-42, Japanese, 10016715341, AA1190206X

Electroencephalography-based Recognition
OGAWA Hironori; NOZAKI Kenji; TANAKA Kazuo; TANIGUCHI Tadanari
Oct. 2000, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 10, 283-286, Japanese, 10016715780, AA1190206X

Subjective Evaluation on Man-Machine System by an Operator.
KANAMORI NAOKI; TANAKA TAKAYUKI; TANAKA KAZUO
12 Sep. 2000, 日本ロボット学会学術講演会予稿集, 18th, 1085-1086, Japanese, 200902112614417778

H^∞ Norm-Based Fuzzy Modeling and Robust Control
TANAKA Kazuo; HORI Tsuyoshi
06 Sep. 2000, ファジィシステムシンポジウム講演論文集, 16, 513-514, Japanese, 1341-9080, 10017211963, AN10359394

Model Reduction and Robust Controller Design for Generalized T-S Fuzzy Systems via LMIs
TANIGUCHI Tadanari; TANAKA Kazuo; YAMAFUMI Kazuo
日本ファジィ学会, 06 Sep. 2000, ファジィシステムシンポジウム講演論文集, 16, 187-190, Japanese, 1341-9080, 10017211389, AN10359394

脳波認識に基づく意思伝達システムに関する基礎的研究
田中一男; 須貝明文; 田中孝之
22 Oct. 1999, 日本ファジィ学会関東支部ワークショップ論文集, 13th, 13-17, Japanese, 200902157894058755

New Relaxed Stability Condition for T-S Fuzzy Control Systems
TANAKA Kazuo; HORI Tsuyoshi; WANG Hua. O.
Oct. 1999, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 9, 60-63, Japanese, 10016716236, AA1190206X

Nonlinear Model Following Control
TANIGUCHI Tadanari; TANAKA Kazuo; YAMAFUJI Kazuo
Oct. 1999, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 9, 816-819, Japanese, 10016717556, AA1190206X

Real-time Image Extracting Technology.
TANAKA TAKAYUKI; YAMAFUJI KAZUO; TANAKA KAZUO
12 Jun. 1999, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1999, Pt.1, 1P1.01.002(1)-1P1.01.002(2), Japanese, 200902117906878140

メンバーシップ関数の特性を考慮した新しい安定条件の導出 (第15回ファジィシステムシンポジウム--やりまっせ!新世紀のたおやか技術 日本ファジィ学会設立10周年記念大会) -- (制御 安定性(2))
Wang Hua O.; 田中 一男; 堀 強
日本ファジィ学会, 02 Jun. 1999, ファジィシステムシンポジウム講演論文集, 15, 81-84, Japanese, 1341-9080, 40004688837, AN10359394

ファジィモデリングと制御器のロバスト統合化設計法 (第15回ファジィシステムシンポジウム--やりまっせ!新世紀のたおやか技術 日本ファジィ学会設立10周年記念大会) -- (制御 安定性(2))
堀 強; 田中 一男
日本ファジィ学会, 02 Jun. 1999, ファジィシステムシンポジウム講演論文集, 15, 73-76, Japanese, 1341-9080, 40004688835, AN10359394

非線形モデル追従制御 (第15回ファジィシステムシンポジウム--やりまっせ!新世紀のたおやか技術 日本ファジィ学会設立10周年記念大会) -- (制御 一般(1))
谷口 唯成; 田中 一男; 山藤 和男
日本ファジィ学会, 02 Jun. 1999, ファジィシステムシンポジウム講演論文集, 15, 35-38, Japanese, 1341-9080, 40004688824, AN10359394

Cubic型およびQuadratic型PDCによるファジィ最適動的出力フィードバックの実現 (第15回ファジィシステムシンポジウム--やりまっせ!新世紀のたおやか技術 日本ファジィ学会設立10周年記念大会) -- (制御 一般(2))
田中 一男; 山市 幸広; 谷口 唯成
日本ファジィ学会, 02 Jun. 1999, ファジィシステムシンポジウム講演論文集, 15, 43-46, Japanese, 1341-9080, 40004688826, AN10359394

An LMI-based Design of Fuzzy Control Systems of a Mobile Robot with Three Trailers
TANAKA Kazuo; TANIGUCHI Tadanari; OOKA Jun
04 Jun. 1997, ファジィシステムシンポジウム講演論文集, 13, 51-52, Japanese, 1341-9080, 10017209117, AN10359394

線形行列不等式（LMI）
田中一男
1997, 日本ファジィ学会誌, 9, 4, 61, Japanese, Introduction other

ニューロ・ファジィ
田中一男
産業図書. 東京, 1994, 日本機械学会誌, 97, 909, 689-690, Japanese, Introduction other, 10003419805

ファジィ制御系の安定解析と設計問題について
田中一男
1994, システム制御情報学会, 38, 11, 596-600, Japanese, Introduction other

リアプノフ関数
田中一男
1994, 日本ファジィ学会誌, 6, 6, 69-71, Japanese, Introduction other

ファジィ制御系の安定性
田中一男
1990, コンピュートロール, 35, 6-12, Japanese, Introduction other

ファジィ制御－基礎と応用１－
田中一男
1990, INFORMATION, 9, 4, 98-105, Japanese, Introduction other

ファジィ制御－基礎と応用２－
田中一男
1990, INFORMATION, 10, 1, 121-127, Japanese, Introduction other

パソコンでＦＵＺＺＹ（前編）－やさしいファジィ理論とその活用テクニック－
田中一男
1989, PCマガジン, 9, 9, 56-61, Japanese, Introduction other

パソコンでＦＵＺＺＹ（後編）－やさしいファジィ理論とその活用テクニック－
田中一男
1989, PCマガジン, 9, 10, 66-71, Japanese, Introduction other

人工知能学辞典新版（人工知能学会編）
田中一男
Dictionary or encycropedia, Japanese, Joint work, 7章25節「ファジィ制御」, 共立出版（株）, 2017

パワーアシスト・ロボットに関する材料，電子機器，制御と実用化，その最新技術
田中基康; 田中一男
Scholarly book, Japanese, Joint work, 技術情報協会, Apr. 2015, 9784861045752

Advances in Computational Intelligence
Kazuo Tanaka(Coauth
Scholarly book, English, Joint work, Lecture Notes in Computer Science Volume 7311, Ed. Jing Liu, B. Bouchon-Meunier, G. W. Greenwood, H. A. Abbass, 01 Sep. 2012

機械工学便覧 デザイン偏β6-制御システム
田中一男
Japanese, Joint work, Apr. 2006

Integration of fuzzy logic and chaos theory
Kazuo Tanaka
English, Joint work, Springer, Jan. 2006

人工知能辞典（人工知能学会編）
田中一男
Japanese, Joint work, 共立出版（株）, 2006

Integration of fuzzy logic and chaos theory (Ed. Z. Li, W. A. Halang and G. Chen)
Kazuo Tanaka(Coauth
English, Joint work, Springer, 2006

機械工学便覧 デザイン偏β6-制御システム-（日本機械学会編）
田中一男
Japanese, Joint work, 丸善（株）, 2006

Fuzzy Control System Design and Analysis: A Linear Matrix Inequality Approach
Kazuo Tanaka; Hua O. Wang
English, John Wiley & Sons, 2001

Fuzzy Control : Synthesis and Analysis（Ed. S. Farinwata, D. Filev and R. Langari）
Kazuo Tanaka
English, Joint work, John Wiely & Sons, 2000

ファジィ&ソフトコンピューティングハンドブック
田中一男
Japanese, Joint work, 共立出版, 2000

Fuzzy Control: Synthesis and Analysis（Ed. S. Farinwata, D. Filev and R. Langari）
K.Tanaka(Coauth
English, Joint work, John Wiely & Sons, 2000

情報処理演習
田中一男
Japanese, Joint work, 学術図書出版社, 1999

Soft Computing in Mechatronics（Ed. K.Hirota and T.Fukuda）
Kazuo Tanaka
English, Joint work, Physica-Verlag Heidelberg New York（A Springer-Verlag Company）, 1999

ソフトコンピューティング(共著)
田中一男
Japanese, Joint work, 海文堂, 1998

The Handbooks of Fuzzy Sets Series(共著)
K. Tanaka(Coauth
English, Joint work, Kluwer Academic Publizhers, 1998

インテリジェント制御システム-ファジィ・ニューロ・GA・カオスによる知的制御-(共著)
田中 一男
Japanese, Editor, 共立出版, 1996

ソフトコンピューティング用語集(共著)
Japanese, Joint work, 朝倉書店, 1996

Theoretical Aspects of Fuzzy Control(共著)
English, Joint work, J.Wiley publishing company, 1995

Fuzzy Logic and Intelligent Systems(共著)
English, Joint work, Kluwer Academic Publishers, 1995

アドバンストファジィ制御
Japanese, 共立出版, 1994

講座「ファジィ」(共著)
Japanese, Joint work, 日刊工業新聞社, 1993

Fuzzy Logic-State of the Art-(共著)
English, Joint work, Kluwer Acadenic Publishers, 1993

ファジィ理論入門
田中一男
Japanese, ラッセル社, 1991

C言語による実用ファジィブック
三矢直城; 田中一男
Japanese, ラッセル社, 1989

Bridging Theory and Application in Fuzzy Control: Essential Insights
Kazuo Tanaka
Invited oral presentation, English, 2024 International Conference on Fuzzy Theory and Its Applications (iFUZZY 2024), Invited, IEEE SMC, Peer-reviewed, International conference
11 Aug. 2024

Envisioning the Future: Continuing the Legacy of Professor Michio Sugeno
Kazuo Tanaka
Nominated symposium, English, The IEEE World Congress on Computational Intelligence, Invited, IEEE, Peer-reviewed, International conference, with international co-author(s)
30 Jun. 2024

パラフォイール型飛行ロボットの複雑経路追従のための入力飽和を考慮した非線形コスト保証制御と実験による検証
宮林陸; 高橋佑徳; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会
May 2024
29 May 2024- 01 Jun. 2024

飛行ロボットの誘導制御における複雑な経路ベクトル場生成法の提案と特異点処理および障害物回避の実現
嶋津樹; 高橋佑徳; 田中 一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会, Domestic conference
May 2024
29 May 2024- 01 Jun. 2024

無人航空機のための複雑経路生成と安定化制御
山本芽生; 高橋佑徳; 田中 一男
Oral presentation, Japanese, 第 39 回ファジィシステムシンポジウム
06 Sep. 2023

Flying-wing 型無人航空機の経路追従のためのリアプノフ関数に基づく実用的制御法の提案
山本芽生; 高橋佑徳; 吉井悠人; 田中 一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会
29 Jun. 2023

パラフォイール型飛行ロボットの方向舵トリムおよび横風推定のための外乱オブザーバと経路安定化制御器の設計
高橋佑徳; 嶋津樹; 山本芽生; 田中 一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会, Domestic conference
29 Jun. 2023

Recent Advances in Fuzzy Systems and Control
Kazuo Tanaka
Invited oral presentation, English, 2022 International Conference on Fuzzy Theory and Its Applications, Invited, IEEE SMC, Kaohsiung, Taiwan, International conference
Oct. 2022

Fuzzy Control Systems Design and Analysis: Past, Present and Future
Kazuo Tanaka
Invited oral presentation, English, 2022 IEEE WORLD CONGRESS ON COMPUTATIONAL INTELLIGENCE, Invited, IEEE, Padova, Italy, https://wcci2022.org/invited-speakers/, International conference
19 Jul. 2022

Recent Advances in Polynomial Fuzzy Systems Control: A Sum-of-Squares Design Framework
Kazuo Tanaka
Invited oral presentation, English, 6th IFAC International Conference on Intelligent Control and Automation Sciences, Invited, IFAC(The International Federation of Automatic Control ), https://icons2022.utcluj.ro/plenaries, International conference
13 Jul. 2022

エレボン操舵のみを有する Flying-wing 型無人航空機に対する入力飽和を考慮した 縦方向・横方向ダイナミクスの同時安定化
槌谷 航平; 高橋 佑徳; 田中 基康; 田中 一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会, Domestic conference
Jun. 2022

風環境下で飛行するパラフォイール型ロボットの複雑経路追従の実現
高橋佑徳; 田中 基康; 田中 一男
Oral presentation, Japanese, 第39回ロボット学会学術講演会, 日本ロボット学会, オンライン開催, Domestic conference
Sep. 2021

部分把持によるヘビ型ロボットの配管外歩容設計
小西良芽; 田中基康; 田中一男; 松野文俊
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2020, 日本機械学会, 金沢, Domestic conference
May 2020

非線形コスト保証制御による高度安定化および着陸制御の全翼機飛行実験による検証
苅谷奈々; 田中 基康; 田中 一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2020, 日本機械学会, 金沢, Domestic conference
May 2020

障害物との接触の維持と回避を併用したヘビ型ロボットの移動制御
臼井 尭彬; 田中 基康; 田中 一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2020, 日本機械学会, 金沢, Domestic conference
May 2020

全翼機の縦方向非線形モデル構築と高度安定化および着陸制御の実現
苅谷奈々; 田中 基康; 田中 一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会, 日本機械学会, 広島, Domestic conference
Jun. 2019

多連結移動ロボットのための3 次元局所体形変化システム
福村信之介; 田中 基康; 田中 一男; 松野文俊
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会, 日本機械学会, 広島, Domestic conference
Jun. 2019

伸縮機構をもつヘビ型ロボットのモデリングと制御
澤部英壮; 田中 基康; 田中 一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会, 日本機械学会, 広島, Domestic conference
Jun. 2019

有理多項式ファジィ制御による無人航空機の経路追従安定化制御
岩瀬惟真; 田中 基康; 田中 一男
Oral presentation, Japanese, 第34回ファジィシステムシンポジウム, 日本知能情報ファジィ学会, 名古屋, Domestic conference
Sep. 2018

部分的電源喪失時における多連結移動ロボットの操舵制御
田中基康; 中島瑞; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会, 日本機械学会, 北九州, Domestic conference
Jun. 2018

体幹に分散的収納が可能な多連結移動ロボット用アームの開発
松本修尚; 田中基康; 田中一男; 松野文俊; 多田隈建二郎
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会, 日本機械学会, 北九州, Domestic conference
Jun. 2018

ヘビ型ロボットの2制御点同時制御
中島瑞; 田中基康; 田中一男
Oral presentation, Japanese, 第62回システム制御情報学会研究発表講演会 (SCI’ 18), システム制御情報学会, 京都, Domestic conference
May 2018

多項式システム記述に基づく飛行ロボットの経路追従制御系設計と実験による検証
岩瀬惟真; 田中基康; 田中一男
Oral presentation, Japanese, 計測自動制御学会システムインテグレーション部門講演会2017, 計測自動制御学会, 仙台, Domestic conference
Dec. 2017

能動車輪型多連結移動ロボットの管内走行制御
澤部 英壮; 田中 基康; 田中 一男; 松野 文俊
Oral presentation, Japanese, 計測自動制御学会システムインテグレーション部門講演会2017, 計測自動制御学会, 仙台, Domestic conference
Dec. 2017

Stabilization Conditions for a Class of Nonlinear Systems via Line-Integral Fuzzy Lyapunov Function
Jairo Moreno Saenz; Motoyasu Tanaka; Kazuo Tanaka
Oral presentation, English, 第60回自動制御連合講演会, 計測自動制御学会, 調布, Domestic conference
Nov. 2017

階段昇降可能な車輪型索状ロボットの開発
田中基康; 中島 瑞; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2017, 福島, Domestic conference
May 2017

風外乱を許容するUnmanned Aerial Vehicle の３次元経路追従制御系設計
高橋佑徳; 岩瀬惟真; 田中基康; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2017, 福島, Domestic conference
May 2017

パラフォイール型飛行ロボットの最適2 次コスト保証制御
岩瀬惟真; Kai-Yi Wong; 田中基康; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2017, 福島, Domestic conference
May 2017

Flying-wing 型飛行ロボットのモデル構築と飛行安定化制御
尾鷲真士; 田中基康; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2017, 福島, Domestic conference
May 2017

障害物環境下における多連結清掃ロボットの机上清掃制御
木村康太; 田中基康; 田中一男; 松野文俊
Oral presentation, Japanese, 第１７回計測自動制御学会システムインテグレーション部門講演会, 計測自動制御学会, Domestic conference
Dec. 2016

A Sum-of-Squares Framework for Fuzzy Systems Modeling and Control: Beyond Linear Matrix Inequalities
Kazuo Tanaka
Invited oral presentation, English, IEEE World Congress on Computational Intelligence (IEEE WCCI 2016), Invited, IEEE, Vancouver, Canada, International conference
24 Jul. 2016

A Sum-of-Squares Framework for Fuzzy Systems Modeling and Control: Beyond Linear Matrix Inequalities
Kazuo Tanaka
Invited oral presentation, English, IEEE World Congress on Computational Intelligence (IEEE WCCI 2016), Invited, IEEE, Vancouver, Canada, International conference
24 Jul. 2016

Flying-wing型UAVの制御系設計と飛行実験による検証
伊藤唯; 遠藤祐甫; 田中基康; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, 日本機械学会, 横浜, Domestic conference
May 2016

パラフォイール型飛行ロボットの特性を考慮した風向/風速推定
高橋佑徳; 田中基康; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, 日本機械学会, 横浜, Domestic conference
May 2016

能動車輪型多連結ロボットの開発と手動環境適応推進
田中基康; 中島瑞; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, 日本機械学会, Domestic conference
May 2016

多連結移動ロボットのためのタフな通信システムの開発
田中基康; 中島瑞; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, 日本機械学会, 横浜, Domestic conference
May 2016

多連結清掃ロボットの開発と机上清掃制御
木村康太; 田中基康; 田中一男; 松野文俊
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, 日本機械学会, Domestic conference
May 2016

多関節羽ばたきロボットの構造および翼形状の改善
藤永拓矢; 大竹博; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, 日本機械学会, Domestic conference
May 2016

自在な羽ばたき動作を行える羽ばたき飛行ロボットの持続飛行の実現
田中真人; 大竹博; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, 日本機械学会, Domestic conference
May 2016

パラフォイールタイプ翼をもつUnmanned Aerial Vehicle のファジィ制御
高橋 佑徳; 田中 基康; 田中 一男
Oral presentation, Japanese, 第31回ファジィシステムシンポジウム, Domestic conference
Sep. 2015

不確かさと入力制限を持つ多項式ファジィシステムの準大域ロバスト制御器設計
小倉大介; Ying-Jen Chen; 田中 基康; 田中 一男
Oral presentation, Japanese, 第31回ファジィシステムシンポジウム, Domestic conference
Sep. 2015

冗長多リンクマッサージロボットの開発と楕円螺旋を用いた擦り制御
佐藤順亮; 田中基康; 田中一男; 松野文俊; 田中悠也
Oral presentation, Japanese, 第33回ロボット学会学術講演会, Domestic conference
Sep. 2015

狭所・段差の清掃が可能な多連結掃除ロボットの開発と制御
田中基康; 鈴木兼悟; 田中一男; 松野文俊
Oral presentation, Japanese, Robomec 2015, Domestic conference
May 2015

電動パラグライダー飛行制御系のロバスト安定性保証と空中からの映像撮影実験
高橋佑徳; 田中基康; 田中一男
Oral presentation, Japanese, Robomec 2015, Domestic conference
May 2015

サーボモータの揺動制御による羽ばたき飛行の実現
岩卓真; 大竹 博; 田中一男
Oral presentation, Japanese, Robomec 2015, Domestic conference
May 2015

Matching to Nonlinearity via LMI and SOS-
Kazuo Tanaka
Invited oral presentation, English, Workshop on Fuzzy Control, National Taiwan University of Science and Technology, Invited, Minister of Science and technology, Taiwan Fuzzy Systems Association, Taipei, Taiwan, International conference
30 Nov. 2014

When Nonlinearities Meet Fuzzy Logic
Kazuo Tanaka
Invited oral presentation, English, Workshop on Fuzzy Control, National Sun Yat-Sen University, Invited, Minister of Science and technology, Taiwan Fuzzy Systems Association, Kaohsiung, Taiwan, International conference
29 Nov. 2014

接地点切換えを用いた能動車輪型多連結ロボットの移動障害物回避
田中基康; 中島瑞; 田中一男
Oral presentation, Japanese, 第３２回日本ロボット学会学術講演会, Domestic conference
05 Sep. 2014

Control Lyapunov FunctionsによるPolynomialファジィシステムの制御系設計
Radian Furqon; Ying-Jen Chen; 田中 基康; 田中 一男; Hua O. Wang
Oral presentation, Japanese, 第30回ファジィシステムシンポジウム, Domestic conference
01 Sep. 2014

Recent Advances in Fuzzy Modeling and Control: When Nonlinearities Met Fuzzy Logic
Kazuo Tanaka
Keynote oral presentation, English, 2014 IEEE World Congress on Computational Intelligence, Invited, IEEE, Beijing, China, International conference
08 Jul. 2014

スライダリンク機構を用いた曲面に適応可能なヘビ型ロボットのユニット開発
中島瑞; 田中基康; 田中一男; 松野文俊
Oral presentation, Japanese, Robomec 2014, Domestic conference
28 May 2014

ヘッドマウントディスプレイベースドBMI 構築と定常状態視覚誘発電位によるマイクロヘリコプタ操作
梶原俊也; 井上玲於; 菊島達也; フルコンラディアン; 田中基康; 田中一男
Oral presentation, Japanese, Robomec 2014, Domestic conference
28 May 2014

電動パラグライダーの自動離着陸制御の実現
伊藤唯; 田中基康; 田中一男
Oral presentation, Japanese, Robomec 2014, Domestic conference
27 May 2014

接地情報を用いたヘビ型ロボットの段差昇降制御
田中基康; 中島瑞; 田中一男
Oral presentation, Japanese, 第14回計測自動制御学会システムインテグレーション部門講演会, Domestic conference
Dec. 2013

Stability Analysis for Polynomial Fuzzy Systems by Piecewise Polynomial Lyapunov Functions
鄭 穎仁; 田中 基康; 田中 一男
Oral presentation, English, 第２９回ファジィシステムシンポジウム, Domestic conference
Sep. 2013

モデルパラメータに不確かさを含む非線形システムのSOSロバスト制御
遠藤 隆宏; 鄭 穎仁; 田中 基康; 田中 一男
Oral presentation, Japanese, 第２９回ファジィシステムシンポジウム, Domestic conference
Sep. 2013

拘束変化を利用したヘビ型ロボット関節の近似経路追従制御
田中 基康; 田中 一男; 松野 文俊
Oral presentation, Japanese, 日本機械学会,ロボットメカトロニクス講演会
May 2013

飛行ロボット制御用HILS システムの開発とその制御系設計への適用
關 靖史; 河合 大志; 倉持 信行; 田中 基康; 大竹 博; 田中 一男
Oral presentation, Japanese, 日本機械学会,ロボットメカトロニクス講演会
May 2013

冗長多リンクロボットを用いたマッサージシステムの開発と制御
佐藤 順亮; 田中 基康; 田中 一男; 松野 文俊
Oral presentation, Japanese, 日本機械学会,ロボットメカトロニクス講演会
May 2013

電動パラグライダーのモデルパラメータ同定と安定化制御器の設計
倉持信行; 河合大志; 田中基康; 田中一男
Oral presentation, Japanese, 計測自動制御学会,第５５回自動制御連合講演会
Nov. 2012

多項式ファジイシステムのロバスト設計条件の導出
遠藤 隆宏; 田中 基康; 大竹 博; 田中 一男
Oral presentation, Japanese, 知能情報ファジィ学会,第２８回ファジィシステムシンポジウム
Sep. 2012

T-S Fuzzy Modeling and PDC Approach to Control of Nonlinear F16 Aircraft Model
Ken Yamaguch; Takahiro Endou; Motoyasu Tanaka; Hiroshi Ohtake; Kazuo Tanaka
Oral presentation, English, 知能情報ファジィ学会,第２８回ファジィシステムシンポジウム
Sep. 2012

A Unified Fuzzy Model-Based Framework for Modeling and Control of Complex Systems:From Flying Vehicle Control to Brain-Machine Cooperative Control
Kazuo Tanaka
Keynote oral presentation, English, 2012 IEEE World Congress on Computational Intelligence, 2012 IEEE World Congress on Computational Intelligence, Brisbane, Australia, International conference
Jun. 2012

サーボモータを用いた羽ばたき飛行ロボットの開発
大竹 博; 日當 健士郎; 田中 一男
Oral presentation, Japanese, 日本機械学会,ロボットメカトロニクス講演会
May 2012

飛行ロボットの軌道追従制御系設計と飛行実験による検証
河合大志; 倉持信行; 田中基康; 大竹 博; 田中 一男
Oral presentation, Japanese, 日本機械学会,ロボットメカトロニクス講演会
May 2012

マグナス翼飛行移動体のモデル化と飛行実験による検証
岩倉裕也; 小澤 晃司; 田中基康; 大竹 博; 田中 一男
Oral presentation, Japanese, 日本機械学会,ロボットメカトロニクス講演会
May 2012

マグナス効果を利用した飛行移動体の開発
小澤 晃司; 岩倉 裕也; 田中 一男; 大竹 博
Oral presentation, Japanese, 計測自動制御学会,計測自動制御学会システムインテグレーション部門講演会
Dec. 2011

動力付きパラグライダーのモデリングと軌道追従制御
倉持信行; 河合大志; 大竹 博; 田中一男
Oral presentation, Japanese, 計測自動制御学会,計測自動制御学会システムインテグレーション部門講演会
Dec. 2011

運動想起脳波識別における時間窓選択を用いた空間フィルタの設計
田中 拓哉; 田中 一男; 大竹 博
Oral presentation, Japanese, 計測自動制御学会,計測自動制御学会システムインテグレーション部門講演会
Dec. 2011

A Unified Fuzzy Model-Based Framework for Nonlinear Control of Mechanical Systems
Kazuo Tanaka
Keynote oral presentation, English, National Central University,, National Central University,, Taiwan, International conference
Nov. 2011

飛行体のパッシブ姿勢安定化機構に関する一考察
上島鷹之; 田中一男
Oral presentation, Japanese, 計測自動制御学会,第54回自動制御連合講演会
Nov. 2011

マルチ並行リンク機構型飛行体の安定化制御
大石徹太郎; 田中一男
Oral presentation, Japanese, 計測自動制御学会,第54回自動制御連合講演会
Nov. 2011

A Unified Fuzzy Model-Based Framework for Nonlinear Control of Mechanical Systems:From Backing-up of Truck-Trailers to Tracking Control of Flying Vehicles
Kazuo Tanaka
Invited oral presentation, English, The 11th International Conference on Automation Technology (Automation 2011), The 11th International Conference on Automation Technology (Automation 2011), Yunlin, Taiwan, International conference
Nov. 2011

A Unified Fuzzy Model-Based Framework for Nonlinear Control of Mechanical Systems
Kazuo Tanaka
Invited oral presentation, English, The 19th National Conference on Fuzzy Theory and Its Applications, The 19th National Conference on Fuzzy Theory and Its Applications, Huwei, Taiwan, International conference
Nov. 2011

Sum of Squares アプローチによる離散多項式ファジィシステムの制御
妹尾 俊明; 大竹 博; 田中 一男
Oral presentation, Japanese, 知能情報ファジィ学会,第２７回ファジィシステムシンポジウム
Sep. 2011

A Relaxation Approach of Lyapunov Functions to Guaranteed Cost Control of Discrete Fuzzy System
Kohei Inoue; Toshiaki Seo; Ying-Jen Chen; Hiroshi Ohtake; Kazuo Tanaka; Thierry Marie Guerra
Oral presentation, English, 知能情報ファジィ学会,第２７回ファジィシステムシンポジウム
Sep. 2011

空中からの情報収集を目的とした飛行ロボット 自律制御システムの開発
河合 大志; 大竹 博; 田中 一男
Oral presentation, Japanese, 日本機械学会,Robomec2011
May 2011

パッシブ姿勢安定化機構を備えた飛行ロボットの軌道追従制御
駒井 利之; 河合 大志; 大竹 博; 田中 一男
Oral presentation, Japanese, 日本機械学会,Robomec2011
May 2011

脳波を利用した運動イメージの識別と外界センサを利用した電動車椅子制御
青木 治雄; 田中拓哉; 大竹 博; 田中 一男
Oral presentation, Japanese, 日本機械学会,Robomec2011
May 2011

パッシブ姿勢安定化機構を備えた飛行ロボットのホ バリング制御
駒井 利之; 大竹 博; 田中 一男
Oral presentation, Japanese, 計測自動制御学会,SICEシステムインテグレーション部門講演会
Dec. 2010

Customized Brain-Machine Interface による 脳 波判別精度の改善
田中 拓哉; 大竹 博; 田中 一男
Oral presentation, Japanese, 計測自動制御学会,SICEシステムインテグレーション部門講演会
Dec. 2010

項式ファジィモデルに対するSum of Squares 設計条件の導出
猿木 恭文; 大竹 博; 田中 一男
Oral presentation, Japanese, 計測自動制御学会,SICEシステムインテグレーション部門講演会
Dec. 2010

多項式ファジィシステムに対するSOS-Based Observer の設計
和田基宏; 妹尾俊明; 大竹 博; 田中 一男
Oral presentation, Japanese, 知能情報ファジィ学会,第28回ファイシステムシンポジウム
Sep. 2010

Piecewise Lyapunov Function に基づくSwitching ファジィ制御器によるH∞制御系の設計
Chen Ying-Jen; 大竹 博; 田中 一男; Wang Wen-Jun; 井上 皓平; 猿木 恭文
Oral presentation, Japanese, 知能情報ファジィ学会,第28回ファイシステムシンポジウム
Sep. 2010

ブレイン・マシン・インタフェースのためのBoostingを用いた脳波の多クラス識別
青木 治雄; 大竹 博; 田中 一男
Oral presentation, Japanese, 知能情報ファジィ学会,第28回ファイシステムシンポジウム
Sep. 2010

時系列モデルを用いた脳波イメージ判別と電動車椅子自動操縦への応用
三宅 龍馬; 大竹 博; 田中 一男
Oral presentation, Japanese, 知能情報ファジィ学会,第28回ファイシステムシンポジウム
Sep. 2010

離散ファジィシステムの安定条件の緩和について
井上 皓平; 田中 一男
Oral presentation, Japanese, 知能情報ファジィ学会,第28回ファイシステムシンポジウム
Sep. 2010

マルチ平行リンク回転翼を用いた飛行ロボットの性能向上
大石 徹太郎; 田中 一男; 大竹 博
Oral presentation, Japanese, ロボット学会,第28回ロボット学会学術講演会
Sep. 2010

Training-Free BMIシステムによる電動車椅子の自動操縦
坂本博一; 三宅龍馬; 青木治雄; 大竹博; 田中一男
Oral presentation, Japanese, 日本機械学会,Robomec2010
Jun. 2010

視覚情報による小型ヘリコプタの飛行制御
佐藤 雄一; 大竹 博; 田中 一男; 駒井 利之
Oral presentation, Japanese, 日本機械学会,Robomec2010
Jun. 2010

パッシブ姿勢安定化機構を備えた飛行ロボットの開発
駒井 利之; 大竹 博; 田中 一男
Oral presentation, Japanese, 日本機械学会,Robomec2010
Jun. 2010

工学者の視点からのBrain-Machine Interfaceの構築―脳波で操作する車椅子システムの開発―
田中 一男
Invited oral presentation, Japanese, 第42回計測自動制御学会北海道支部学術講演会, 計測自動制御学会
Feb. 2010

脳波で動く車椅子システムの開発
田中 一男
Invited oral presentation, Japanese, 日本知能情報ファジィ学会合同ワークショップ, 日本知能情報ファジィ学会
Dec. 2009

脳波で動く車椅子システムの開発―工学者の視点からのBMIシステム構築―
田中 一男
Invited oral presentation, Japanese, 日本知能情報ファジィ学会合同ワークショップ, 日本知能情報ファジィ学会
Dec. 2009

Unique Challenges in Fuzzy Control, Flying Robotics and Brain-Machine Interface
Kazuo Tanaka
Invited oral presentation, English, Spanish-Japanese Symposium on Frontier Technologies “Realities and Challenges in Information and Communication Technologies”, University of Granada, supportted by Toshiba International Foundation, Granada, Spain, International conference
Nov. 2009

A Recent Topic on Control and Robotics. From Fuzzy Systems to Brain System
Kazuo Tanaka
Invited oral presentation, English, Spanish-Japanese Symposium on Frontier Technologies:“Realities and Challenges in Information and Communication Technologies”, University of Granada, supported by Toshiba International Foundation, Granada, Spain, International conference
Nov. 2009

脳波で動く車椅子システムの開発
田中 一男
Others, Japanese, 京都大学大学院工学研究科, 京都大学大学院工学研究科
Oct. 2009

脳波で操作する車椅子システムの開発
田中 一男
Invited oral presentation, Japanese, 第27回学術講演会併設行事「一般公開セッション」 サイボーク技術は動き出すか？―ロボット技術と人間機能の協調―, 日本ロボット学会
Sep. 2009

マルチ平行リンク回転翼を用いた飛行ロボットの開発
長谷川 信; 杉本 晋介; 田中 一男; 大竹 博
Oral presentation, Japanese, 日本ロボット学会,第27回日本ロボット学会学術講演会
Sep. 2009

サイクロジャイロ翼を有する飛行ロボットのための推進力の方向制御機構開発
東 善之; 田中 一男; 大竹 博
Oral presentation, Japanese, 日本ロボット学会,第27回日本ロボット学会学術講演会
Sep. 2009

パンタグラフ式可変翼機構を用いた回転翼型飛行ロボットの性能改善
三宅祐一; 田中一男; 大竹博
Oral presentation, Japanese, 日本ロボット学会,第27回日本ロボット学会学術講演会
Sep. 2009

携帯型BMI システムの改良と車椅子自動操縦タスクの多様化
坂本 博一; 青木 治雄; 田中 一男; 大竹 博
Oral presentation, Japanese, 日本ロボット学会,第27回日本ロボット学会学術講演会
Sep. 2009

脳波信号の特徴選択と機械学習による思考判別
青木治雄; 坂本博一; 田中一男; 大竹博
Oral presentation, Japanese, 日本知能情報ファジィ学会,第25回ファジィシステムシンポジウム
Jul. 2009

Max/Min混合型リアプノフ関数を用いた非線形システムの安定解析
山口 剛人; 大竹 博; 田中 一男
Oral presentation, Japanese, 日本知能情報ファジィ学会,第25回ファジィシステムシンポジウム
Jul. 2009

SOSに基づく多項式ファジィオブザーバの設計
和田基宏; 田中一男; 大竹博
Oral presentation, Japanese, 日本知能情報ファジィ学会,第25回ファジィシステムシンポジウム
Jul. 2009

MotohiroWada, Picewise Lyapunov Function を用いたSwitching ファジィ制御器による高木・菅野ファジィシステムの安定化条件
Ying-Jen Chen; Hiroshi Ohtake; Kazuo Tanaka; Wen-June Wang
Oral presentation, English, 日本知能情報ファジィ学会,第25回ファジィシステムシンポジウム
Jul. 2009

翼の変形を抑制するための両持ち構造を有するパンタグラフ式回転翼の開発
跡治保尭; 田中一男; 大竹博
Oral presentation, Japanese, 日本機械学会,ROBOMEC’09
May 2009

搭載カメラのみを用いた屋内用小型ヘリコプタの自己位置・姿勢推定と飛行制御
飯村 健; 大竹 博; 田中一男; 跡治 保尭
Oral presentation, Japanese, 日本機械学会,ROBOMEC’09
May 2009

ファジィモデルに基づく非線形モデル追従制御系設計
大竹 博; 田中 一男
Oral presentation, Japanese, 日本知能情報ファジィ学会,第24回ファジィシステムシンポジウム
Sep. 2008

マイクロヘリコプタの飛行制御 －LMIアプローチ vs SOSアプローチ－
小松 嵩宙; 和田 基宏; 大竹 博; 田中 一男
Oral presentation, Japanese, 日本知能情報ファジィ学会,第24回ファジィシステムシンポジウム
Sep. 2008

GPSによる羽ばたき飛行ロボットの自律飛行に関する研究
上野弘傑; 大竹博; 田中一男
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会,ロボティクス・メカトロニクス講演会2008講演論文集
May 2008

鳥の羽ばたき運動を規範とした可変構造翼機構の開発
横山拓; 田中一男; 大竹博
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会2008講演論文集,ロボティクス・メカトロニクス講演会2008講演論文集
May 2008

小型ヘリコプタのモデルベース制御 ２次評価関数に基づく最適性を考慮した制御系設計
小松嵩宙; 山口剛人; 大竹博; 田中一男
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会2008講演論文集,ロボティクス・メカトロニクス講演会2008講演論文集
May 2008

マルチ平行リンク回転翼の最適化設計
長谷川信; 田中一男; 大竹博
Oral presentation, English, ロボティクス・メカトロニクス講演会2008講演論文集,ロボティクス・メカトロニクス講演会2008講演論文集
May 2008

パンタグラフ式可変翼機構を用いた飛行ロボットの翼変形を考慮したシミュレーションモデルによるペイロード最適性の向上
原直裕; 田中一男; 大竹博; 長谷川信
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会2008講演論文集,ロボティクス・メカトロニクス講演会2008講演論文集
May 2008

受動歩行を規範とした大腿義足の開発に向けて
水野正博; 大竹博; 田中一男
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会2008講演論文集,ロボティクス・メカトロニクス講演会2008講演論文集
May 2008

脳波による車椅子自動操縦システムの構築
渡邉寛樹; 李経洙; 坂本博一; 田中一男; 大竹博
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会2008講演論文集,ロボティクス・メカトロニクス講演会2008講演論文集
May 2008

内界センサをもつ小型ヘリコプタの安定化制御
小松 嵩宙; 田中 一男; 大竹 博
Oral presentation, Japanese, 日本ロボット学会,第２５回ロボット学会学術講演会
Sep. 2007

柔軟リンクをもつ四脚歩行ロボットの歩容生成
西田 麻美; 田中 一男
Oral presentation, Japanese, 日本ロボット学会,第２５回ロボット学会学術講演会
Sep. 2007

サイクロジャイロ翼を有する飛行ロボットの消費電力算出モデルの構築
東 善之; 田中 一男; 大竹 博
Oral presentation, Japanese, 日本ロボット学会,第２５回ロボット学会学術講演会
Sep. 2007

多項式ファジィモデルの提案とSum of Squares に基づく制御系設計
田中一男; 吉田博斗; 山内健司; 大竹博
Oral presentation, Japanese, 第１７回インテリジェント・システム・シンポジウム
Aug. 2007

ファイモデルに基づくサーボ制御系設計
大竹博; 田中一男
Oral presentation, Japanese, 日本知能情報ファジィ学会,第１７回インテリジェント・システム・シンポジウム
Aug. 2007

脳波による電動車椅子の自動操縦システム
李経洙; 田中一男; 大竹博
Oral presentation, Japanese, 日本知能情報ファジィ学会,第１７回インテリジェント・システム・シンポジウム
Aug. 2007

小型ヘリコプタの安定化制御
小松嵩宙; 田中一男; 大竹博
Oral presentation, Japanese, 日本知能情報ファジィ学会,第２３回ファジィシステムシンポジウム
Aug. 2007

非線形離散システムに対するファジィモデルに基づくサーボ制御系設計
大竹博; 田中一男
Oral presentation, Japanese, 日本知能情報ファジィ学会,第２３回ファジィシステムシンポジウム
Aug. 2007

Sum of Squares を用いた多項式ファジィシステムの最適制御
山内健司; 田中一男; 大竹博
Oral presentation, Japanese, 日本知能情報ファジィ学会,第２３回ファジィシステムシンポジウム
Aug. 2007

ファジィバブル崩壊からの復活～ファジィ制御の歩みと今後の展開～
田中一男
Invited oral presentation, Japanese, 第２３回ファジィシステムシンポジウム, 日本知能情報ファジィ学会
Aug. 2007

Panel on Fuzzy Logic Control : Present, Future, and New Directions
Kazuo Tanaka
Invited oral presentation, English, FUZZ-IEEE 2007, FUZZ-IEEE 2007, London, UK, International conference
Jul. 2007

脳波信号による電動車椅子の方向制御
田中一男
Invited oral presentation, Japanese, 第3回ブレインコミュニケーション研究会, 電子情報通信学会
Jun. 2007

弾性エネルギを付加した受動ロボットの開発
水野正博; 大竹博; 田中一男
Oral presentation, Japanese, 日本機械学会,ROBOMEC 2007
May 2007

パンタグラフ式可変翼機構を用いた飛行ロボットの最適設計と実験的評価
原 直裕; 田中一男; 大竹博
Oral presentation, Japanese, 日本機械学会,ROBOMEC 2007
May 2007

マイクロヘリコプタの飛行安定制御
飯村 健; 田中一男; 大竹博
Oral presentation, Japanese, 日本機械学会,ROBOMEC 2007
May 2007

位相差を有するマルチ平行リンク機構の開発と飛行ロボットへの適用
長谷川信; 田中一男; 大竹博
Oral presentation, Japanese, 日本機械学会,ROBOMEC 2007
May 2007

Fuzzy Control Systems Design and Analysis
Kazuo Tanaka
Keynote oral presentation, English, National Chi-Nan University of Technology, National Chi-Nan University of Technology, Puli, Taiwan, International conference
Mar. 2007

Fuzzy Control Systems Design and Analysis
Kazuo Tanaka
Keynote oral presentation, English, National Central University, National Central University, Jhongli City, Taiwan, International conference
Mar. 2007

Fuzzy Control Systems Design and Analysis
Kazuo Tanaka
Keynote oral presentation, English, National Taipei University of Technology, National Taipei University of Technology, Taipei, Taiwan, International conference
Mar. 2007

Fuzzy Control Systems Design and Analysis
Kazuo Tanaka
Keynote oral presentation, English, National Taiwan University of Science and Technology, National Taiwan University of Science and Technology, Taipei, Taiwan, International conference
Mar. 2007

羽ばたき飛行ロボットの安定制御
村上泰章; 大竹 博; 上野弘傑; 田中一男
Oral presentation, Japanese, 日本知能情報ファジィ学会,第２２回ファジィシステムシンポジウム
Sep. 2006

α・β波を用いた思考判別に関する基礎的研究
立岡祐也; 吉川大弘; 古橋 武; 田中一男
Oral presentation, Japanese, 日本知能情報ファジィ学会,第２２回ファジィシステムシンポジウム
Sep. 2006

統計的手法による変数選択を用いた脳波による思考認識に関する一考察
高橋弘武; 吉川大弘; 古橋 武; 田中一男
Oral presentation, Japanese, 日本知能情報ファジィ学会,第２２回ファジィシステムシンポジウム
Sep. 2006

３台連結トレーラトラック後退制御のための最適出力フィードバック設計条件の導出とセンサリダクションの実現
山内健司; 田中一男; 大竹 博
Oral presentation, Japanese, 日本知能情報ファジィ学会,第２２回ファジィシステムシンポジウム
Sep. 2006

入力に非線形性を有するシステムに対するスイッチングファジィ制御
大竹 博; 田中一男
Oral presentation, Japanese, 日本知能情報ファジィ学会,第２２回ファジィシステムシンポジウム
Sep. 2006

区分的リアプノフ関数により非線形追従制御
谷口唯成; 菅野道夫; 田中一男
Oral presentation, Japanese, 日本知能情報ファジィ学会,第２２回ファジィシステムシンポジウム
Sep. 2006

パンタグラフ式可変翼機構を用いた飛行ロボットのシミュレーションによる形状最適化
原 直裕; 田中 一男; 大竹 博
Oral presentation, Japanese, 日本ロボット学会,第２４回ロボット学会学術講演会
Sep. 2006

可変迎角機構を有する飛行ロボットのシミュレーションモデルの構築
東 善之; 田中 一男; 大竹 博
Oral presentation, Japanese, 日本ロボット学会,第２４回ロボット学会学術講演会
Sep. 2006

パンタグラフ式可変翼機構を用いた回転翼型飛行ロボットの開発
原 直裕; 田中一男
Oral presentation, Japanese, 日本機械学会,ロボティクス・メカトロニクス講演会
Jun. 2006

可変迎角機構を有する飛行ロボットの性能向上に関する研究
東 善之; 田中一男; 江丸貴紀
Oral presentation, Japanese, ロボティクスシンポジア
Mar. 2006

ＳＭＡを用いたマイクロ二足歩行ロボットの開発
西田麻美; 田中一男
Oral presentation, Japanese, ロボティクスシンポジア
Mar. 2006

機械システムの脳動制御技術と今後の課題 ―Brain Computer Interface研究の最前線―
田中 一男
Others, Japanese, ISS産業科学システムズ
Nov. 2005

切替え面を選択できるスイッチングファイモデルの構築と制御器設計条件の導出
大竹博; 田中一男
Oral presentation, Japanese, 知能情報ファジィ学会,第21回ファジィシステムシンポジウム
Sep. 2005

多段階の仮想原点収束を考慮したスイッチングファジィ制御手法の提案
北村悠宇; 田中一男; 大竹博
Oral presentation, Japanese, 知能情報ファジィ学会,第21回ファジィシステムシンポジウム
Sep. 2005

多段仮想原点スイッチング型ファジィ制御における多目的制御条件の導出
北村悠宇; 田中一男; 大竹博
Oral presentation, Japanese, 計測自動制御学会,第15回インテリジェント・システム・シンポジウム
Sep. 2005

複数非線形システムのSWARM制御
吉田博斗; 田中一男; 大竹博
Oral presentation, Japanese, 計測自動制御学会,第15回インテリジェント・システム・シンポジウム
Sep. 2005

可変迎角機構を有する飛行ロボットの開発における最適な翼幅と翼枚数の実験的考察
鈴木良平; 田中一男; 江丸貴紀
Oral presentation, Japanese, 日本機械学会,ロボティクス・メカトロニクス講演会
Jun. 2005

行動戦力およびセンシング戦略の並列的決定による超音波センサ移動ロボットの速度制御
江丸貴紀; 田中一男; 土谷武士
Oral presentation, Japanese, 日本機械学会,ロボティクス・メカトロニクス講演会
Jun. 2005

小型人型ロボットを用いたエンジニアリング教育
中川友紀子; 松永和之; 田中一男
Oral presentation, Japanese, 日本機械学会,ロボティクス・メカトロニクス講演会
Jun. 2005

局所情報に基づく超音波センサ移動ロボットの速度制御
江丸貴紀; 田中一男; 土谷武士
Oral presentation, 第36回計測自動制御学会北海道支部学術講演会
2004

超音波による測距情報・距離値を併用した自律移動ロボットの行動生成
江丸貴紀; 及川一美; 田中一男; 土谷武士
Oral presentation, Japanese, 第9回ロボティクス・シンポジア
2004

ディスクリプタ表現の冗長性を利用したファジィ制御器の設計
根布谷岳志; 田中一男; 大竹 博
Oral presentation, Japanese, 第２０回ファジィシステムシンポジウム
2004

ファジィモデルに基づく動的可変構造システムの安定制御
大竹 博; 田中一男
Oral presentation, Japanese, 第２０回ファジィシステムシンポジウム
2004

積分型超音波センサを用いた車輪型移動ロボットのための経路生成法
江丸貴紀; 及川一美; 田中一男; 土谷武士
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会
2004

可変迎角機構をもつ飛行ロボットの開発
鈴木良平; 田中一男; 江丸貴紀
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会
2004

脳紋による個人認識
松永和之; 田中一男
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会
2004

積分型超音波センサによる移動ロボットの速度制御
江丸貴紀; 及川一美; 田中一男; 土谷武士
Oral presentation, Japanese, 第２２回ロボット学会学術講演会
2004

サイクロジャイロ型飛行ロボットの飛行性能実験
鈴木良平; 田中一男; 江丸貴紀
Oral presentation, Japanese, 第２２回ロボット学会学術講演会
2004

脳動制御システムにおける認識パターン作成アルゴリズムの開発
松永和之; 下田宏明; 李経洙; 田中一男
Oral presentation, Japanese, 第２２回ロボット学会学術講演会
2004

ファジィリアプノフ関数を用いたディスクリプタシステムの制御系設計
根布谷岳志; 田中一男; 大竹博
Oral presentation, Japanese, 第14回インテリジェント・システム・シンポジウム
2004

極標型ファジィも出るの安定化制御気の設計
大竹博; 田中一男
Oral presentation, Japanese, 、第14回インテリジェント・システム・シンポジウム
2004

積分型超音波センサによる移動ロボットの速度制御
江丸貴紀; 及川一美; 田中一男; 土谷武士
Oral presentation, Japanese, 第２２回ロボット学会学術講演会, 岐阜
2004

スイッチングリアプノフ関数に基づく制御器設計
大竹 博; 田中一男
Oral presentation, Japanese, 第１９回ファジィシステムシンポジウム
2003

非線形システムに対するNumerical Controller Design 法の提案
坂口 誠; 田中一男
Oral presentation, Japanese, 第１９回ファジィシステムシンポジウム
2003

Acrobatic Control of a Pendubot
Li Wei; 田中一男
Oral presentation, English, 第１９回ファジィシステムシンポジウム
2003

脳波認識に基づく電動車椅子の制御
松永 和之; 田中一男
Oral presentation, Japanese, 第１９回ファジィシステムシンポジウム
2003

電動車椅子の脳動制御
松永 和之; 田中 一男
Oral presentation, Japanese, 第２１回ロボット学会学術講演会
2003

可変迎角機構をもつ飛行ロボットの提案
長谷拓也; 鈴木 崇; 田中 一男; 江丸 貴紀
Oral presentation, Japanese, 第２１回ロボット学会学術講演会
2003

超音波センサによる距離値および反射波の積分値を併用した自律ロボットの行動生成
江丸 貴紀; 及川 一美; 田中 一男; 土谷 武士
Oral presentation, Japanese, 第２１回ロボット学会学術講演会
2003

画像に特化したインパルス性雑音除去フィルタの計算高速化
江丸貴紀; 田中一男; 土谷武士
Oral presentation, Japanese, 第18回ディジタル信号処理シンポジウム
2003

スイッチングファジィ制御器設計のためのLMI条件の導出
大竹 博; 田中一男
Oral presentation, Japanese, 13回インテリジェント・システム・シンポジウム
2003

入力変数に非線形性を有するシステムのファジィ制御
根布谷 岳志; 田中一男
Oral presentation, Japanese, 13回インテリジェント・システム・シンポジウム
2003

Poecewiseファジィリアプノフ関数に基づく制御器設計
堀 強; 田中一男
Oral presentation, Japanese, 第45回自動制御連合講演会
Nov. 2002

非線形Delayシステムに対するファジィ制御
堀 強; 田中一男
Oral presentation, Japanese, 第12回インテリジェントシステムシンポジウム
Nov. 2002

脳波フィードバック制御の試み
金森直希; 田中一男; 松永 和之; 堀 滋樹
Oral presentation, Japanese, 第12回インテリジェントシステムシンポジウム
Nov. 2002

無人化生産支援ロボットのトラブル認識
清水茂則; 関口尚大; 田中孝之; 田中一男; 荒島謙治
Oral presentation, Japanese, 第20回ロボット学会学術講演
Sep. 2002

操作感を考慮した人間-ロボット協調作業系の一設計法
金森直希; 田中一男; 大竹 博
Oral presentation, Japanese, 第20回ロボット学会学術講演会
Sep. 2002

スイッチングリアプノフ関数の構成と安定性解析
大竹 博; 田中一男
Oral presentation, Japanese, 第18回ファジィシステムシンポジウム
Aug. 2002

Poecewise T-S ファジィモデルの構築と緩い安定条件
堀 強; 田中一男
Oral presentation, Japanese, 第18回ファジィシステムシンポジウム
Aug. 2002

脳波認識によるロボット操作
田中一男; 久保康樹; 松永和之; 堀 滋樹
Oral presentation, Japanese, 第18回ファジィシステムシンポジウム
Aug. 2002

Perspective of Fuzzy Control (with Open Forum)
Kazuo Tanaka
Invited oral presentation, English, 15th IFAC World Congress,, 15th IFAC World Congress,, Barcelona, Spain, International conference
Jul. 2002

最短距離Sector構成に基づくｆジィモデリング
大竹 博; 田中一男
Oral presentation, Japanese, 第17回ファジィシステムシンポジウム
2001

非線形制御系の構造設計
田中一男; 堀 強; 谷口唯成
Oral presentation, Japanese, 第17回ファジィシステムシンポジウム
2001

非線形delayシステムに対するファジィ制御
岩崎正明; 田中一男
Oral presentation, Japanese, 第17回ファジィシステムシンポジウム
2001

ファジィリアプノフ関数による制御系設計
田中一男; 堀 強
Oral presentation, Japanese, 第17回ファジィシステムシンポジウム
2001

新しい並列分散的補償法の提案―ファジィリアプノフ関数の特徴を活かした新しい制御系設計
堀 強; 田中一男
Oral presentation, Japanese, 第17回ファジィシステムシンポジウム
2001

ファジィモデルに基づく非線形制御によるR/Cヘリコプタの安定化
田中一男; 大竹 博
Oral presentation, Japanese, 第17回ファジィシステムシンポジウム
2001

一輪車ロボットの安定走行原理
田中孝之; 堀 滋樹; 田中一男; 鈴木久延
Oral presentation, Japanese, 第19回日本ロボット学会学術講演会
2001

一本足ロボットの動作特性と制御
堀 滋樹; 田中孝之; 田中一男; 宮島 晃
Oral presentation, Japanese, 第19回日本ロボット学会学術講演会
2001

操作アームの操作感分析
金森 直希; 田中孝之; 田中一男
Oral presentation, Japanese, 第19回日本ロボット学会学術講演会
2001

介護用ヒューマン・アシスト・システム 第9報，実用的な介護動作のための制御システムの設計
吉川広祐; 小山 猛; 田中孝之; 田中一男
Oral presentation, Japanese, 第19回日本ロボット学会学術講演会
2001

膜翼羽ばたき機シミュレーションとその設計
川畑章司; 田中一男
Oral presentation, Japanese, 第11回インテリジェントシステムシンポジウム
2001

R/Cヘリコプタのロバスト姿勢安定化
大竹 博; 田中一男
Oral presentation, Japanese, 第11回インテリジェントシステムシンポジウム
2001

Sector Nonlinearityに基づくファジィモデリング手法における補間Sector構成法の提案
大竹 博; 田中一男
Oral presentation, Japanese, 第11回インテリジェントシステムシンポジウム
2001

機械系の多目的構造設計
堀 滋樹; 田中一男
Oral presentation, Japanese, 第44回自動制御連合講演会
2001

羽ばたき機の試作と実験による飛行性能解析
川畑章司; 田中一男
Oral presentation, Japanese, 第44回自動制御連合講演会
2001

装着型ロボットの操作感と制御系設計への応用
金森直希; 田中孝之; 田中一男
Oral presentation, Japanese, 第126回情報処理学会データベースシステム研究会＆第3回日本感性工学会感性ロボティクス部会合同研究発表会
2001

無人化生産支援ロボットシステムに関する研究開発（1）
山藤和男; 田中一男; 田中孝之; 陽 洪志; 関口尚大; 橋本健治
Others, Japanese, SVBL平成11年度研究成果報告会成果報告要旨集
2000

無人化生産支援ロボットシステムに関する研究開発（1）
山藤和男; 田中一男; 田中孝之; 陽 洪志; 関口尚大; 橋本健治
Others, Japanese, SVBL平成11年度研究成果報告会成果報告要旨集, SVBL平成11年度研究成果報告会成果報告要旨集
2000

鉄棒によるコバチ演技の実現
大西健介; 田中一男; 山藤和男
Oral presentation, Japanese, 日本機械学会ロボテイクス・メカトロニクス講演会予稿集, 1P1-24-050
2000

ファジィスイッチング制御の提案とラジコンホバークラフトへの応用
岩崎正明; 田中一男
Oral presentation, Japanese, 第16回ファジィシステムシンポジウム，秋田
2000

一般化ファジィシステムによるモデルリダクションとロバストコントローラ設計
谷口唯成; 田中一男; 山藤和男
Oral presentation, Japanese, 第16回ファジィシステムシンポジウム，秋田
2000

H-infノルムベースドファジィモデリングとロバスト制御
田中一男; 堀 強
Oral presentation, Japanese, 第16回ファジィシステムシンポジウム，秋田
2000

一般化ファジィモデル構成手法の提案
谷口唯成; 田中一男
Oral presentation, Japanese, 第10回インテリジェント・システムシンポジウム，東京
2000

脳波による方向認識に関する基礎研究
小川博教; 野崎; 田中一男; 谷口唯成
Oral presentation, Japanese, 第10回インテリジェント・システムシンポジウム，東京
2000

Sector Nonlinearityの概念を用いたモデリング手法の提案
大竹 博; 田中一男
Oral presentation, Japanese, 第10回インテリジェント・システムシンポジウム，東京
2000

H-infノルムに基づくファジィモデリングとファジィ制御器の設計法
田中一男; 堀 強
Oral presentation, Japanese, 第10回インテリジェント・システムシンポジウム，東京
2000

R/Cホバークラフトのスイッチング制御：安定化とスムーススイッチング
岩崎正明; 田中一男
Oral presentation, Japanese, 第10回インテリジェント・システムシンポジウム，東京
2000

無人化生産支援ロボットシステムの研究
山藤和男; 田中孝之; 田中一男; 陽 洪志; 山崎保範
Others, Japanese, 電気通信大学共同研究センター平成11年度年報
2000

実時間画像抽出技術
田中孝之; 山藤和男; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会'99講演論文集，1P1-01-002/1-2
1999

非線形モデル追従制御
谷口唯成; 田中一男
Oral presentation, Japanese, 第15回ファジィシステムシンポジウム
1999

Cubic型およびQuadratic型PDCによるファジィ最適動的出力フィードバックの実現
田中一男; 山市幸広; 谷口唯成
Oral presentation, Japanese, 第15回ファジィシステムシンポジウム
1999

ファジィモデリングと制御器設計のロバスト統合化設計法
堀 強; 田中一男
Oral presentation, Japanese, 第15回ファジィシステムシンポジウム
1999

メンバーシップ関数の特性を考慮した新しい安定条件の導出
Hua O. Wang; 田中一男; 堀 強
Oral presentation, Japanese, 第15回ファジィシステムシンポジウム
1999

LMIによるファジィモデリングと制御
田中一男; 堀 強
Oral presentation, Japanese, 平成11年電気学会電気・情報・システム部門大会
1999

Nonlinear Control of an Articulated Vehicle with Triple Trailers
Kazuo Tanaka; Tadanari Taniguchi; Hua O. Wang
Oral presentation, English, 第4回知能メカトロワーク ショップ
1999

ファジィ制御系に対する新しい安定条件の導出
田中一男; 堀 強; Hua O. Wang
Oral presentation, Japanese, 第9回インテリジェント・システム・シンポジウム
1999

非線形追従制御系の設計
谷口唯成; 田中一男; 山藤和男
Oral presentation, Japanese, 第9回インテリジェント・システム・シンポジウム
1999

モデルに基づくファジィ制御による非線形システムの統合化設計手法
田中一男; 堀 強
Oral presentation, Japanese, 第42回自動制御連合講演会
1999

Nonlinear Model Following Control via Takagi-Sugeno Fuzzy Model
Tadanari Taniguchi; Kazuo Tanaka; Kazuo Yamafuji
Oral presentation, English, 第8回インテリジェント・システム・シンポジウム講演論文集
Oct. 1998

LMIによるファジィ制御系の設計-ロバスト性を考慮した混合設計問題-
田中一男; 谷口唯成
Oral presentation, Japanese, 第42回システム制御精密学会研究発表講演会講演論文集
1998

ファジィディスクリプタシステムに関する一考察
谷口唯成; 田中一男
Oral presentation, Japanese, 第14回ファジィシステムシンポジウム
1998

４台のトレーラを有する移動ロボットの後退制御
田中一男; 谷口唯成; 田中豊一
Oral presentation, Japanese, 第14回ファジィシステムシンポジウム
1998

ロバスト性を２次形式評価関数を考慮したファジィシステムの混合設計問題とそのLMIによる解法
田中一男; 谷口唯成
Oral presentation, Japanese, 第14回ファジィシステムシンポジウム
1998

LMIによるファジィ状態観測器を用いた制御
田中一男; 西村正孝
Oral presentation, Japanese, 第14回ファジィシステムシンポジウム
1998

LMIに基づくファジィ制御手法による非線形構造物の振動制御
田中一男; 上山直浩; 山市幸宏
Oral presentation, Japanese, 第14回ファジィシステムシンポジウム
1998

ファジィ制御におけるインテリジェンス
田中一男
Oral presentation, Japanese, 第14回ファジィシステムシンポジウム
1998

ファジィ制御におけるカオス同期化，カオスモデル追従化の実現
田中一男; 山市幸広
Oral presentation, Japanese, 第14回ファジィシステムシンポジウム
1998

アカデミックリテラシー
The University of Electro-Communications

アカデミックリテラシー
電気通信大学

ロボット機構制御特論
The University of Electro-Communications

ロボット機構制御特論
電気通信大学

知能ロボット工学
The University of Electro-Communications

知能ロボット工学
電気通信大学

機械力学及び演習
The University of Electro-Communications

機械力学及び演習
電気通信大学

物理学概論第一
The University of Electro-Communications

物理学概論第一
電気通信大学

アカデミックリテラシー
The University of Electro-Communications

アカデミックリテラシー
電気通信大学

ロボット機構制御特論
The University of Electro-Communications

ロボット機構制御特論
電気通信大学

知能ロボット工学
The University of Electro-Communications

知能ロボット工学
電気通信大学

機械力学および演習
The University of Electro-Communications

機械力学および演習
電気通信大学

物理学概論第一
The University of Electro-Communications

物理学概論第一
電気通信大学

ロボット機構制御特論
The University of Electro-Communications

ロボット機構制御特論
電気通信大学

知能ロボット工学
The University of Electro-Communications

知能ロボット工学
電気通信大学

機械力学および演習
The University of Electro-Communications

機械力学および演習
電気通信大学

物理学概論第一
The University of Electro-Communications

物理学概論第一
電気通信大学

ロボット機構制御特論
The University of Electro-Communications

ロボット機構制御特論
電気通信大学

知能ロボット工学
The University of Electro-Communications

知能ロボット工学
電気通信大学

機械力学および演習
The University of Electro-Communications

機械力学および演習
電気通信大学

物理学概論第一
The University of Electro-Communications

物理学概論第一
電気通信大学

人間機械システムデザイン特別講義
北海道大学

人間機械システムデザイン特別講義
北海道大学

ロボット機構制御特論
The University of Electro-Communications

ロボット機構制御特論
電気通信大学

知能ロボット工学
The University of Electro-Communications

知能ロボット工学
電気通信大学

機械力学および演習
The University of Electro-Communications

機械力学および演習
電気通信大学

物理学概論第一
The University of Electro-Communications

物理学概論第一
電気通信大学

ロボット機構制御特論
The University of Electro-Communications

ロボット機構制御特論
電気通信大学

知能ロボット工学
The University of Electro-Communications

知能ロボット工学
電気通信大学

機械力学および演習
The University of Electro-Communications

機械力学および演習
電気通信大学

物理学概論第一
The University of Electro-Communications

物理学概論第一
電気通信大学

システム制御情報学会

ロボット学会

日本知能情報ファジィ学会

電気学会

日本機械学会

計測自動制御学会

IEEE

Switching Fuzzy control
2000 - 2000

Control of a Hovercraft
2000 - 2000

Model Reduction for Generaliged Fuzzy Models
2000 - 2000

Hoo norm-based Fuzzy Modeling
2000 - 2000

Optimal Dynamic Output Feedback Fuzzy Control via Cubic/Quadratic-type PDC
1999 - 1999

New Stability Conditions of Fuzzy Control Systems
1999 - 1999

An Integrated Desigu Approach to Nonlineav Systems
1999 - 1999

Fuzzy Descriptor Systems and Control
1998 - 1998

Backing Control of a Mobile Robot with Four Trailers
1998 - 1998

Fuzzy Observer-based Control via LMIs
1998 - 1998

LMIに基づくファジィ制御手法による非線形構造物の振動制御
1998 - 1998

Intelligence in Fuzzy Control
1998 - 1998

Synchronization and Chaotic Model Following Control
1998 - 1998

Robust and Optimal Fuzzy Control
1998 - 1998

Trajectory Stabilization of a Mobile Robot having Four Trailers
1998 - 1998

Nonlinear Model Following Control Via Takagi-Sugeno Fuzzy Model
1998 - 1998

A Robust Integrated Algorithm of Fuzzy Modeling and Controller Design
1998 - 1998

New Stability Conditions Using Propertise of Membership Functions
1998 - 1998

Nonlinear Control of an Articulated Vehicle with Triple Trailers
1998 - 1998

Design of Fuzzy Control Systems based on Quadratic Performance Index
1997 - 1997

LMI-based Fuzzy Control of a Mobile Robot with Three Trailers
1997 - 1997

A Mixed Control Problem of Fuzzy Systems
1997 - 1997

An Approach of Model-based Fuzzy Control to a Nonlinear Control Benchmark Problem
1997 - 1997

制御性能を表現するLMIを用いたファジィシステムの設計
1997 - 1997

Development of a Ping-Pong Robot and Its Intelligeut Control
1997 - 1997

Design of VSS Control Systems based on Fuzzy Model
1996 - 1996

Relaxed Stability Conditions and LMI-based Fuzzy Controller Designs
1996 - 1996

Fuzzy Control of a Truck with Two Trailers
1996 - 1996

Fuzzy Control of Chaotic Systems
1996 - 1996

An Analytical Framework of Fuzzy Modeling and Control of Nonlinear Systems
1995 - 1995

3D Ping-Pong Robot
1995 - 1995

Stable Evolution of Nonlinear Controllers via Genetic Tuning
1995 - 1995

Design of Intelligent Control Systems for a Moble Robot with Multiple Trailers
1995 - 1995

複雑航空系の多体相互作用を考慮したファジィモデルと飛行環境場推定による戦略的制御
基盤研究(C), Principal investigator, 25K15259
Apr. 2025 - Mar. 2028

日本学術振興会特別研究員（DC1） 2025年度採用分
現在M2の指導学生
Apr. 2025 - Mar. 2028

公益財団法人服部報公会 令和６年度工学研究奨励援助金
Nov. 2024 - Mar. 2026

複雑力学系記述かつ多目的制約最適化に巧みなファジィ制御法と無人機飛行制御への応用
日本学術振興会, 二国間交流事業オープンパートナーシップ共同研究, Principal investigator, with international co-author(s)
Apr. 2024 - Mar. 2026

多様な飛行ミッションを実現する高速無人機のための革新的ファジィモデリングと制御
基盤研究(C), Principal investigator, 22K12191
Apr. 2022 - Mar. 2025

多様な環境下での移動体の自律制御に関する研究(2023年度開始研究)
田中一男
株式会社筑水キャニコム, Principal investigator, Domestic joint research
Jun. 2023 - May 2024

多様な環境下での移動体の自律制御に関する研究
田中一男
株式会社筑水キャニコム, Principal investigator, Domestic joint research
Jun. 2022 - May 2023

無人移動体の自動化技術開発
田中一男
株式会社筑水キャニコム, Principal investigator, Domestic joint research
2021 - 2022

無人移動体の自律制御システム開発と実装に関する研究
田中一男
株式会社筑水キャニコム, Principal investigator, Domestic joint research
2020 - 2021

携帯小型無人固定翼機のスマート飛行戦略実現を保証する有理多項式ファジィ制御
田中一男
基盤研究(C), Principal investigator
2019 - 2021

無人移動体の自動制御のための制御系設計
田中一男
株式会社筑水キャニコム, Principal investigator, Domestic joint research
2019 - 2020

無人移動体の自動制御のためのシミュレーション技術，制御プログラム開発に関わるシステム設計
田中一男
株式会社筑水キャニコム, Principal investigator, Domestic joint research
2018 - 2019

Development of Flapping Flight Robot achieaving 5 Wing Motions and Short Takeoff and Landing with Legs
OHTAKE Hiroshi; TANAKA Kazuo; KIMURA Yuki; MURAKAWA Ryoma; FUJINAGA Takuya; MORI Shinichiro; TANAKA Masato
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Kyushu Institute of Technology, Grant-in-Aid for Scientific Research (C), Birds perform not only flapping motions, but also excellent flight such as gliding, soaring and hovering by moving their joints of wings effectively, In addition, they have two legs and can takeoff and land with short distances. In this research, we aimed to achieve the wing motions like real birds, and taking off and landing with short distance by their legs, and obtained the following research results in the three years from 2015 to 2017. 1) Construction of simulation model of both wings having 12 degrees of freedom, 2) Consideration of cross-sectional shape of wing and investigation of influence on lift and thrust forces, 3) Development of a flying robot with both wings which have 10 degrees of freedom and realize 5 wing motions, 4) Development of amplifying device for lift force based on knowledge of bird's muscle structure, 5) Development of leg mechanism and achievement of short distance takeoff, 15K05901
01 Apr. 2015 - 31 Mar. 2018

Protein-based visual receptive fields for image processing
OKADA-SHUDO YOSHIKO; KASAI Katsuyuki; WARANABE Masayoshi; TANAKA Kazuo; TAKAHASHI Hiroki; TANABE Tokimasa; MUKAI Takayuki; OSAWA Shuhei; FUKAZAWA Hikaru
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, The University of Electro-Communications, Grant-in-Aid for Scientific Research (C), The limited range in which the visual system neurons respond is called a receptive field and is composed of an excitation area and a suppression area showing a potential response of different polarity to the light stimulus. In this study, a photosynthetic protein, bacteriorhodopsin was used as it was, spatial filters that mimic only the structure of receptive fields were prepared and applied to analog image processing. The positive and negative polarity reversal differential responses exhibited by the electrochemical cell are replaced with excitation and repression response of the receptive field, and the element is realized by a very simple method of selectively patterning on the opposite transparent electrode and covering with the mask pattern. Using these image processing elements, real-time image feature detection and comparison with an animal 's electrophysiological response were demonstrated., 15K00226
01 Apr. 2015 - 31 Mar. 2018

無人移動体の自動制御に関する研究
田中一男
株式会社筑水キャニコム, Principal investigator, Domestic joint research
2017 - 2018

非線形記述かつ戦略数理記述に巧みなファジィ制御理論構築と航空ロボティクスへの展開
Scientific research (C), general, Principal investigator
2016 - 2018

低コスト・省スペース・高パフォーマンスブレインコントローラの開発
田中一男
立石科学技術振興財団, 研究助成, Principal investigator
May 2015

生体信号（脈波）情報を用いた個人識別Algorithmに関する研究
田中一男
サムスン, Principal investigator, International joint research
2014 - 2015

構造的かつ戦略的に巧みなハイパースマート飛行体の開発と制御
Scientific research (C), general, Principal investigator
2013 - 2015

道路周辺環境先読み制御の研究
田中一男
日野自動車, Principal investigator, Domestic joint research
2013 - 2013

助成金(2013 #1)
キャンパスクリエイト, Principal investigator
2013 - 2013

助成(2013 #2)
㈱キャンパスクリエイト, Principal investigator
2013 - 2013

Flexible sensor with conducting polymers and photosensitive protein
OKADA-SHUDO Yoshiko; WATANABE Masayoshi; ZHANG Yun; TANAKA Kazuo
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, The University of Electro-Communications, Grant-in-Aid for Scientific Research (C), We designed photosensors based on the bacteriorhodopsin (bR) pigment found in the cell membrane of Halobacteria and showed that motion detection is possible using only one sensing element. The photocell consists of a bR dip-coated thin film and electrolyte sandwiched between glass plates with ITO electrodes. We fabricated a simple direction sensor by patterning the bR films on electrodes. When light scans the sensing area, the edges of each pattern produce a positive or negative current depending on the light's speed and direction. These direction sensors also respond strongly to rapidly moving objects, though not at all to slow ones. Eventually we replaced ITO/glass with conductive polymer/plastic based on PEDET:PSS. The flexible sensor showed almost the same response as ITO/glass sensor, but couldn't sufficiently respond. The hybrid sensor with protein and conductive polymer will lead to large sensing area system and could be utilized for robot vision applications., 23560004
2011 - 2013

A study on the cardiovascular hemodynamic regulation by autonomic nervous system under human daily activities using ambulatory beat-by-beat cardiovascular monitoring system
YAMAKOSHI Kenichi; NAKAGAWARA Minoru; TANAKA Shinobu; KOBAYASHI Tsutomu
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Kanazawa University, Grant-in-Aid for Scientific Research (B), ・Improvement of the ambulatory cardiovascular monitoring system : A newly designed circuit which reduces the influence of the external light, a high-speed cuff pressure controller, and a digital filtering technique for the measurement of pulsatile admittance signal were embedded in the new cardiovascular monitoring system based on the volume-compensation and the electrical admittance method. As a result, more stable and reliable monitoring of the cardiovascular hemodynamic parameters were made on a beat-by-beat basis under various ambulatory situations. The replacement of the band-electrode to spot-electrode in the admittance cardiography was also successfully performed on a sitting position using the 64-ch impedance mapping system. ・Estimation of autonomic nervous activity under daily life : Using the new monitoring system, cardiovascular parameters were successfully monitored on the subjects during their daily life activities. The changes of the parameters were corresponded to the subject's postures and activities as almost the same as the previous studies obtained in the laboratory and hospital testings. With regard to the analysis of the parameters, the calculation of the baro-receptor cardiac reflex sensitivity based on the Bertinieri's method, and the analysis of the power spectrum density and the transfer function were made, and it was continued to be able to estimate the vagal and sympathetic activities under daily activities except strong exercises. It was also suggested that the analysis of the total peripheral resistance change following the posture change from sitting to standing was more suitable for the estimation of the sympathetic activity during exercise., 09480252
1997 - 1999

Study on the autonomic regulation analysis of cardiovascular system using non-invasive and ambulatory system for monitoring instantaneous blood pressure and cardiac interbeat interval
YAMAKOSHI Ken-ichi; SAWADA Yukihiro; TANAKA Kazuo; KOBAYASHI Tsutomu
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Kanazawa University, Grant-in-Aid for Scientific Research (B), In order to analyze autonomic regulation of cardiovascular system during daily life activities, a non-invasive and ambulatory system (160x140x45mm, 700gf) has been newly designed, which can automatically monitor systolic (SBP) /mean (MBP) /diastolic pressure (DBP), pulse interval (P-P), inter-beat interval (IBI) and respiration interval (ReP) from ECG waveform on a beat-by-beat basis. Principle of blood pressure measurement is based on the volume-compensation method using vascular unloading, previously proposed by us. 6 time-series data are recorded in an IC memory card after necessary signal processings using a single-chip microcomputer with an interactive software, altogether about 700,000 beats of data being stored. After the monitoring, these stored data are reproduced, displayd on a CRT monitor, and performed necessary analyzes using a conventional personal computer. Taking physiological importance of the effect of human posture changes on the cardiovascular variables into consideration, a portable instrument for long-term ambulatory monitoring of the posture chnges has been also designed in parallel with the development of the present system. This measurement is based on the fact that almost all human postures in daily life can be estimated from the angles corresponding to the gravitational direction in three portions ; chest, thigh and lower leg. The instrument (58x94x25mm, 130g) can store these angles in a CMOS RAM (2MB) using electro-magnetic inclinometers placed on the three portions, and easily be used together with the above system if rewuired under an experimental situation. In this study, autonomic regulatory function of the cardiovascular system was assessed by (i) baroreceptor-cardiac reflex sensitivity (BRS) obtained by computerised scanning of beat-by-beat SBP and PP (or IBI) values, (ii) transfer function calculated by power and cross spectra of SBP and IBI data, and (iii) spectral analysis of SBP and IBI data using a naximum entropy method, which were performed by a personal computer-based system. Using young (20-24 years old, male) healthy subjects, data were collected under daily life activities and categorized into 9 physical activities ; supine (rest), siting (rest), desk work on a chair, standing, working during standing without movement, walking, up and down the stairs, and bicycle exercise. It is demonstrated that the BRS values and power spectral density of IBI data over high frequency (HF) range of 0.15-0.5 Hz were significantly reduced following the increase in the physical activities, indicating that vagal nerve activity would be depressed by the increase in the physical activities. This phenomenon was also confirmed by the gain of the transfer function at higher values of the coherence over low frequency (LF) range of 0.04-0.12 Hz and HF range. However, power spectral densities of IBI and SBP data over LF range showed no significant correlation with the physical activities, indicating that LF powers of both SBP and IBI might be modulated by the vagal and sympathetic nerve activity against the physical activities and thus not be a significant index to assess only the sympathetic activity. Through these findings, we conclude that further development of ambulatory system capable of monitoring both blood pressure and cardiac output (and thus peripheral vascular resistance) should be desired to evaluate in detail the sympathetic activity during daily life., 06454722
1994 - 1996

Development of non-invasive and ambulatory monitoring system for cardiovascular haemodynamic parameters inclusive of cardiac output and blood pressure
YAMAKOSHI Ken-ichi; NAKAGAWARA Minoru; TANAKA Kazuo; KOBAYASHI Tsutomu
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Developmental Scientific Research (B), In recognition of the increasing need for health maintenance and disease prevention, an attempt was made to develop a non-invasive and ambulatory system capable of monitoring various cardiovascular parameters, naturally including cardiac output and blood pressure, during daily activities in a fully automatic manner. It is based on the electrical admittance cardiography and the volume-oscillometric method. The system mainly consists of (i) a finger cuff with a photo-plethysmographic sensor for detecting blood volume changes and tetra-polar electrodes for detecting the bio-admittance signal, (ii) a portable unit (104x64x32mm, 160g) which allows necessary measuring procedures and control, together with signal processing and data storage in a CMOS RAM,using a single-chip microcomputer, and (iii) data reproducing and analysing unit using a personal computer system. Asubject carries the former two during monitoring Long-term monitoring is made with a desired interval of 2,5 and 10 min preset, and after the monitoring the stored data are reproduced and analyzed by the computer, being displayd pulse rate (HR), pulse interval (PI), systolic (SBP)/meanMBP)/diastolic pressure (DBP), ventricular ejection time (Ts), stroke volume (SV), cardiac output (CO=HR・SV), peripheral vascular resistance (Rp=MBP/CO) and rate pressure product (RPP=HR・SBP) as an index of cardiac oxygen consumption in a trend manner. Besides the development of thissystem, a portable instrument for long-term ambulatory monitoring of human posture chnge has been designed, taking physiological importance and usefulness of such information along with cardiovascular haemodynamic parameters into consideration. It is based on the fact that almost all human postures in daily life, e. g. standing, sitting, lying, walking etc., can be estimated from the angles corresponding to the gravitational direction in three portions ; chest, thigh and lower leg. The instrument (58x94x25mm, 130g) includes preamplifiers, an A/D converter (6bit ; sampling interval, 0.1,0.2,0.5,1s), and a CMOS RAM (2MB) for storing the angles from electro-magnetic inclinometers placed on the three portions. Performance, availability and stability for monitoring by these two systems have been tested with successful and satisfactory results. Lots of 24-hour monitorings and data analyzes regarding the interactiive relation among the cardiovascular variables and the periodic construction of their circadian fluctuations using the maximum entropy method (MEM) have also been successfully made, suggesting that each proposed system appears promising as a method for use not only in further advanced basic and clinical cardiovascular researches but also in case of self care at home., 05555107
1993 - 1995

ハイブリッド車両の制御システム及びハイブリッド車両の制御方法
Patent right, 田中 一男, 田中 基康, 田中 雄, 安井 博文, 石坂 宏幸, 特願2013-250318, Date applied: 03 Dec. 2013, 日野自動車株式会社,電気通信大学, 特許第6311142号, Date issued: 30 Mar. 2018

回転翼
Patent right, 特願2007-039541, Date applied: 20 Feb. 2007

平行リンク機構を有する回転動力伝達装置
Patent right, 特願2007-35406, Date applied: 15 Feb. 2007

風力発電機
Patent right, 特願2006-66060, Date applied: 10 Mar. 2006, 東 善之、田中一男

回転翼機構、該回回転翼機構を用いた移動体、並びに発電機
Patent right, 田中一男, 原 直裕, 特願2006-39679, Date applied: 16 Feb. 2006, 国立大学法人 電気通信大学

生体識別方法及び生体識別装置
Patent right, 特願2005-33328, Date applied: 09 Feb. 2005

回転リンク機構、これを用いた動力変換機構又はこれを用いた回転動力
Patent right, 特願2005-02887, Date applied: 04 Feb. 2005

生体信号を用いた認証方法および認証装置
Patent right, 特願2003-039378, Date applied: 18 Feb. 2003, 特開2004-248714, Date announced: 09 Sep. 2004

回転翼
Patent right, 特願2003-286536, Date applied: 05 Aug. 2003

北海道スペースポートでの飛行実験の取材
読売テレビ, かんさい情報ネットten., Media report
29 Apr. 2024

２０２３年８月から９月にかけて北海道大樹町で実施した無人航空機の大規模実験について紹介
十勝毎日新聞, 十勝毎日新聞, Paper
Sep. 2023

International Advisory Committee, 2023 International Conference on Fuzzy Theory and Its Applications
Competition etc, Supervision, Taiwan Fuzzy Systems Association and National Penghu University of Science and Technology, 26 Oct. 2023 - 29 Oct. 2023, True

International Advisory Committee, 2022 International Conference on Fuzzy Theory and Its Applications
Competition etc, Supervision, Nov. 2022

Advisory Committee Member, International Conference on System Science and Engineering 2020 (ICSSE 2022),
Academic society etc, Supervision, Jun. 2022

当研究室のM1の吉井...
当研究室のM1の吉井君，山本君が本学ピクトラボ活動で取り組んだFlying-wing型飛行ロボット（当研究室開発のものと同型）で第18回全日本学生室内飛行ロボットコンテストに出場し，見事に飛行競技（自動操縦部門）第２位オプティム賞を受賞しました！
2022 - 2022

田中一男研究室の苅谷...
田中一男研究室の苅谷奈々さん（機械知能システム学専攻博士前期1年）およびKai-Yi Wongさん（機械知能システム学専攻博士後期2年）が、2019年11月7日から10日に台湾のTamkang Universityで開催された "2019 International Conference on Fuzzy Theory and Its Applications" においてStudent Paper Award （First Place）を受賞しました。
【論文名】
" Longitudinal Fuzzy Model Construction of a Flying-Wing Unmanned Aerial Vehicle and a Nonlinear Guaranteed Cost Control Approach to Altitude Stabilization"
2019 - 2019

岩瀬惟真（当時M２の学生）
日本知能情報ファジィ学会より奨励賞を受賞
受賞論文：
有理多項式ファジィ制御による無人航空機の経路追従安定化制御
2018 - 2018

Alissa Ully Asharさん（指導学生知能機械工学専攻博士後期3年）が、IFSA-SCIS 2017 において IFSA Student Paper Award を受賞
【論文名】
"Positivstellensatz Relaxation for Sum-of-Squares Stabilization Conditions of Polynomial Fuzzy Systems"
【著者名】
Alissa Ully Ashar, Motoyasu Tanaka, Kazuo Tanaka
2017 - 2017

高橋佑徳（当時M２の学生）
日本知能情報ファジィ学会より奨励賞を受賞
受賞論文：
パラフォイールタイプ翼をもつUnmanned Aerial Vehicleのファジィ制御
2016 - 2016

Radian Furqon （当時M2）
2014 IEEE World Congress on Computational Intelligence (IEEE WCCI 2014) Travel Grants Winnerとなる．
発表対象論文
Radian Furqon, Ying-Jen Chen, Motoyasu Tanaka, Kazuo Tanaka and Hua O. Wang, Stabilization Analysis of Single-Input Polynomial Fuzzy Systems using Control Lyapunov Functions, in proceedings of the IEEE International Conference on Fuzzy Systems, Beijing, China, July 6-11, 2104. (Accepted)
2014 - 2014