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2022-12-14T04:27:57Z
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Visual Systems & Control on Polynomial Space and Its Application to Sloshing Problems
Sakai, Satoru
Sato, Masakazu
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Continuous systems
Hilbert space
visual systems & control
This paper proposes a novel approach for camera-based modeling and control for a large class of continuous systems and the validity is confirmed by liquid sloshing experiments. It is an unsolved problem to design a model-based control in nonplanar sloshing cases. This is because the whole shape of the liquid surface is a complex curve (a set of an infinite number of points) in coordinate spaces. This paper solves this problem. First, the whole shape of the liquid surface corresponding to the output measured by a camera is a single point in a polynomial space as well as the input and the state. Second, without any physical parameter identification, input-output modeling on polynomial space, unlike existing types of modeling, captures the whole dynamics even in nonplanar sloshing cases and is linked to design of implementable controllers. Finally, in the presence of occlusion, the nonplanar sloshing is controlled well by state estimation on polynomial space without adding any image processing technology.
Article
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY. 22(6):2176-2187 (2014)
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
2014-11
eng
journal article
AM
http://hdl.handle.net/10091/18113
https://soar-ir.repo.nii.ac.jp/records/12308
https://doi.org/10.1109/TCST.2014.2309615
10.1109/TCST.2014.2309615
1063-6536
AA10898863
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
22
6
2176
2178
https://soar-ir.repo.nii.ac.jp/record/12308/files/Visual_systems&control_on_polynomial.pdf
application/pdf
2.7 MB
2015-09-28