Biography: Makoto Iwasaki received the B.S., M.S., and Dr. Eng. degrees in electrical and computer engineering from Nagoya Institute of Technology, Nagoya, Japan, in 1986, 1988, and 1991, respectively. Since 1991, he has been with the Department of Computer Science and Engineering, Nagoya Institute of Technology, where he is currently a Professor at the Department of Electrical and Mechanical Engineering. As professional contributions of the IEEE, he has been an AdCom member of IES in term of 2010 to 2019, a Technical Editor for IEEE/ASME TMech from 2010 to 2014, an Associate Editor for IEEE TIE since 2014, a Management Committee member of IEEE/ASME TMech (Secretary in 2016 and Treasurer in 2017), a Co-Editors-in-Chief for IEEE TIE since 2016, a Vice President for Planning and Development in term of 2018 to 2019, respectively. He is IEEE fellow class 2015 for "contributions to fast and precise positioning in motion controller design". He has received the Best Paper Award of Trans of IEE Japan in 2013, the Best Paper Award of Fanuc FA Robot Foundation in 2011, the Technical Development Award of IEE Japan in 2017, the Nagamori Awards in 2017, the Ichimura Prize in Industry for Excellent Achievement of Ichimura Foundation for New Technology in 2018, the Technology Award of the Japan Society for Precision Engineering in 2018, and the Commendation for Science and Technology by the Japanese Minister of Education in 2019, respectively. His current research interests are the applications of control theories to linear/nonlinear modeling and precision positioning, through various collaborative research activities with industries.
Title of the speech: “Fast and Precision Motion Control for Industrial Positioning Devices: LMI-Based Command Shaping with Robust Performance”
Abstract of the speech: Fast-response and high-precision motion control is one of indispensable techniques in a wide variety of high performance mechatronic systems including micro and/or nano-scale motion, such as data storage devices, machine tools, manufacturing tools for electronics components, and industrial robots, from the standpoints of high productivity, high quality of products, and total cost reduction. In those applications, the required specifications in the motion performance, e.g. response/settling time, trajectory/settling accuracy, etc., should be sufficiently achieved. In addition, the robustness against disturbances and/or uncertainties, the mechanical vibration suppression, and the adaptation capability against variations in mechanisms should be essential properties to be provided in the performance.
The keynote speech presents the fast and precision motion control techniques, where a 2-degrees-of-freedom (2-DoF) control framework is especially handled as one of practical and/or promising approaches to improve the motion performance. Actual issues and relevant solutions for each component in the 2-DoF control structure are clarified, and then, one of examples, a 2-DoF controller design for robust vibration suppression positioning, is presented as an application to industrial high precision positioning devices. In this speech, especially, a command shaping technique with robust performance is discussing for typical industrial manufactural machines, achieving the robustness against mechanical vibration suppression, input saturation, and plant perturbations under the LMI (Linear Matrix Inequality) formulation of their constraint conditions.
Prof. Susumu Hara
Nagoya University, Japan
Biography: Susumu Hara received his BS, MS, and PhD degrees from Keio University, Tokyo, Japan in 1992, 1994, and 1996, respectively, all in engineering. From 1995 to 2000, he was a Research Fellow with the Japan Society for the Promotion of Science. From 1996 to 2000, he was a Visiting Researcher with the Faculty of Science and Technology, Keio University. From 1998 to 1999, he was a Visiting Scholar with the Department of Mechanical Engineering, University of California, Berkeley. In 2000, he joined the faculty of Toyota Technological Institute, Nagoya, Japan. In 2008, he joined the faculty of Nagoya University, Nagoya, Japan, where he is currently a Professor in the Department of Aerospace Engineering, Graduate School of Engineering. His current research interests include motion and vibration control of mechanical structures and spacecraft, nonstationary control methods, and control problems of man machine systems. He is a member of the JSME, SICE, RSJ, IEEJ, JSPE, IEEE, AIAA, and JSASS.
Title: Control of Self-Standable Motorcycle
Abstract: This keynote speech discusses the control system design of a novel motorcycle, named “MOTOROiD,” possessing a self-stabilizing mechanism. The motorcycle possesses a novel rotary axis, referred to as the active mass center control system (AMCES), which can vary the position of the total center of gravity. This ensures stability during low-speed driving and realizes autonomous straightening from the parked mode. A mathematical controlled object model was prepared, comprising the original motorcycle and a minor feedback control loop aimed at maintaining the minimum stability in waiting mode. For improving robustness, an outer feedback controller was designed, based on the frequency-shaped LQ control theory for the controlled object model. The experimental investigation of such a feedback control problem has not yet been addressed. This work presents an actual implementation of the LQ optimal feedback controller for a MOTOROiD. The efficacy of this controller has been experimentally verified.