Youichirou Fukushima

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In this paper, we propose a decentralized adaptive robust controller for trajectory tracking of robot manipulators. In each local controller, a disturbance observer (DOB) is introduced to compensate for the low-passed coupled uncertainties, and an adaptive sliding mode control term is employed to handle the fastchanging components of the uncertainties(More)
This paper proposes a new method of decentralized robust control for large-scale interconnected uncertain nonlinear mechanical systems, by using disturbance observers (DOBs). Rigorous stability analysis is given for the overall nonlinear system. Simulation results on a coupled double pendulum system are presented to confirm the established theoretical(More)
Change-point detection schemes, which represent one type of anomaly detection schemes, are a promising approach for detecting network anomalies, such as attacks and epidemics by unknown viruses and worms. These events are detected as change-points. However, they generally also detect false-positive change-points caused by other events, such as hardware(More)
In this paper, we propose a decentralized adaptive robust controller for trajectory tracking of robot manipulators. In each local controller, a disturbance observer (DOB) is introduced to compensate the low-passed coupled uncertainties, and an adaptive sliding mode control term is employed to handle the fast-changing components of the uncertainties beyond(More)
It is difficult to predict future traffic precisely although it is assumed that the amount of future traffic is predictable in many researches on a multi-period planning for WDM networks. In this paper, we propose a wavelength-routing algorithm that maximizes the number of accommodated lightpaths without precise prediction of future traffic demand. Since(More)
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