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In adaptive output feedback control based on almost strictly positive real conditions, a technical difficulty arises when the multi-input multi-output (MIMO) system under consideration is non-square, and in particular, has less inputs than outputs. To overcome this, we propose an idea of multirate sampled-data control. That is, a lifted discrete-time(More)
In this paper, an algorithm to estimate wind direction by using a small and light Unmanned Air Vehicle(UAV) called KITEPLANE was proposed. KITEPLANE had a big main wing which is a kite-like delta shape and, therefore, it was easy to be disturbed by wind. However, this disadvantage implies that the KITEPLANE has an ability to sense wind and that it is(More)
In adaptive output feedback control based on almost strictly positive real (ASPR) conditions, a technical difficulty arises when the controlled multi-input multi-output (MIMO) system is non-square. To overcome this, the idea of multirate sampled-data control has been proposed. That is, through careful choice of faster input sampling rates create a lifted(More)
In this paper, we propose a robust adaptive tracking control based on the backstepping strategy for strict-feedback nonlinear systems with nonparametric uncertain nonlinearities. It is shown that one can design a stable adaptive control system provided that the uncertain nonlinearities can be decomposed by unknown bounded nonlinear functions and known(More)
A pharmacokinetic one-compartment model for the cerebrospinal infusion for the brain tumor chemotherapy is described together with various parameters used for computer simulation. An antitumor protein, neocarzinostatin (NCS) as a prototype drug, has been utilized since it was found effective against glioblastoma cells at extremely low concentration (less(More)
This paper is motivated by the practical control considerations that nonlinearity is abundant in industrial processes and output sampling rates are often limited due to hardware constraints. In particular, for a Hammerstein nonlinear sampled-data system in which the output sampling period is an integer multiple of the input updating period, we derive, by(More)
Sound localization is one of important abilities for robots which utilize auditory information. Binaural information such as interaural time difference (ITD) or interaural intensity difference(IID) is effective for horizontal sound localization. In order to extend this ability to vertical sound localization, spectral cues were utilized in this paper instead(More)
Two 1-DOF pendulums coupled with a weak spring are considered. This system is a coupled Controlled Hamiltonian Systems that has been studied widely in these days. The control objective is to make pendulums swing synchronously with small input. To this end, Speed Gradient Energy method proposed by Fradkov is adopted to design the controller. Although(More)
An important ability in auditory robots is the localization of sound source. In this paper, a robust method to localize the vertical direction of the sound source with two microphones and pinnae is proposed. In order to achieve vertical sound source localization, the method of detecting spectral cues, the relationship between spectral cues and source(More)
In this paper, a necessary and sufficient condition for a discrete-time nonlinear system to be strictly passive is derived and OFSP (Output Feedback Strictly Passive) conditions will be established. Based on the obtained OFSP conditions, an adaptive output feedback controller design method which can solve causality problems will be proposed for a(More)