A Controller Design Method of Decentralized Control System

Decentralized control is a promising method with many advantages while an effective design method for it is desired. Design in conventional methods is complicated because the correspondence between a system role and its controllers is unclear. To solve this problem, we have proposed the idea of “functionality" for a bilateral control system. The idea is to divide the system role into minimum components. The design method based on this idea is clear since controllers correspond to respective functions. Furthermore, the design method is simple since each function is a minimum component. This study expands the idea of the functionality to design of decentralized control systems. Subsystems are constructed based on functions. Functions for normal operation and for exception handling are treated in a unified manner. The system can automatically sustain important functions by a priority order of functions. This method realizes simple and explicit controller design for a decentralized control system with exception handling. Simulation and experimental results show the flexibility, fault tolerance and expandability of the decentralized system.

[1]  K. Ohnishi,et al.  Robust motion control in redundant motion systems , 1998, AMC'98 - Coimbra. 1998 5th International Workshop on Advanced Motion Control. Proceedings (Cat. No.98TH8354).

[2]  Kouhei Ohnishi,et al.  A Controller Design Method of Bilateral Control System , 2006 .

[3]  Noboru Sebe.  A unified approach to decentralized controller design , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[4]  A.G. Loukianov,et al.  Observer based decomposition control of linear delayed systems , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[5]  K. Ohnishi,et al.  Position/force scaling of function-based bilateral control system , 2004, 2004 IEEE International Conference on Industrial Technology, 2004. IEEE ICIT '04..

[6]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[7]  Hajime Asama,et al.  Functional distribution among multiple mobile robots in an autonomous and decentralized robot system , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[8]  敏男 福田,et al.  動的再構成可能ロボットシステムに関する研究 : 第10報, CEBOTの群構造に対するネットワーク・エネルギー評価を用いた組織の分散制御構造化 , 1992 .

[9]  Antonio Chella,et al.  A possible approach to the development of robotic multi-agent systems , 2003, IEEE/WIC International Conference on Intelligent Agent Technology, 2003. IAT 2003..

[10]  Suguru Arimoto,et al.  Principle of Superposition for Realizing Dexterous Pinching Motions of a Pair of Robot Fingers with Soft-Tips , 2001 .

[11]  Yoshihiko Nakamura,et al.  Polynomial design of the nonlinear dynamics for the brain-like information processing of whole body motion , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[12]  Toshiyuki Murakami,et al.  Torque sensorless control in multidegree-of-freedom manipulator , 1993, IEEE Trans. Ind. Electron..

[13]  Kouhei Ohnishi,et al.  Motion control for advanced mechatronics , 1996 .

[14]  Takashi Sekiguchi,et al.  Fault-tolerant configuration of distributed discrete controllers , 2003, IEEE Trans. Ind. Electron..