{"created":"2022-01-27T08:16:07.381080+00:00","id":2004801,"links":{},"metadata":{"_buckets":{"deposit":"c840402d-b6f2-433f-a821-3253f5112581"},"_deposit":{"id":"2004801","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"2004801"},"status":"published"},"_oai":{"id":"oai:u-ryukyu.repo.nii.ac.jp:02004801","sets":["1642838403123","1642838403551:1642838406845"]},"author_link":[],"item_1617186331708":{"attribute_name":"Title","attribute_value_mlt":[{"subitem_1551255647225":"自律ロボット制御用ファジィ型非線形システムの構築及びそのリアプノフ関数構成","subitem_1551255648112":"ja"},{"subitem_1551255647225":"Fuzzy-Type Nonlinear Systems and Construction of Lyapunov Functions for the Control of Autonomous Robot","subitem_1551255648112":"en"}]},"item_1617186419668":{"attribute_name":"Creator","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"宮城, 隼夫","creatorNameLang":"ja"}]},{"creatorNames":[{"creatorName":"山下, 勝己","creatorNameLang":"ja"}]},{"creatorNames":[{"creatorName":"山田, 孝治","creatorNameLang":"ja"}]},{"creatorNames":[{"creatorName":"Miyagi, Hayao","creatorNameLang":"en"}]},{"creatorNames":[{"creatorName":"Yamashita, Katsumi","creatorNameLang":"en"}]},{"creatorNames":[{"creatorName":"Yamada, Koji","creatorNameLang":"en"}]}]},"item_1617186476635":{"attribute_name":"Access Rights","attribute_value_mlt":[{"subitem_1522299639480":"open access","subitem_1600958577026":"http://purl.org/coar/access_right/c_abf2"}]},"item_1617186609386":{"attribute_name":"Subject","attribute_value_mlt":[{"subitem_1522299896455":"en","subitem_1522300014469":"Other","subitem_1523261968819":"GA"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"自律ロボット"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"ファジィ関係式"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"ファジィ制御"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"ロバスト摂動法"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"ルーリエ形リアプノフ関数"},{"subitem_1522299896455":"en","subitem_1522300014469":"Other","subitem_1523261968819":"Autonomous robot"},{"subitem_1522299896455":"en","subitem_1522300014469":"Other","subitem_1523261968819":"Robust perturbation technique"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"クラシファイアシステム"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"ファジイ推論"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"意思決定"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"ファジィ推論"},{"subitem_1522299896455":"en","subitem_1522300014469":"Other","subitem_1523261968819":"Fuzzy control"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"競合共進化"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"競合共進化モデル"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"残留ファジィ測度"},{"subitem_1522299896455":"en","subitem_1522300014469":"Other","subitem_1523261968819":"Co-evolution approach"},{"subitem_1522299896455":"en","subitem_1522300014469":"Other","subitem_1523261968819":"Fuzzy relation equation"},{"subitem_1522299896455":"en","subitem_1522300014469":"Other","subitem_1523261968819":"Lyapunov method"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"リアプノフ関数"},{"subitem_1522299896455":"en","subitem_1522300014469":"Other","subitem_1523261968819":"Fuzzy inference"},{"subitem_1522299896455":"ja","subitem_1522300014469":"Other","subitem_1523261968819":"ファジィ型非線形システム"}]},"item_1617186626617":{"attribute_name":"Description","attribute_value_mlt":[{"subitem_description":"科研費番号: 08650504","subitem_description_type":"Other"},{"subitem_description":"平成8年度～平成9年度科学研究費補助金（基盤研究(C)(2)）研究成果報告書","subitem_description_type":"Other"},{"subitem_description":"研究概要：本研究によって得られた知見および成果は以下のとおりである。 1.非線形フィードバックシステムの非線形要素を摂動とみなし、2次形式およびルーリエ形リアプノフ関数を基盤としたロバスト摂動法によって安定パターンの類別を行った。その結果、非線形性にはシステムが安定になるためのある種のパターンが存在することがわかった。すなわち、ロボットシステムが安定性を維持するには、入出力制御特性がロバスト安定パターン内にあればよいという知見を得た。 2.ファジィ推論機構を構築する手法に、ファジィ関係式を解き、入出力関係を定式化する方法がある。本研究では、このファジィ関係を知能ロボット制御に役立てるという観点から、Sup・min合成、Inf・max合成関係式の効率的な解法アルゴリズムを提案した。 3.自律ロボットを環境に即して進化させ、効率よく適切に行動させる枠組みを構築することは極めて重要である。本研究では、GA(遺伝的アルゴリズム)による学習に加え、競合共進化モデルによる学習について検討した。その結果、互いに競争するような状況においては、共進化モデルが最適解を得やすいことがわかった。 4.自律ロボットをファジィ制御する際、推論機構を含むシステムの安定性について検討する必要がある。すなわち、ファジィ入出力系から構成される非線形性を含むシステムの安定性を解析しなければならない。本研究では、これをルーリエ形リアプノフ関数を用いて行った。その結果、これまで提案されてきたファジィ推論機構の安定判別を行うことができた。","subitem_description_type":"Other"},{"subitem_description":"研究概要：1.The report presents a pattern classification for systems with arbitrary nonlinear feedbacks. Classification is carried using the robust nonlineear-perturbation technique, in which nonlinearities are regarded as the non-linear perturbation of linear stable systems. The results show that the autonomous robot system can keep stable if nonlinearities lie in the robust-stable range. 2. We have proposed an algorithm that solves fuzyy relation equations given by Sup・min or Inf・max composite. The solution is useful to establish fuzzy inference. 3. The genetic algorithm(GA) requires setting a fitness function and evaluat-ing it to solve the probrem. then, for the autonomous acquisition problem of game strategy, it is not easy to apply GA because the fitness function can not be fixed in changeable situation of game. The report gives that the proposed co-evolution approach is useful to the problem. 4. The \"antecedent\" and \"consequent\" conditions of fuzzy inference systems are well correlated with input and output of conventional nonlinear feedbacks, respectively. The robust perturbation technique shows that if the nonlinearities are within the robust perturbation limit, the fuzzy control system is verified to be stable according to the stability theorm of Lyapunov. The report has investigated the stability of fuzzy contrl systems using thetechnique.","subitem_description_type":"Other"},{"subitem_description":"未公開：P.5以降（抜刷論文のため）","subitem_description_type":"Other"},{"subitem_description":"研究報告書","subitem_description_type":"Other"}]},"item_1617186643794":{"attribute_name":"Publisher","attribute_value_mlt":[{"subitem_1522300295150":"ja","subitem_1522300316516":"宮城隼夫"}]},"item_1617186702042":{"attribute_name":"Language","attribute_value_mlt":[{"subitem_1551255818386":"jpn"}]},"item_1617186783814":{"attribute_name":"Identifier","attribute_value_mlt":[{"subitem_identifier_type":"HDL","subitem_identifier_uri":"http://hdl.handle.net/20.500.12000/11789"}]},"item_1617186920753":{"attribute_name":"Source Identifier","attribute_value_mlt":[{"subitem_1522646500366":"NCID","subitem_1522646572813":"BA35619367"}]},"item_1617187056579":{"attribute_name":"Bibliographic Information","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1998-03","bibliographicIssueDateType":"Issued"}}]},"item_1617258105262":{"attribute_name":"Resource Type","attribute_value_mlt":[{"resourcetype":"research report","resourceuri":"http://purl.org/coar/resource_type/c_18ws"}]},"item_1617265215918":{"attribute_name":"Version Type","attribute_value_mlt":[{"subitem_1522305645492":"VoR","subitem_1600292170262":"http://purl.org/coar/version/c_970fb48d4fbd8a85"}]},"item_1617605131499":{"attribute_name":"File","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","filename":"08650504.pdf","mimetype":"application/pdf","url":{"objectType":"fulltext","url":"https://u-ryukyu.repo.nii.ac.jp/record/2004801/files/08650504.pdf"},"version_id":"f1454800-fa02-4e14-9f1c-0aa54ea1a3b0"}]},"item_title":"自律ロボット制御用ファジィ型非線形システムの構築及びそのリアプノフ関数構成","item_type_id":"15","owner":"1","path":["1642838403123","1642838406845"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2009-08-12"},"publish_date":"2009-08-12","publish_status":"0","recid":"2004801","relation_version_is_last":true,"title":["自律ロボット制御用ファジィ型非線形システムの構築及びそのリアプノフ関数構成"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2022-10-31T02:23:10.427355+00:00"}