Minami Yuki

This paper addresses a problem of finding an optimal dynamic quantizer for systems including discrete-valued signal constraints. In the previous works of the authors, an optimal dynamic quantizer has been derived, and its effectiveness has been illustrated. However, since the former results have been derived under a strong assumption, the quantizer can be applied to limited cases. To overcome this drawback, we provide a dynamic quantizer based on a multirate sampling technique. First, we formulate an optimization problem for a class of multirate sampling type dynamic quantizers, and then we give a closed-form solution as an extension of the former single-rate sampling case. Finally, the validity of the proposed dynamic quantizer is demonstrated by an experiment with a cart system.

This paper addresses an optimal design problem of dynamic quantizers for a class of 2D systems with discrete-valued input. First, we derive a closed form expression of the performance of a class of dynamic quantizers. Next, based on this, an optimal dynamic quantizer and its performance are provided. Finally, we apply the optimal dynamic quantizer to generate binary halftone images.

In this paper, we present an optimal dynamic quantizer in terms of the output approximation, i. e., a difference equation based quantizer which gives an optimal output property in a given feedback control system. The quantizer allows us to design controllers of the discrete-valued input systems by the conventional methods for the usual linear systems. First, we derive an optimal dynamic quantizer and a closed form expression for the performance limitation. Then, the effectiveness of the proposed dynamic quantizer is demonstrated by a numerical example.

This paper is concerned with point-to-point feedback control of a trident snake robot. The robot is proposed in our recent work as a new example of nonholonomic systems with two generators. In this paper, a new feedforward type periodic algorithm is proposed to achieve smooth and quantitative locomotion of the robot. Then, a periodic feedback control method is also given which drives the state of the robot to a desired one. The proposed methods are examined by numerical simulations and experiments.