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Masayoshi Tomizuka

Bio: Masayoshi Tomizuka is a academic researcher from University of California, Berkeley. The author has contributed to research in topic(s): Control theory & Control system. The author has an hindex of 80, co-authored 1111 publication(s) receiving 30069 citation(s). Previous affiliations of Masayoshi Tomizuka include University of California & Western Digital.
Papers
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Journal ArticleDOI
Abstract: A digital feedforward control algorithm for tracking desired time varying signals is presented. The feedforward controller cancels all the closed-loop poles and cancellable closed-loop zeros. For uncancellable zeros, which include zeros outside the unit circle, the feedforward controller cancels the phase shift induced by them. The phase cancellation assures that the frequency response between the desired output and actual output exhibits zero phase shift for all the frequencies. The algorithm is particularly suited to the general motion control problems including robotic arms and positioning tables. A typical motion control problem is used to show the effectiveness of the proposed feedforward controller.

1,397 citations


Journal ArticleDOI
01 Sep 1993-
TL;DR: Simulation results demonstrate that better control performance can be achieved in comparison with Ziegler-Nichols controllers and Kitamori's PID controllers.
Abstract: This paper describes the development of a fuzzy gain scheduling scheme of PID controllers for process control. Fuzzy rules and reasoning are utilized online to determine the controller parameters based on the error signal and its first difference. Simulation results demonstrate that better control performance can be achieved in comparison with Ziegler-Nichols controllers and Kitamori's PID controllers. >

733 citations


Journal ArticleDOI
Abstract: The accomplishments to date on the development of automatic vehicle control technology in the Program on Advanced Technology for the Highway (PATH) at the University of California, Berkeley, are summarized. The basic principles and assumptions underlying the PATH work are identified, and the work on automating vehicle lateral (steering) and longitudinal (spacing and speed) control is explained. For both lateral and longitudinal control, the modeling of plant dynamics is described, and the development of the additional subsystems needed (communications, reference/sensor systems) and the derivation of the control laws are presented. Plans for testing on vehicles in both near and long term are discussed. >

695 citations



Journal ArticleDOI
01 May 1997-Automatica
TL;DR: This paper considers the adaptive robust control of a class SISO nonlinear systems in a semi-strict feedback form and develops a systematic way to combine the backstepping adaptive control with deterministic robust control.
Abstract: This paper considers the adaptive robust control of a class SISO nonlinear systems in a semi-strict feedback form. The systems may possess both parametric uncertainties and unknown nonlinear functions that may represent modeling errors and external disturbances. With prior knowledge of the bounds of the parametric uncertainties and the bounding functions of the unknown nonlinear functions, a systematic way to combine the backstepping adaptive control with deterministic robust control is developed. The method preserves the advantages of the two methods, namely asymptotic stability of adaptive control in the presence of parametric uncertainties, and guaranteed transient performance with prescribed precision of deterministic robust control for both parametric uncertainties and unknown nonlinear functions. The resulting controller is more flexible and versatile than either adaptive control or robust control alone. Simulation results verify the advantages of the suggested method.

598 citations


Cited by
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Journal ArticleDOI

[...]

08 Dec 2001-BMJ
TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
Abstract: There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality. Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

30,199 citations



Book
31 Jul 1997-
TL;DR: This book explores the meta-heuristics approach called tabu search, which is dramatically changing the authors' ability to solve a host of problems that stretch over the realms of resource planning, telecommunications, VLSI design, financial analysis, scheduling, spaceplanning, energy distribution, molecular engineering, logistics, pattern classification, flexible manufacturing, waste management,mineral exploration, biomedical analysis, environmental conservation and scores of other problems.
Abstract: From the Publisher: This book explores the meta-heuristics approach called tabu search, which is dramatically changing our ability to solve a hostof problems that stretch over the realms of resource planning,telecommunications, VLSI design, financial analysis, scheduling, spaceplanning, energy distribution, molecular engineering, logistics,pattern classification, flexible manufacturing, waste management,mineral exploration, biomedical analysis, environmental conservationand scores of other problems. The major ideas of tabu search arepresented with examples that show their relevance to multipleapplications. Numerous illustrations and diagrams are used to clarifyprinciples that deserve emphasis, and that have not always been wellunderstood or applied. The book's goal is to provide ''hands-on' knowledge and insight alike, rather than to focus exclusively eitheron computational recipes or on abstract themes. This book is designedto be useful and accessible to researchers and practitioners inmanagement science, industrial engineering, economics, and computerscience. It can appropriately be used as a textbook in a masterscourse or in a doctoral seminar. Because of its emphasis on presentingideas through illustrations and diagrams, and on identifyingassociated practical applications, it can also be used as asupplementary text in upper division undergraduate courses. Finally, there are many more applications of tabu search than canpossibly be covered in a single book, and new ones are emerging everyday. The book's goal is to provide a grounding in the essential ideasof tabu search that will allow readers to create successfulapplications of their own. Along with the essentialideas,understanding of advanced issues is provided, enabling researchers togo beyond today's developments and create the methods of tomorrow.

6,198 citations


Journal ArticleDOI
TL;DR: A Nyquist criterion is proved that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability, and a method for decentralized information exchange between vehicles is proposed.
Abstract: We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. Tools from algebraic graph theory prove useful in modeling the communication network and relating its topology to formation stability. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also propose a method for decentralized information exchange between vehicles. This approach realizes a dynamical system that supplies each vehicle with a common reference to be used for cooperative motion. We prove a separation principle that decomposes formation stability into two components: Stability of this is achieved information flow for the given graph and stability of an individual vehicle for the given controller. The information flow can thus be rendered highly robust to changes in the graph, enabling tight formation control despite limitations in intervehicle communication capability.

4,093 citations


15


Journal ArticleDOI
TL;DR: A new dynamic model for friction is proposed that captures most of the friction behavior that has been observed experimentally, including the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force.
Abstract: In this paper we propose a new dynamic model for friction. The model captures most of the friction behavior that has been observed experimentally. This includes the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force. Properties of the model that are relevant to control design are investigated by analysis and simulation. New control strategies, including a friction observer, are explored, and stability results are presented. >

3,197 citations


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Performance
Metrics

Author's H-index: 80

No. of papers from the Author in previous years
YearPapers
20221
202169
202067
201974
201857
201737

Top Attributes

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Author's top 5 most impactful journals

IFAC Proceedings Volumes

68 papers, 651 citations

arXiv: Robotics

55 papers, 304 citations

IEEE-ASME Transactions on Mechatronics

36 papers, 2.5K citations

PATH research report

26 papers, 471 citations