We are developing a 50 kWh-class flywheel energy storage system as a national project, using a new axial superconducting magnetic bearing (Ax_SMB) technology. The project has started in FY2005 and will continue to FY2007. The Ax_SMB is composed of Fe core and superconducting coil, which are simply torus-shape. It generates strong restoring force in axial direction. It can realize non-contact le...

A novel multi-fingered exoskeleton haptic device using passive force feedback has been proposed by the authors. The haptic device solves the conventional problems of previously developed master-slave systems with force feedback, such as oscillations, complex structures and complicated control algorithm. However, some problems still remain in the conventional passive elements. In the present pap...

Sliding mode control schemes of the static and dynamic types are proposed for the control of a magnetic levitation system. The proposed controllers guarantee the asymptotic regulation of the states of the system to their desired values. Simulation results of the proposed controllers are given to illustrate the effectiveness of them. Robustness of the control schemes to changes in the parameters...

This paper presents an algorithm for verifying control laws using phase-space geometric modeling of dynamical systems. The algorithm evolves a hierarchicallyrefined bound of system nonlinear dynamics and can address practical concerns such as sensor, actuator, and modeling uncertainties in a systematic manner. The algorithm has been applied to verifying a control law for a magnetic levitation s...