Professor Makoto Iwasaki, Dr. Eng., IEEE Fellow

Keynote Speech Title

“Robust Full-Closed Control-Based Vibration Suppression for Positioning Devices with Strain Wave Gearings”


The keynote lecture presents a practical robust compensator design technique for precision positioning devices including strain wave gearings. Since HarmonicDriveŽ gearings (HDGs), typical strain wave gearings, inherently possess nonlinear properties known as Angular Transmission Errors (ATEs) due to structural errors and flexibility in the mechanisms, the ideal positioning accuracy corresponding to the apparent resolution cannot be essentially attained at the output of gear in devices. In addition, mechanisms with HDGs generally excite resonant vibrations due to the periodical disturbance by ATEs, especially in the condition that the frequency of synchronous components of ATE corresponds to the critical mechanical resonant frequency. The lecture, therefore, focuses on the vibration suppression in positioning, in order to improve the performance deteriorations by introducing a robust full-closed control. In the compensator design, under the assumption that full-feedback positioning systems can be constructed using load-side (i.e. output of the gear) sensors, an H_inf compensator design has been adopting to shape frequency characteristics on the mechanical vibration, with robust control properties against parameter variations. The proposed approach has been applied to precision motion control of actual devices as servo actuators, and verified through numerical simulations and experiments.

Biography of Speaker

Makoto Iwasaki received the B.S., M.S., and Dr. Eng. degrees in electrical and computer engineering from Nagoya Institute of Technology, Nagoya, Japan, in 1986, 1988, and 1991, respectively. Since 1991, he has been with the Department of Computer Science and Engineering, Nagoya Institute of Technology, where he is currently a Professor at the Department of Electrical and Mechanical Engineering. He was a Japanese government Research Fellow with the Chemnitz University of Technology, Chemnitz, Germany, from 1997 to 1998 and from 2002 to 2003, and with the Technical University of Munich, Munich, Germany, from 1997 to 1998.

As professional society contributions of the Institute of Electrical and Electronics Engineers (IEEE), he has been an elected Administrative Committee (AdCom) member of IEEE/Industrial Electronics Society (IES) in term of 2010 to 2019, a Technical Editor for IEEE/ASME Transactions on Mechatronics (TMech) from 2010 to 2014, an Associate Editor for IEEE Transactions on Industrial Electronics (TIE) since 2014, a chair of Technical Committee on Motion Control of IEEE/IES (2010-2011), a Management Committee member of IEEE/ASME TMech (Secretary in 2016 and Treasurer in 2017), and a Co-Editors-in-Chief for IEEE TIE since 2016, respectively. He has contributed as many committee members for IEEE/IES-sponsored conferences, such as a general co-chair of IEEE/IES ICM2014-Nagoya.

He is IEEE fellow class 2015 for "contributions to fast and precise positioning in motion controller design". He has received the Best Paper Award of Trans of IEE Japan in 2013, the Best Paper Award of Fanuc FA Robot Foundation in 2011, and the Best Paper Award of IEE Japan Trans on Industry Applications in 2010, respectively.

His current research interests are the applications of control theories to linear/nonlinear modeling and precision positioning, through various collaborative research activities with industries.