講演・口頭発表等 - 椿野　大輔

An algebraic approach to hierarchical LQR synthesis for large-scale dynamical systems 国際会議

9th Asian Control Conference 

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開催年月日： 2013年6月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Istanbul, Turkey   国名：トルコ共和国  

This paper considers a linear quadratic optimal hierarchical control problem for large-scale dynamical systems modeled by an interconnected system under multi-scale information exchange networks. We first propose an algebraic characterization of hierarchies by using semigroups the Kronecker product. The multiplication rule of the Kronecker product quite fits to the property of semigroups. As a result, a condition under which the stabilizing solution of the Riccati equation inherits the hierarchy is obtained with the aid of the previous result. Furthermore, the proposed framework makes it possible to understand several previous results on decentralized optimal control from a unified viewpoint.

Backstepping control for parabolic PDEs with in-domain actuation 国際会議

2012 American Control Conference 

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開催年月日： 2012年6月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Montréal, Canada   国名：カナダ  

The backstepping method is a systematic design tool for boundary control of various types of partial differential equations (PDEs). There has been no attempt to apply it to PDEs whose input is not at the boundary. In this paper, we consider a problem of feedback stabilization of 1-dimensional parabolic (unstable) PDEs with internal actuation based on the backstepping method. Since such a PDE can not be converted to a stable PDE by state feedback and the state transformation used in backstepping, an additional transformation is introduced. Under a certain condition, the newly proposed transformation moves the input from the interior of the domain to the boundary. This enables us to cancel the residual term that causes the open-loop instability by using the input. Furthermore, this transformation is continuously invertible. Therefore, a stabilizing state feedback for the original PDE is derived through the inverse transformation. The results are demonstrated by a numerical simulation.

Backstepping Observer Using Weighted Spatial Average for 1-Dimensional Parabolic Distributed Parameter Systems 国際会議

18th IFAC World Congress 

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開催年月日： 2011年8月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Milani, Italy   国名：イタリア共和国  

This paper is concerned with designing a backstepping-based observer for a class of 1-dimensional parabolic distributed parameter systems whose output is a weighted spatial average of the state. We first show that an integral transformation converts the original system into another parabolic system with boundary observation if the weighting function satisfies a parameterized ordinary differential equation. Then the backstepping observer for the transformed system is available and an estimate of the original state is obtained through the inverse transformation. We also show that the estimation error exponentially converges to 0 in terms of the L2 norm with arbitrary decay rate. Furthermore, a closed-form expression of the observer is provided for systems described by linear reaction-diffusion equations.

Eigenvector-based characterization for hierarchical multi-agent dynamical systems with low rank interconnection 国際会議

2010 IEEE International Conference on Control Applications 

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開催年月日： 2010年9月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Yokohama, Japan   国名：日本国  

In this paper, we investigate hierarchical multi-agent dynamical systems with low rank interconnection based on a new concept of eigen-interconnection. The eigenvector plays an important role in our framework. We first define the eigen-interconnection matrix for the rank one case. Then, we show eigenvalue distribution of a hierarchical interconnection with rank one eigen-interconnection matrix. The obtained eigenvalue distribution has explicit parameter dependency and the result allows us to place the eigenvalue selectively. Thus it gives useful knowledge to design hierarchical interconnection structure. This concept is naturally extended to the rank two case and a similar result for eigenvalue distribution is obtained. Those results completely include the previous researches as special cases. Furthermore, our characterization has a potential of straightforward extension to the higher rank cases. Finally, we show a numerical example where a hierarchical interconnection structure is designed based on our result.

Hierarchical Modeling for Diffusion Systems: Symmetrically-networked Systems with Rank One Interconnection

ICCAS-SICE 2009 

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開催年月日： 2009年8月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Fukuoka、Jあぱん   国名：日本国  

In this paper, we propose a hierarchical modeling of the systems described by conservation laws. A conservation law on a hierarchically parted domain can be considered as a subsystem which interacts with neighbor elements through fluxes. Therefore, we regard the system as a networked system of each subsystem. The important idea is to weaken the interconnection in the sense of a rank. For detailed analysis of our method, we apply the proposed method to a diffusion equation. The hierarchical model is described by a non-circulant block Toeplitz matrix. Because the resulting system is symmetrically-networked system, we can show that the eigenvalues of the system consist of those of related uniform models. We also show that our method relaxes the stability condition of the fully discretized model. Finally we examine the performance of the hierarchical model by numerical simulations.

Effective Layout of Plasma Actuators for a Flow Separation Control on a Wing 国際会議

45th AIAA Aerospace Sciences Meeting and Exhibit 

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開催年月日： 2007年1月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Reno, NV   国名：アメリカ合衆国  

Numerical Analysis for Magnetic Control of Heat-transfer and Pressure in Hypersonic Shock Wave Interference Flows 国際会議

The Fourth International Conference on Computational Fluid Dynamics 

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開催年月日： 2006年7月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Ghent, Belgium   国名：ベルギー王国  

Weighted balanced realization and model reduction for nonlinear systems 国際会議

17th International Symposium on Mathematical Theory of Networks and Systems 

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開催年月日： 2006年7月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Kyoto, Japan   国名：日本国  

In this paper a weighted balanced realization and model reduction for nonlinear systems is proposed which is based on singular value analysis of nonlinear Hankel operators. In the proposed model reduction procedure, an important property, stability is preserved. A numerical ex- ample is also shown. This result is expected to be a basis for weighted model order reduction for nonlinear systems.

On computation of nonlinear balanced realization and model reduction 国際会議

2006 American Control Conference 

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開催年月日： 2006年6月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Minneapolis, MN   国名：アメリカ合衆国  

In this paper a computational algorithm for nonlinear balanced realization and model reduction based on Taylor series expansion is proposed. This algorithm requires recursive computations with respect to the order of the Taylor series in which we need to solve linear equations with unknown parameters in each step. Furthermore, the proposed method is applied to a double pendulum system. Some numerical simulations demonstrate the effectiveness of the proposed algorithm.