Updated on 2022/04/01

写真a

 
Tsubakino, Daisuke
 
Organization
Graduate School of Engineering Aerospace Engineering 3 Associate professor
Graduate School
Graduate School of Engineering
Undergraduate School
School of Engineering Mechanical and Aerospace Engineering
Title
Associate professor
Contact information
メールアドレス

Degree 1

  1. Ph. D (Information Science and Technology) ( 2011.3   The University of Tokyo ) 

Research Interests 3

  1. Cooperative control

  2. Hierarchical optimal control

  3. Control of distributed parameter systems

Research Areas 1

  1. Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering  / Control Engineering, Control Theory

Current Research Project and SDGs 3

  1. Control theory for systems modeled by partial differential equations

  2. Hierarchical distributed cooperative control for large-scale systems

  3. Advanced motion control for unmanned aerial vehicles

Research History 3

  1. Visiting Scholar, University of California, San Diego

    2013.11 - 2014.8

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    Country:United States

  2. Research Associate, Graduate School of Information Science and Technology, Hokkaido University

    2011.4 - 2015.9

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    Country:Japan

  3. Research Fellow (DC2), Japan Society for the Promotion of Science (JSPS)

    2009.4 - 2011.3

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    Country:Japan

Education 3

  1. The University of Tokyo   Graduate School of Information Science and Technology   Department of Information Physics and Computing

    2007.4 - 2011.3

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    Country: Japan

  2. The University of Tokyo   Graduate School of Engineering   Department of Aeronautics and Astronautics

    2005.4 - 2007.3

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    Country: Japan

  3. Nagoya University   Faculty of Engineering   Department of Mechanical and Aerospace Engineering

    2001.4 - 2005.3

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    Country: Japan

Professional Memberships 5

  1. IEEE

  2. The Society of Instrument and Control Engineers

  3. Institute of Systems, Control and Information Engineers

  4. The Japan Society for Aeronautical and Space Sciences

  5. The Japan Society of Mechanical Engineers

Committee Memberships 13

  1. 計測自動制御学会 制御部門   制御理論部会 幹事  

    2022.1   

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    Committee type:Academic society

  2. 計測自動制御学会 中部支部   制御理論研究委員会 委員長  

    2021.1   

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    Committee type:Academic society

  3. 計測自動制御学会 制御部門   制御理論部会 委員  

    2021.1 - 2021.12   

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    Committee type:Academic society

  4. Editorial board of Journal of Control, Automation and Electrical Systems   Associate Editor  

    2020.6   

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    Committee type:Academic society

    https://www.springer.com/journal/40313/editors

  5. 日本航空宇宙学会   会誌編集委員会 委員  

    2020.4 - 2022.3   

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    Committee type:Academic society

  6. 日本機械学会   2020年度年次大会実行委員会 機械力学・計測制御部門 部門代表委員  

    2019.4 - 2020.9   

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    Committee type:Academic society

  7. 計測自動制御学会   論文集編集委員会 アソシエイトエディタ  

    2019.1 - 2021.12   

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    Committee type:Academic society

  8. 計測自動制御学会 中部支部   運営委員会 庶務幹事  

    2019.1 - 2021.1   

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    Committee type:Academic society

  9. 第62回自動制御連合講演会   プログラム委員会 委員  

    2019.1 - 2019.11   

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    Committee type:Academic society

  10. 計測自動制御学会   会誌出版委員会 委員  

    2018.4 - 2020.2   

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    Committee type:Academic society

  11. 第61回自動制御連合講演会   実行委員会 委員  

    2018.1 - 2018.11   

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    Committee type:Academic society

  12. 計測自動制御学会 制御部門   広報委員 副委員長(2016),委員長 (2017)  

    2016.4 - 2017.3   

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    Committee type:Academic society

  13. 計測自動制御学会 制御部門 制御理論部会   委員  

    2015.4 - 2017.3   

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    Committee type:Academic society

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Awards 5

  1. 第21回計測自動制御学会学会システムインテグレーション部門講演会 (SI2020) 優秀講演賞

    2020.12   公益社団法人計測自動制御学会 システムインテグレーション部門   スロッシング制御に向けた波動方程式とスカラ方程式の単一入力による漸近安定化

    椿野大輔

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    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

  2. 第18回 計測自動制御学会学会システムインテグレーション部門講演会 (SI2017) 優秀講演賞

    2017.12   公益社団法人 計測自動制御学会 システムインテグレーション部門   円環形状膜の状態フィードバック境界制御に関する一考察

    椿野大輔

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    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

  3. 第17回 計測自動制御学会学会システムインテグレーション部門講演会 (SI2016) 優秀講演賞

    2016.12   公益社団法人 計測自動制御学会 システムインテグレーション部門   近似偏微分方程式モデルに基づく単純なスロッシング制御則について

    椿野大輔, 伊藤徳哉,藤本圭一郎

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    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

  4. 計測自動制御学会学術奨励賞

    2010.2   計測自動制御学会  

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    Country:Japan

  5. 計測自動制御学会学会賞論文賞

    2009.8   計測自動制御学会  

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    Country:Japan

 

Papers 26

  1. Fast greedy optimization of sensor selection in measurement with correlated noise Reviewed

    Yamada Keigo, Saito Yuji, Nankai Koki, Nonomura Taku, Asai Keisuke, Tsubakino Daisuke

    MECHANICAL SYSTEMS AND SIGNAL PROCESSING   Vol. 158   2021.9

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1016/j.ymssp.2021.107619

    Web of Science

  2. Coupling analysis of unsteady aerodynamics and vehicle behavior with road input: Modeling and verification in road tests Reviewed

    Maeda Kazuhiro, Tsubakino Daisuke, Hara Susumu, Sasoh Akihiro

    MECHANICAL ENGINEERING JOURNAL   Vol. 8 ( 4 ) page: 21-00095   2021.6

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1299/mej.21-00095

    Web of Science

  3. Determinant-Based Fast Greedy Sensor Selection Algorithm Reviewed

    Saito Yuji, Nonomura Taku, Yamada Keigo, Nakai Kumi, Nagata Takayuki, Asai Keisuke, Sasaki Yasuo, Tsubakino Daisuke

    IEEE ACCESS   Vol. 9   page: 68535 - 68551   2021.4

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/ACCESS.2021.3076186

    Web of Science

  4. Forwarding Design for a Cascade of Strictly Upper Triangular Linear Ordinary Differential Equations and a Parabolic Partial Differential Equation Reviewed

    Daisuke Tsubakino

    Transactions of the Society of Instrument and Control Engineers   Vol. 57 ( 2 ) page: 92 - 100   2021.2

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    Authorship:Lead author, Last author, Corresponding author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:計測自動制御学会  

    DOI: 10.9746/sicetr.57.92

  5. Data-Driven Vector-Measurement-Sensor Selection Based on Greedy Algorithm Reviewed

    Yuji Saito, Taku Nonomura, Koki Nankai, Keigo Yamada, Keisuke Asai, Yasuo Sasaki, Daisuke Tsubakino

    IEEE Sensors Letters   Vol. 4 ( 7 ) page: 1 - 4   2020.7

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/LSENS.2020.2999186

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  6. Designs of Feedback Controllers for Fluid Flows Based On Model Predictive Control and Regression Analysis Reviewed

    Sasaki Yasuo, Tsubakino Daisuke

    ENERGIES   Vol. 13 ( 6 )   2020.3

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.3390/en13061325

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  7. Local Controllability of Single-Input Nonlinear Systems Based on Deterministic Wiener Processes Reviewed International journal

    Nishimura Yuki, Tsubakino Daisuke

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   Vol. 65 ( 1 ) page: 354 - 360   2020.1

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TAC.2019.2912452

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  8. Investigations of unsteady aerodynamic effects generated by heave and pitch motion in different vehicle body shapes with model excitation tests Reviewed

    Maeda Kazuhiro, Tsubakino Daisuke, Hara Susumu, Sasoh Akihiro

    MECHANICAL ENGINEERING JOURNAL   Vol. 7 ( 5 )   2020

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1299/mej.20-00276

    Web of Science

  9. Best Achievable Performance of Cooperative Kalman Filters for Decoupled Multi-agent Systems under Environmental Disturbances Reviewed

    Daisuke Tsubakino, Shinji Hara

    IFAC PAPERSONLINE   Vol. 51 ( 25 ) page: 196-201   2018.11

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    Authorship:Lead author   Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1016/j.ifacol.2018.11.104

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  10. Model Predictive Control of a Separated Flow around a Circular Cylinder at a Low Reynolds Number Reviewed

    Yasuo Sasaki, Daisuke Tsubakino

    SICE Journal of Control, Measurement, and System Integration   Vol. 11 ( 3 ) page: 154-159   2018.8

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.9746/jcmsi.11.154

  11. Design of a Cooperative Guidance Law to Realize Landing of a Fixed-wing UAV on a UGV Reviewed

    Hisashi Nagamatsu, Daisuke Tsubakino

    Proceedings of the 2018 International Conference on Unmanned Aircraft Systems (ICUAS)     page: 1174-1180   2018.6

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    Language:English  

    DOI: 10.1109/ICUAS.2018.8453395

  12. Explicit Model Predictive Control with Gaussian Process Regression for Flows around a Cylinder

    Sasaki Yasuo, Tsubakino Daisuke

    IFAC PAPERSONLINE   Vol. 51 ( 33 ) page: 38-43   2018

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1016/j.ifacol.2018.12.083

    Web of Science

  13. Stabilization of Nonlinear Systems by Adding State-Dependent Rough Signals Reviewed

    Yûki Nishimura, Daisuke Tsubakino

    2017 IEEE Conference on Control Technology and Applications (CCTA 2017)     page: 293-298   2017.8

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  14. Extremum Seeking for Static Maps With Delays Reviewed International coauthorship International journal

    Tiago Roux Oliveira, Miroslav Krstić, Daisuke Tsubakino

    IEEE Transactions on Automatic Control   Vol. 62 ( 4 ) page: 1911 - 1926   2017.4

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TAC.2016.2564958

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  15. Exact predictor feedbacks for multi-input LTI systems with distinct input delays Reviewed

    Daisuke Tsubakino, Miroslav Krstic, Tiago Roux Oliveira

    Automatica   Vol. 71   page: 143-150   2016.9

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)  

    This paper proposes a predictor-based state feedback controller for multi-input linear time-invariant (LTI) systems with different time delays in each individual input channel. The controller is derived based on the backstepping method. Since the conventional backstepping transformation is not applicable to the systems due to the differences among delays, a modified transformation is introduced. This transformation enables us to design an exponentially stabilizing controller under which the plant behaves as if the delays were absent after a finite time interval. As a dual of the controller design, we also present the observer design for multi-output LTI systems with distinct sensor delays. A numerical simulation confirms the performance of the proposed controller.

    DOI: 10.1016/j.automatica.2016.04.047

  16. Global Asymptotic Stabilization of Nonlinear Deterministic Systems Using Wiener Processes Reviewed

    Kenta Hoshino, Yûki Nishimura, Yuh Yamashita, Daisuke Tsubakino

    IEEE Transactions on Automatic Control   Vol. 61 ( 8 ) page: 2318-2323   2016.8

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TAC.2015.2495622

  17. Multiple obstacle avoidance of four-wheeled vehicle with steering limitation using nondifferentiable control Lyapunov function Reviewed

    Ryo Nonaka, Yuh Yamashita, Daisuke Tsubakino

    Advanced Robotics   Vol. 30 ( 1 ) page: 15-28   2016.1

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1080/01691864.2015.1090333

  18. Vibration suppression for mass-spring-damper systems with a tuned mass damper using interconnection and damping assignment passivity-based control Reviewed

    Takashi Aoki, Yuh Yamashita, Daisuke Tsubakino

    International Journal of Robust and Nonlinear Control   Vol. 26 ( 2 ) page: 235-251   2016.1

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1002/rnc.3307

  19. Backstepping observer design for parabolic PDEs with measurement of weighted spatial averages Reviewed

    Daisuke Tsubakino, Shinji Hara

    Automatica   Vol. 53   page: 179-187   2015.3

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    This paper is concerned with the observer design for one-dimensional linear parabolic partial differential equations whose output is a weighted spatial average of the state over the entire spatial domain. We focus on the backstepping approach, which provides a systematic procedure to design an observer gain for systems with boundary measurement. If the output is not a boundary value of the state, the backstepping approach is not directly applicable to obtaining an observer gain that stabilizes the error dynamics. Therefore, we attempt to convert the error system into another system to which backstepping is applicable. The conversion is successfully achieved for a class of weighting functions, and the resultant observer realizes exponential convergence of the estimation error with an arbitrary decay rate in terms of the L2 norm. In addition, an explicit expression of the observer gain is available in a special case. The effectiveness of the proposed observer is also confirmed by numerical simulations.

    DOI: 10.1016/j.automatica.2014.12.019

  20. An Algebraic Approach to Hierarchical Optimal Control of Large-scale Dynamical Systems Reviewed

    Daisuke Tsubakino, Taiki Yoshioka, Shinji Hara

    Transactions of the Society of Instrument and Control Engineers   Vol. 49 ( 12 ) page: 1154-1163   2013.12

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    Authorship:Lead author   Language:Japanese   Publishing type:Research paper (scientific journal)  

    Large-scale dynamical systems often consist of a number of subsystems that are interconnected according to a hierarchical multi-scale network. This paper introduces a hierarchical control scheme as an efficient strategy to handle such systems and proposes a method for designing a hierarchical linear quadratic optimal regulator. The proposed framework employs an algebraic approach. We first characterize a hierarchy of systems as an algebra based on semigroups, the Kronecker product, and the linear combination. This allows us to prove that the stabilizing solution of the Riccati equation inherits a hierarchy if system matrices and weights in the cost function belong to the corresponding common algebra that characterizes the hierarchy. A couple of classes of systems that can be treated by our algebraic framework are also provided in the paper. We will see that the derived result gives a unified insight into several related previous works.

    DOI: 10.9746/sicetr.49.1154

  21. Boundary Control of Boundary Coupled Parabolic Distributed Parameter Systems based on Partial State Transformation Reviewed

    Daisuke Tsubakino, Kazuya Nomura, Yuh Yamashita

    Transactions of the Institute of Systems, Control and Information Engineers   Vol. 26 ( 7 ) page: 277-287   2013.7

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    This paper considers a boundary stabilization problem of systems described by boundary coupled two one-dimensional parabolic partial differential equations based on the backstepping method. Unlike the conventional backstepping framework, we propose a state transformation that contains the state of the unforced subsystem partially. It is proved that this transformation is well-defined and converts the original system into an exponentially stable system together with an associated state feedback control law under a condition that ensures the stability of the unforced subsystem. The original system with this control law inherits the stability of the transfomed one. The effectiveness of the obtained control law is demonstrated numerically.

    DOI: 10.5687/iscie.26.277

  22. Eigenvector-based intergroup connection of low rank for hierarchical multi-agent dynamical systems Reviewed

    Daisuke Tsubakino, Shinji Hara

    Systems & Control Letters   Vol. 61 ( 2 ) page: 354-361   2012.2

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    This paper considers a boundary stabilization problem of systems described by boundary coupled two one-dimensional parabolic partial differential equations based on the backstepping method. Unlike the conventional backstepping framework, we propose a state transformation that contains the state of the unforced subsystem partially. It is proved that this transformation is well-defined and converts the original system into an exponentially stable system together with an associated state feedback control law under a condition that ensures the stability of the unforced subsystem. The original system with this control law inherits the stability of the transfomed one. The effectiveness of the obtained control law is demonstrated numerically.

    DOI: 10.1016/j.sysconle.2011.11.008

  23. Computation of nonlinear balanced realization and model reduction based on Taylor series expansion Reviewed

    Kenji Fujimoto, Daisuke Tsubakino

    Systems and Control Letters   Vol. 57 ( 4 ) page: 283-289   2008.4

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    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.

    DOI: 10.1016/j.sysconle.2007.08.015

  24. Weighted Balanced Realization and Model Reduction for Nonlinear Systems Reviewed

    Daisuke Tsubakino, Kenji Fujimoto

    Transactions of the Society of Instrument and Control Engineers   Vol. 44 ( 1 ) page: 44-51   2008.1

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    Authorship:Lead author   Language:Japanese   Publishing type:Research paper (scientific journal)  

    This paper proposes a weighted balanced realization and model order reduction for nonlinear systems. This is an extension of a nonlinear balanced realization, which is based on singular value analysis of the nonlinear Hankel operator, to include input and output weights. The proposed method is a natural nonlinear extension of weighted balanced realization for linear systems. Furthermore, it is proved that a reduced order model derived by the proposed procedure is also stable if the original model is so. Finally, the effectiveness of the method is shown by a numerical simulation.

    DOI: 10.9746/ve.sicetr1965.44.44

  25. On Computation of Nonlinear Model Order Reduction Based on Balanced Realization Reviewed

    Kenji Fujimoto, Daisuke Tsubakino

    Transactions of the Institute of Systems, Control and Information Engineers   Vol. 20 ( 8 ) page: 358-360   2007.8

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.5687/iscie.20.358

  26. Effects of Plasma Actuator Layouts on a Flow Separation Control over a Wing Reviewed

    Daisuke Tsubakino, Yoshiteru Tanaka, Kozo Fujii

    Transactions of the Japan Society of Mechanical Engineers. B   Vol. 73 ( 727 ) page: 663-669   2007.3

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    Effective location of plasma actuators for a flow separation control over a NACA 0012 airfoil is investigated by computational simulations. Single plasma actuator is located at 5%, 10% or 20% chord from the leading edge. The results indicate that the actuator located near the separation has a better capability to control flow separations. Separation is once avoided when a single actuator is located near the separation, another separation occurs from the trailing edge. This motivates to use multiple actuators and the separations are carried out for two actuators. The result shows the possibi...

    DOI: 10.1299/kikaib.73.663

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MISC 3

  1. Constructive Method to Design Control Laws for ODE-PDE Cascade Systems —Backstepping and Forwarding Invited Reviewed

    Daisuke Tsubakino

    SYSTEMS, CONTROL AND INFORMATION   Vol. 65 ( 8 ) page: 317 - 323   2021.8

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    Authorship:Lead author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    DOI: https://doi.org/10.11509/isciesci.65.8_317

  2. Feedback Controller Design for Fluid Fields based on Model Predictive Control and Regression Analysis

    Yasuo Sasaki, Daisuke Tsubakino

      Vol. 59 ( 8 ) page: 546 - 551   2020.8

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    DOI: 10.11499/sicejl.59.546

  3. Approaches from Control Theory and Data-Driven Science toward Control and Measurement of Fluid Flows

    Taku Nonomura, Daisuke Tsubakino

      Vol. 59 ( 8 ) page: 525 - 526   2020.8

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    DOI: 10.11499/sicejl.59.525

Presentations 59

  1. 観測遅れが存在する線形時不変システムに対する状態変換を用いたオブザーバ設計における双対性について

    椿野大輔

    第9回計測自動制御学会制御部門マルチシンポジウム (MSCS2022)  2022.3.10  計測自動制御学会. 制御部門

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    Event date: 2022.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  2. Output-Feedback Controller Design for a Detailed Model of Flow around a Cylinder International conference

    Yasuo Ssasaki, Daisuke Tsubakino

    AIAA SciTech Forum 2022  2022.1.4  American Institute of Aeronautics and Astronautics (AIAA)

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    Event date: 2022.1

    Language:English   Presentation type:Oral presentation (general)  

    Venue:San Diego, CA & Online   Country:United States  

    DOI: https://doi.org/10.2514/6.2022-1068

  3. マルチロータドローンの概要と運動・制御の基礎

    椿野大輔

    第147回講習会 基礎科目に立脚し最新の工学技術を学ぶ講習会 「挑戦してみたくなるドローンの最新技術と産業応用」  2021.12.3  日本機械学会東海支部

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    Event date: 2021.12

    Language:Japanese   Presentation type:Public lecture, seminar, tutorial, course, or other speech  

    Venue:オンライン   Country:Japan  

  4. 2基の人工衛星によるフォーメーションフライトのための極低推力制御則設計

    竹林昂勇,椿野大輔

    第58回日本航空宇宙学会 関西・中部支部合同秋期大会  2021.11.27  日本航空宇宙学会 関西支部・中部支部

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    Event date: 2021.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  5. 線形化 shallow water 方程式に基づく2次元矩形容器内液体振動のフィードバック制御

    椿野大輔

    第64回自動制御連合講演会  2021.11.13  システム制御情報学会(幹事学会)

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    Event date: 2021.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  6. フルオーダ制御器を利用した流れ場制御のための低次元制御器設計

    佐々木康雄,椿野大輔

    第64回自動制御連合講演会  2021.11.13  システム制御情報学会(幹事学会)

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    Event date: 2021.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  7. 同一ノイズ環境下の複数線形システムに対するKalmanフィルタによる協調状態推定

    竹内颯太,椿野大輔

    第64回自動制御連合講演会  2021.11.13  システム制御情報学会(幹事学会)

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    Event date: 2021.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  8. Approximate Modeling and Controller Design for Fluid Flows International conference

    Daisuke Tsubakino

    Third IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON 2021)  2021.9.14  International Federation of Automatic Control (IFAC), Technical Committee on Non-Linear Control Systems

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    Event date: 2021.9

    Language:English   Presentation type:Public lecture, seminar, tutorial, course, or other speech  

    Venue:Online   Country:Japan  

  9. エージェント数が異なる複数グループからなるシステムに対する階層化最適制御

    藤田健人,椿野大輔

    第65回システム制御情報学会研究発表講演会  2021.5.27  システム制御情報学会

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    Event date: 2021.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  10. 偏向可能な後方推力を持つ Tail-Sitter UAV の非線形位置姿勢制御則設計

    齋藤俊介,椿野大輔

    第8回計測自動制御学会制御部門マルチシンポジウム (MSCS2021)  2021.3.2  計測自動制御学会 制御部門

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    Event date: 2021.3

    Language:Japanese   Presentation type:Poster presentation  

    Venue:オンライン   Country:Japan  

  11. 積分型フィードバックによる波動方程式と線形スカラ方程式の単入力安定化

    椿野大輔

    第8回計測自動制御学会制御部門マルチシンポジウム (MSCS2021)  2021.3.4  計測自動制御学会 制御部門

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    Event date: 2021.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  12. 階層化最適制御における情報集約が起こる条件について

    藤田健人,椿野大輔

    第8回計測自動制御学会制御部門マルチシンポジウム (MSCS2021)  2021.3.2  計測自動制御学会 制御部門

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    Event date: 2021.3

    Language:Japanese   Presentation type:Poster presentation  

    Venue:オンライン   Country:Japan  

  13. 流体現象の制御と観測:機械学習の援用から理論的な制御系設計まで Invited

    椿野大輔

    日本鉄鋼協会 計測・制御・システム分野における産学若手交流セミナー  2021.1.5  一般社団法人日本鉄鋼協会 学会部門 計測・制御・システム工学部会

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    Event date: 2021.1

    Language:Japanese   Presentation type:Public lecture, seminar, tutorial, course, or other speech  

    Venue:オンライン  

  14. スロッシング制御に向けた波動方程式とスカラ方程式の単一入力による漸近安定化

    椿野大輔

    第21回計測自動制御学会システムインテグレーション部門講演会 (SI2020)  2020.12.26  計測自動制御学会 システムインテグレーション部門

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    Event date: 2020.12

    Language:Japanese   Presentation type:Poster presentation  

    Venue:オンライン   Country:Japan  

  15. Inverse optimality of PDE forwarding control laws for linear systems including a reaction diffusion equation

    Daisuke Tsubakino

    The 63rd Japan Joint Automatic Control Conference  2020.11.22 

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    Event date: 2020.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:Online  

    DOI: 10.11511/jacc.63.0_677

  16. On the relationship between cooperative performance output and H∞ norm in a hierarchical H∞ control problem

    Kento Fujita, Daisuke Tsubakino

    The 63rd Japan Joint Automatic Control Conference  2020.11.22 

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    Event date: 2020.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:Online  

    DOI: 10.11511/jacc.63.0_955

  17. Approximation of the Ensemble Kalman Filter for Flow around a Cylinder Using Machine Learning Techniques

    Yasuo Yasaki, Daisuke Tsubakino

    The 63rd Japan Joint Automatic Control Conference   2020.11.22 

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    Event date: 2020.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:Online  

    DOI: 10.11511/jacc.63.0_681

  18. 近似モデルに基づく円筒容器内低次モードスロッシングの境界観測オブザーバ設計

    新實大河,椿野大輔

    SICE中部支部シンポジウム&若手研究発表会2020  2020.11  計測自動制御学会 中部支部

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    Event date: 2020.11

    Language:Japanese   Presentation type:Poster presentation  

    Venue:オンライン  

  19. Design of low-thrust feedback control laws for satellite formation flying

    Daisuke Tsubakino

    64th Space Sciences and Technology Conference  2020.10.27 

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    Event date: 2020.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:Online   Country:Japan  

  20. Satellite formation control based on event-triggered optimal regulation of two-layer performance outputs International conference

    Hironori Yamaguchi, Daisuke Tsubakino

    71st International Astronautical Congress 2020  2020.10  International Astronautical Federation

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    Event date: 2020.10

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Online  

  21. Design of Observers for the Flow around a Cylinder using Machine Learning Techniques International conference

    Yasuo Sasaki, Daisuke Tsubakino

    59th SICE Annual Conference (SICE 2020)  2020.9  Society of Instrument and Control Engineers of Japan (SICE)

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    Event date: 2020.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Online  

    DOI: 10.23919/SICE48898.2020.9240325

  22. Extremum Seeking under Distributed Input Delay International coauthorship International conference

    Daisuke Tsubakino, Tiago Roux Oliveira, Miroslav Krstic

    21st IFAC World Congress  2020.7 

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    Event date: 2020.7

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Online   Country:Germany  

    DOI: 10.1016/j.ifacol.2020.12.1538

  23. A Simplified Multivariable Gradient Extremum Seeking for Distinct Input Delays with Delay-Independent Convergence Rates International coauthorship International conference

    Tiago Roux Oliveira, Daisuke Tsubakino, Miroslav Krstic

    2020 American Control Conference (ACC2020)  2020.7 

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    Event date: 2020.7

    Language:English   Presentation type:Oral presentation (general)  

  24. 線形常微分方程式系と熱方程式のカスケード系に対するフォワーディング法

    椿野大輔

    第64回システム制御情報学会研究発表講演会 (SCI'20) 

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    Event date: 2020.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:Web 開催   Country:Japan  

  25. 偏向可能な後方推力をもつ小型 Tail-Sitter UAV に対する非線形制御の試み

    椿野大輔,齋藤俊介

    日本機械学会東海支部第69期総会・講演会 

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    Event date: 2020.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  26. 熱方程式を含む線形カスケード系に対するフォワーディング制御器設計

    椿野大輔

    第7回計測自動制御学会制御部門マルチシンポジウム(MSCS2020) 

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    Event date: 2020.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:新型コロナウイルス感染症拡大防止のため中止(予稿集は発行)   Country:Japan  

  27. 円柱周り流体流れに対する動的な制御則のシステム同定

    佐々木康雄,椿野大輔

    第7回計測自動制御学会制御部門マルチシンポジウム(MSCS2020) 

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    Event date: 2020.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:新型コロナウイルス感染症拡大防止のため中止(予稿集のみ発行)   Country:Japan  

  28. 推力偏向による舵面を用いない Tail-Sitter UAV における 翼後方でのロータ偏向による水平飛行への影響調査

    太田恭平,椿野大輔

    第56回日本航空宇宙学会関西・中部支部合同秋期大会 

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    Event date: 2019.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  29. モータ間の協調を導入した制御則によるマルチロータ機のロバスト性向上に関する研究

    木全主税,椿野大輔

    第56回日本航空宇宙学会関西・中部支部合同秋期大会 

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    Event date: 2019.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  30. Formation Control for Multiple Quadrotors Based on Optimal Regulation of Individual and Cooperative Performance Outputs

    Yusuke Kamitani, Daisuke Tsubakino

    The 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2019) 

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    Event date: 2019.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  31. ある円柱周り剥離流のフィードバック制御系における 極値探索法による流速観測位置の最適化

    中野壮毅,椿野大輔

    第62回自動制御連合講演会 

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    Event date: 2019.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  32. 非線形制御の使い所:UAV 制御と液面振動制御を例題に Invited

    椿野大輔

    第62回自動制御連合講演会 ワークショップ:制御理論の最前線とその応用 

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    Event date: 2019.11

    Language:Japanese   Presentation type:Symposium, workshop panel (nominated)  

    Country:Japan  

  33. 推力の上限値制約を考慮した人工衛星のフォーメーション制御則設計について

    椿野大輔

    第62回自動制御連合講演会 

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    Event date: 2019.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  34. 外乱下における階層化最適制御を用いた人工衛星のフォーメーション形成と維持

    山口大典,椿野大輔

    第63回宇宙科学技術連合講演会講演集 

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    Event date: 2019.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  35. A control law for a quadrotor to land on a running ground vehicle under input constraints

    Yuki Fukuda, Daisuke Tsubakino

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    Event date: 2019.9

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  36. ある低ランク層間構造を保存する階層化最適制御問題に関する一考察

    椿野大輔,原辰次

    第6回計測自動制御学会制御部門マルチシンポジウム (MSCS2019) 

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    Event date: 2019.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  37. Single control law for tracking a ground vehicle with a quadrotor

    Yuki Fukuda, Daisuke Tsubakino

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    Event date: 2018.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.11511/jacc.61.0_59

  38. Design of a Control Law for Separated Flows over a Circular Cylinder based on Model Predictive Control and Linear Regression

    Yasuo Sasaki, Daisuke Tsubakino

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    Event date: 2018.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.11511/jacc.61.0_1304

  39. Boundary Observer Design for Sloshing in Fuel Tanks Based on an Approximate Model

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    Event date: 2018.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  40. 行列代数に基づく階層化最適制御の理論とその応用 Invited

    椿野大輔

    制御理論合宿2018 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (invited, special)  

    Venue:伊豆山研修センター(静岡県熱海市)   Country:Japan  

  41. On Feedback Controller Design for Fluid Flows Based on Approximation

    Daisuke Tsubakino, Yasuo Sasaki, Naruya Ito

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    Event date: 2018.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  42. Quadrotor formation flying based on hierarchical optimal control strategies

    Yusuke Kamitani, Daisuke Tsubakino

    62nd Annual Conference of the Institute of Systems, Control and Information Engineers 

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    Event date: 2018.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  43. Model Predictive Control of a Separated Flow Around a Circular Cylinder at a Low Reynolds Number

    Yasuo Sasaki, Daisuke Tsubakino

    SICE Annual Conference 2017 

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    Event date: 2017.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Kanazawa University   Country:Japan  

  44. Nonlinear Hovering Control Laws for Small Vectored-Thrust Tail-Sitter UAVs International conference

    Kouzi Miyazaki, Daisuke Tsubakino

    1st IEEE Conference on Control Technology and Applications 

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    Event date: 2017.8

    Language:English   Presentation type:Oral presentation (general)  

    Venue:The Mauna Lani Bay Hotel and Bungalows, Kohala Coast, Hawai'i   Country:United States  

  45. Predictor-feedback for multi-input LTI systems with distinct delays International conference

    Daisuke Tsubakino, Tiago Roux Oliveira, Miroslav Krstic

    2015 American Control Conference 

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    Event date: 2015.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

    In this paper, we propose a predictor-based state feedback controller for multi-input linear time-invariant systems with different time delays in each individual input channel. The controller is designed based on the backstepping method. Since the conventional backstepping transformation is not applicable to the systems due to the differences among delays, a modified transformation is introduced. This transformation enables us to design an exponentially stabilizing controller under which the plant behaves as if the delay were absent after a finite time interval. In addition, an explicit Lyapunov functional is constructed. The performance of the controller is demonstrated by a numerical simulation.

  46. Multiparameter extremum seeking with output delays International conference

    Tiago Roux Oliveira, Miroslav Krstic, Daisuke Tsubakino

    2015 American Control Conference 

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    Event date: 2015.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

    In this paper, we generalize the previous results of multivariable extremum seeking by assuming output delays not considered before in the control system. The phase compensation of the dither signals and the inclusion of an averaging-based predictor in the closed-loop feedback allow to obtain exponential convergence results to a small neighborhood of the optimal point, even in the presence of delays. The stability analysis is carried out using backstepping transformation and averaging in infinite dimensions. The proposed approach also removes the dependence of the convergence rate on the unknown Hessian of the nonlinear map to be optimized, being user-assignable as in Newton-based extremum seeking results. The control performance is evaluated by numerical simulations.

  47. State estimation for boundary-coupled parabolic distributed parameter systems using spatial averages International conference

    Daisuke Tsubakino, Yuh Yamashita

    10th Asian Control Conference 

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    Event date: 2015.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:Malaysia  

    This paper proposes an indirect method for designing a Luenberger-type state observer for systems described by boundary-coupled two parabolic partial differential equations. In particular, we concentrate on the case where outputs are spatial averages of the state variables. The proposed method consists of two steps. We first introduce a state transformation that converts the system into another system with boundary measurement. Then, the backstepping approach can provide a state observer for the converted system. An estimate of the original state variables is constructed through the inverse transformation. The performance of the proposed observer is confirmed by a numerical simulation.

  48. Backstepping-forwarding control of parabolic PDEs with partially separable kernels International conference

    Daisuke Tsubakino, Federico Bribiesca Argomedo, Miroslav Krstic

    53rd IEEE Conference on Decision and Control 

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    Event date: 2014.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

    This paper considers a boundary control problem of parabolic partial differential equations (PDEs) with an integral of the state variable over the whole spatial domain. To handle this non-strict feedback term, we use a Fredholm-type state transformation that involves two integral terms with kernels defined on the lower and the upper triangular domains. It is shown that the transformation converts the original system with an associated state feedback law into an exponentially stable target system, if the kernels are solutions to a boundary value problem of coupled second-order hyperbolic PDEs. Moreover, the upper kernel is separable if a coefficient of the original system is characterized by a certain parameterized ordinary integro-differential equation. Our approach also provides an explicit feedback gain in a special case. The effectiveness of the proposed controller is confirmed by numerical simulation.

  49. Collision-free formation control of two-wheeled vehicles based on triangular LQ optimal regulator International conference

    Takashi Kusunoki, Daisuke Tsubakino, Yuh Yamashita

    2014 IEEE Conference on Control Applications 

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    Event date: 2014.9

    Language:English   Presentation type:Oral presentation (general)  

    Country:France  

    This paper considers a formation control problem of two-wheeled vehicles. We first design a base controller based on the structured linear quadratic optimal regulator. The resulting optimal control gain is a lower triangular matrix; thus, agents communicate with each other in a top-down manner. However, vehicles may collide with each other under this control law since it is linear. To avoid collision of vehicles, we design a potential function by deforming the quadratic form of the stabilizing solution of the Riccati equation. The gradient of the potential function gives a control law that guarantees collision avoidance. The control law coincides with the optimal control law if vehicles are far from each other. The effectiveness of the proposed controller is confirmed by numerical simulation.

  50. Boundary control of a cascade of two parabolic PDEs with different diffusion coefficients International conference

    Daisuke Tsubakino, Miroslav Krstic, Yuh Yamashita

    52nd IEEE Conference on Decision and Control 

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    Event date: 2013.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Italy  

    In this paper, a state feedback control law is proposed for boundary coupled two different one-dimensional parabolic partial differential equations (PDEs). The control input is assumed to act only at a boundary of one side. The feedback law is designed based on the backstepping method. As a novelty of this paper, a state transformation involving a `discontinuous' integral kernel is introduced in order to handle the difference of diffusion coefficients. This enables us to develop a well-posed backstepping framework for cascades of parabolic PDEs and an exponentially stabilizing controller is derived. The performance of the proposed controller is also validated by numerical simulation.

  51. An algebraic approach to hierarchical LQR synthesis for large-scale dynamical systems International conference

    Daisuke Tsubakino, Taiki Yoshioka, Shinji Hara

    9th Asian Control Conference 

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    Event date: 2013.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:Turkey  

    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.

  52. Backstepping control for parabolic PDEs with in-domain actuation International conference

    Daisuke Tsubakino, Miroslav Krstic, Shinji Hara

    2012 American Control Conference 

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    Event date: 2012.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

    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.

  53. Backstepping Observer Using Weighted Spatial Average for 1-Dimensional Parabolic Distributed Parameter Systems International conference

    Daisuke Tsubakino, Shinji Hara

    18th IFAC World Congress 

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    Event date: 2011.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:Italy  

    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.

  54. Eigenvector-based characterization for hierarchical multi-agent dynamical systems with low rank interconnection International conference

    Daisuke Tsubakino, Shinji Hara

    2010 IEEE International Conference on Control Applications 

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    Event date: 2010.9

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

    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.

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

    Daisuke Tsubakino, Shinji Hara

    ICCAS-SICE 2009 

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    Event date: 2009.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

    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.

  56. Effective Layout of Plasma Actuators for a Flow Separation Control on a Wing International conference

    Daisuke Tsubakino, Yoshiteru Tanaka, Kozo Fujiii

    45th AIAA Aerospace Sciences Meeting and Exhibit 

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    Event date: 2007.1

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  57. Numerical Analysis for Magnetic Control of Heat-transfer and Pressure in Hypersonic Shock Wave Interference Flows International conference

    Daisuke Tsubakino, Yoshiteru Tanaka, Kozo Fujii

    The Fourth International Conference on Computational Fluid Dynamics 

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    Event date: 2006.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Belgium  

  58. Weighted balanced realization and model reduction for nonlinear systems International conference

    Daisuke Tsubakino, Kenji Fujimoto

    17th International Symposium on Mathematical Theory of Networks and Systems 

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    Event date: 2006.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

    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.

  59. On computation of nonlinear balanced realization and model reduction International conference

    Kenji Fujimoto, Daisuke Tsubakino

    2006 American Control Conference 

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    Event date: 2006.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

    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.

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KAKENHI (Grants-in-Aid for Scientific Research) 6

  1. ドローンを用いた微気象の能動的観測技術の創出

    Grant number:20H05752  2020.10 - 2023.3

    科学研究費助成事業  学術変革領域研究(B)

    鈴木 智, 椿野 大輔, 野田 龍介, 劉 浩

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    Authorship:Coinvestigator(s)  Grant type:Competitive

    微気象(人工物や人間活動の影響を強く受ける地表付近の詳細気象)予測に有用な建物密集区域の低高度における気象情報を収集し、微気象を観測する技術を創出する。MEMS技術によって開発された超小型センサを、新たに開発する生物規範型ナノドローンに統合し、微気象観測のための階層的なタスク(機体の制御、複数機体や障害物の回避、軌道・地域の選定)を、各階層での最適性を保ちながら制御することで、機動性だけでなく適応性も持ち合わせた能動的観測の実現を目指す。タスクの階層性と市販のマイクロドローンも有効に利用しながら要素技術の開発を進め、微気象予測班と連携しながら、微気象予測システムの創出を目指す。
    研究の初年度にあたる本年度は、(i) 生物規範型ナノドローンの開発、(ii) マイクロドローンの情報機能化、および(iii) 多階層制御技術の開発を実施した。各項目の具体的な内容は以下に示す。
    (i) 生物規範型ナノドローンの開発 羽ばたき飛行に着想を得たデュアルロータ型ドローンの開発を実施した。本年度はMATLABを用いたダイナミクスシミュレーションによって当該ドローンの実現可能性を検討するとともに、シミュレーション結果に基づいて実機製作を実施した。
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    (ii) マイクロドローンの情報機能化 市販のマイクロドローンおよび既に研究室で保有している各種小型ドローンに対して小型風速センサを搭載し、風速測定の試験及び評価を実施した。屋内に小型風洞設備を構築し、その環境下で小型センサを搭載したドローンを飛行させながら風速測定を実施した。ドローンの位置や姿勢情報は光学式モーションキャプチャシステムによって計測し、計測された風速情報、風洞で発生させた風速情報、およびドローンの正確な位置・姿勢情報を利用して、定の精度等について評価を行った。
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    (iii) 多階層制御技術の開発 姿勢、相対運動の二層を考慮した群制御について研究を進めるとともに機動的観測に向けた検討を実施した。機動的観測に向け、観測軌道設計の層を新たに考慮する。各ドローンの局所的な観測情報をフィードバックした観測軌道の最適化について検討を行った。
    各研究開発項目について、おおむね当初計画通りに遂行されている。
    ナノドローンの開発については、シミュレーションによる検討のみではなく、実機製作まで完了したことが当初計画よりも進展している点として評価できる。
    マイクロドローンの情報機能化については、実機に小型センサを搭載して風速計測の評価を実施した点が当初計画通りに進展している点として評価できる。
    最後に、多階層制御技術の開発については、観測軌道設計の層を新たに考慮し、各ドローンの局所的な観測情報をフィードバックした観測軌道の最適化まで検討できた点が当初計画通りに研究が進展している点として評価できる.
    本年度の研究進捗を踏まえて、当初計画通りに研究を遂行していく予定である。
    まず、ナノドローンの開発およびマイクロドローンの情報機能化については引き続き、実機製作とその評価を実施していく予定である。またこれらの研究を統合してナノドローンの情報機能化についても年度の後半部分で検討を開始する予定である。
    また、多階層制御技術の開発については、多階層制御技術の深化について検討をかいしする。これまでに考慮していた空間的な階層性に加え時間の階層性も考慮した階層化分散制御技術を開発する。観測周期、機体制御周期、軌道設計周期などを考慮し、生物規範型ナノドローンでも無理のない適応的制御系を目指す。

  2. Strategic promotion of micro-meteorology control science

    Grant number:20H05750  2020.10 - 2023.3

    Grants-in-Aid for Scientific Research  Grant-in-Aid for Transformative Research Areas (B)

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    Authorship:Coinvestigator(s)  Grant type:Competitive

  3. 無限次元性を失わない近似モデルに基づく液体ダイナミクス制御論 International coauthorship

    Grant number:18K04195  2018.4 - 2022.3

    科学研究費助成事業  基盤研究(C)

    椿野 大輔

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\4420000 ( Direct Cost: \3400000 、 Indirect Cost:\1020000 )

    本課題では,容器内における液体振動であるスロッシングへの適用を主に想定したフィードバック制御則や状態推定器(オブザーバ)の設計に対して,偏微分方程式モデルに基づいた方法論を構築することを目的としている.2020年度は,前年度に提案と定式化を行った偏微分方程式と常微分方程式の両方でモデル化されるようなシステムに対する構成的な制御則設計法である「PDEフォワーディング法」をさらに発展させることに注力した.具体的には,(1) 偏微分方程式が熱方程式の場合におけるPDEフォワーディング制御則の逆最適性の解析,および (2) 波動方程式の場合への積分型制御則の導出が主な成果である.また前年度より継続して研究を行っている (3) 3次元円筒容器の場合の境界値を用いた近似的なオブザーバ設計についても成果を得ている.
    まず(1)については,本来のねらいであるスロッシングへの適用からは外れるが,本課題で定式化したPDE フォワーディングの汎用性を広げるために行なったものである.PDE フォワーディングを用いて得られるフィードバック制御則が,ゲインを適切に選択することで,物理的に意味付けしやすいある2次の評価汎関数を最小にしていることを証明した.
    (2)については本課題の目的に直接つながるものであり,矩形容器内における液体の振動を近似的に波動方程式でモデル化し,容器の運動を常微分方程式でモデル化した際に得られるシステムを想定して考察したものである.PDE フォワーディングを単に適用しただけでは容器の速度を制御入力として用いる形となるため,別の手法を組み合わせ,加速度を制御入力とするより現実的な形の制御則を導出している.
    (3) については,継続して実施しているものである.モデル化だけでなく,オブザーバ設計においても適宜近似を導入し,実用上意味のある設計法を行っている.
    容器内のスロッシングと容器の運動を同時に安定化することができる制御則設計法であるPDE フォワーディングに関する進捗については,当初の想定以上の成果が得られている.手法自体の新規性だけでなく,逆最適性などの制御則の性能まで保証できることは,本手法の有効性を示しているものである.また,3次元の円筒容器に関する結果も極の取り扱いで当初の想定よりも苦労することとなったが,そのより扱いについて多くの知見を得ることができた.しかしながら,予定していた非線形問題については十分な結果を得ることはできなかった.
    以上より,遅れている部分も存在するが,想定以上な部分があり,総合的には概ね順調であると考えられる.
    2020年度が本来の最終年度であった.延長期間を利用して,PDEフォワーディングに関する成果をさらにまとめ,学会発表や学術雑誌論文などにより公表してゆきたい.

  4. Transformation-based boundary controller design for distributed-parameter systems in a coupled form International coauthorship

    Grant number:15K18085  2015.4 - 2018.3

    Grant-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists (B)

    Tsubakino Daisuke

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\4160000 ( Direct Cost: \3200000 、 Indirect Cost:\960000 )

  5. Stabilization of distributed parameter systems based on discontinuous state transformation

    2012.4 - 2015.3

    Grant-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists(B)

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    Authorship:Principal investigator 

  6. Control theory for distributed parameter systems based on numerical analytic methods

    2009.4 - 2011.3

    Grant-in-Aid for Scientific Research 

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    Authorship:Principal investigator 

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Teaching Experience (On-campus) 21

  1. Vibration Engineering with Exercises

    2021

  2. Calculus II

    2020

  3. Control Engineering 2 with Exercises

    2020

  4. Aerospace Control

    2020

  5. Aerospace Control

    2019

  6. Calculus II

    2019

  7. Control Engineering 2 with Exercises

    2019

  8. Aerospace Control

    2018

  9. 基礎セミナーB

    2018

  10. Calculus II

    2018

  11. Control Engineering II

    2018

  12. Aerospace Control Systems

    2017

  13. 微分積分学II

    2017

  14. 基礎セミナーB

    2017

  15. Control Engineering 2

    2017

  16. 制御工学第2

    2016

  17. Robust control theory

    2016

  18. 基礎セミナーB

    2016

  19. 微分積分学II

    2016

  20. 微分積分学II

    2015

  21. 基礎セミナーB

    2015

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Teaching Experience (Off-campus) 5

  1. 制御工学応用

    2021.4 - 2021.9 Aichi Institute of Technology)

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    Level:Undergraduate (specialized) 

  2. Advanced Applied Math.I

    2020.12 - 2021.1 Kobe University)

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    Level:Postgraduate 

  3. 制御工学応用

    2020.4 - 2020.9 Aichi Institute of Technology)

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    Level:Undergraduate (specialized) 

  4. 制御工学応用

    2019.4 - 2019.9 Aichi Institute of Technology)

  5. 制御工学応用

    2018.4 - 2018.9 Aichi Institute of Technology)

 

Social Contribution 1

  1. 愛知県立時習館高等学校 訪問説明会

    Role(s):Lecturer

    愛知県立時習館高等学校  2021.7