研究者詳細 - 椿野　大輔

講演・口頭発表等 - 椿野　大輔

分割表示 85 件中 61 - 80 件目／全件表示 >>

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

Yuki Fukuda, Daisuke Tsubakino

The SICE Annual Conference 2019 (SICE 2019)

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)

単一の制御則によるクワッドロータの陸上車両への追従に関する研究

福田悠貴, 椿野大輔

第61回自動制御連合講演会

円柱周り剥離流れに対するモデル予測制御と線形回帰に基づく制御則設計

佐々木康雄, 椿野大輔

第61回自動制御連合講演会

近似モデルに基づく燃料タンク内スロッシングの境界観測オブザーバ設計

伊藤徳哉, 椿野大輔, 藤本圭一郎

第62回宇宙科学技術連合講演会

行列代数に基づく階層化最適制御の理論とその応用招待有り

椿野大輔

制御理論合宿2018

On Feedback Controller Design for Fluid Flows Based on Approximation

Daisuke Tsubakino, Yasuo Sasaki, Naruya Ito

階層化最適制御則に基づく複数クアッドロータのフォーメーション形成

上谷悠介, 椿野大輔

第62回システム制御情報学会研究発表講演会 (SCI'18)

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

Yasuo Sasaki, Daisuke Tsubakino

SICE Annual Conference 2017

Nonlinear Hovering Control Laws for Small Vectored-Thrust Tail-Sitter UAVs 国際会議

Kouzi Miyazaki, Daisuke Tsubakino

1st IEEE Conference on Control Technology and Applications

Predictor-feedback for multi-input LTI systems with distinct delays 国際会議

2015 American Control Conference

開催年月日： 2015年7月

記述言語：英語会議種別：口頭発表（一般）

開催地：Chicago, IL 国名：アメリカ合衆国

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.

Multiparameter extremum seeking with output delays 国際会議

2015 American Control Conference

開催年月日： 2015年7月

記述言語：英語会議種別：口頭発表（一般）

開催地：Chicago, IL 国名：アメリカ合衆国

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.

State estimation for boundary-coupled parabolic distributed parameter systems using spatial averages 国際会議

10th Asian Control Conference

開催年月日： 2015年6月

記述言語：英語会議種別：口頭発表（一般）

開催地：Kota Kinabalu, Malaysia 国名：マレーシア

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.

Backstepping-forwarding control of parabolic PDEs with partially separable kernels 国際会議

53rd IEEE Conference on Decision and Control

開催年月日： 2014年12月

記述言語：英語会議種別：口頭発表（一般）

開催地：Los Angeles, CA 国名：アメリカ合衆国

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.

Collision-free formation control of two-wheeled vehicles based on triangular LQ optimal regulator 国際会議

2014 IEEE Conference on Control Applications

開催年月日： 2014年9月

記述言語：英語会議種別：口頭発表（一般）

開催地：Antibes, France 国名：フランス共和国

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.

Boundary control of a cascade of two parabolic PDEs with different diffusion coefficients 国際会議

52nd IEEE Conference on Decision and Control

開催年月日： 2013年12月

記述言語：英語会議種別：口頭発表（一般）

開催地：Firenze, Italy 国名：イタリア共和国

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.

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

9th Asian Control Conference

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

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

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

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.

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講演・口頭発表等 - 椿野 大輔

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講演・口頭発表等 - 椿野　大輔