Updated on 2022/01/24

写真a

 
UCHIDA, Kenko
 
Affiliation
Faculty of Science and Engineering
Job title
Professor Emeritus

Education

  •  
    -
    1976

    Waseda University   Graduate School, Division of Science and Engineering  

  •  
    -
    1971

    Waseda University   Faculty of Science and Engineering  

Degree

  • 早稲田大学   工学博士

  • Waseda University   Dr. of Engineering

  • 博士(工学)

Professional Memberships

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    ロボット学会

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    電気学会

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    日本鉄鋼協会 学会部門

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    IEEE

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    システム制御情報学会

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    計測自動制御学会

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    計測自動制御学会

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Research Areas

  • Control and system engineering

Papers

  • Toward a Retail Market for Distribution Grids

    Rabab Haider, Stefanos Baros, Yasuaki Wasa, Jordan Romvary, Kenko Uchida, Anuradha M. Annaswamy

    IEEE Transactions on Smart Grid   11 ( 6 ) 4891 - 4905  2020.11

    DOI

  • Strategic Bidding of Private Information for Dynamic LQ Networks under Moral Hazard

    Yasuaki Wasa, Kenko Uchida

    IFAC-PapersOnLine   53 ( 2 ) 6678 - 6684  2020

    DOI

  • Passivity-Based Analysis and Nudging Design for Dynamic Social Model with Bounded Rationality

    Shunya Yamashita, Takeshi Hatanaka, Yasuaki Wasa, Naoki Hayashi, Kenji Hirata, Kenko Uchida

    IFAC-PapersOnLine   53 ( 5 ) 338 - 343  2020

    DOI

  • An Automatic-Tuning Scheme Based on Fuzzy Logic for Active Power Filter in Wind Farms

    Nguyen Gia Minh Thao, Kenko Uchida, Kentaro Kofuji, Toru Jintsugawa, Chikashi Nakazawa

    IEEE Transactions on Control Systems Technology   27 ( 4 ) 1694 - 1702  2019.07

     View Summary

    © 1993-2012 IEEE. This brief proposes a novel scheme based on fuzzy logic for automatically and appropriately adjusting the main control coefficient of a shunt active power filter (SAPF), which is used to efficiently regulate the voltage and current harmonic distortions in the grid with a large offshore wind farm connected. With the scheme, the SAPF can be operated in two different control modes based on the voltage detection method. In the first mode, the SAPF has an objective to control the total harmonic distortion (THD) of grid voltage at the point of common coupling (PCC). In the second mode, the SAPF can reduce the THD of both grid voltage and current at the PCC. In addition, a unique setting module is designed to suitably choose the output scaling factor of the proposed fuzzy logic controller in the scheme; this is to considerably enhance adaptability of the scheme. Limits for the actual current and the control coefficient of the SAPF are also utilized to ensure the safety in operation. Simulations demonstrate that the suggested scheme has good performance in automatically tuning the control coefficient of the SAPF to regulate the THD of grid voltage and current to acceptable values even under unexpected changes in configuration of the grid.

    DOI

  • An improved interval fuzzy modeling method: Applications to the estimation of photovoltaic/wind/battery power in renewable energy systems

    Nguyen Gia Minh Thao, Kenko Uchida

    Energies   11 ( 3 )  2018.02

     View Summary

    © 2018 by the authors. This paper proposes an improved interval fuzzy modeling (imIFML) technique based on modified linear programming and actual boundary points of data. The imIFML technique comprises four design stages. The first stage is based on conventional interval fuzzy modeling (coIFML) with first-order model and linear programming. The second stage defines reference lower and upper bounds of data using MATLAB. The third stage initially adjusts scaling parameters in the modified linear programming. The last stage automatically fine-tunes parameters in the modified linear programming to realize the best possible model. Lower and upper bounds approximated by the imIFML technique are closely fitted to the reference lower and upper bounds, respectively. The proposed imIFML is thus significantly less conservative in cases of large variation in data, while robustness is inherited from the coIFML. Design flowcharts, equations, and sample MATLAB code are presented for reference in future experiments. Performance and efficacy of the introduced imIFML are evaluated to estimate solar photovoltaic, wind and battery power in a demonstrative renewable energy system under large data changes. The effectiveness of the proposed imIFML technique is also compared with the coIFML technique.

    DOI

  • A two-level control strategy with fuzzy logic for large-scale photovoltaic farms to support grid frequency regulation

    Nguyen Gia Minh Thao, Kenko Uchida

    Control Engineering Practice   59   77 - 99  2017.02

     View Summary

    © 2016 Elsevier Ltd This study proposes a two-level coordinated control strategy with fuzzy logic for appropriately adjusting the total active power supplied to a grid by large-scale photovoltaic (PV) farms in order to regulate grid frequency. For a solar farm, the strategy includes a central coordinating controller and many local controllers at PV power assemblies, treated as agents. In detail, the central controller uses a frequency regulation module based on a new automatic-tuning fuzzy-logic controller scheme to compute the appropriate reference values according to the total power needed. Then, the individual reference value for each local controller is determined. Each local controller governs all power-electronic converters installed at the PV agent to inject power into the grid according to the individual reference value received. Additionally, each local controller uses an algorithm to manage the state-of-charge of the battery bank installed at the agent so that it remains in the safe range of 20–80% while operating and close to the desired idle value of 50% at the steady state. Besides, a special control mode is developed and integrated into the overall strategy to aid rapid recovery of the grid frequency under emergency conditions. Numerical simulations demonstrate that the suggested strategy has the good response in terms of injecting an appropriate amount of power into the grid to regulate the frequency deviation into acceptable ranges of ±0.2 (Hz) in the transient state and ±0.05 (Hz) at the steady state, even when the weather conditions (solar radiation, air temperature), AC system load, and important control parameters of the grid suddenly change. Furthermore, the effectiveness in improving the grid-frequency stabilization by using the proposed strategy is validated within a four-area power system, where four PV farms are connected and the operating parameters of the grids at the areas are fairly different.

    DOI

  • Dynamic Incentive Contracts between A Principal and Multiple Agents in Power Energy Transaction Systems

    Wasa Yasuaki, Akao Ken-Ichi, Uchida Kenko

    Proceedings of the Japan Joint Automatic Control Conference   60   273 - 280  2017

    DOI CiNii

  • Mathematical modeling and analysis of depression

    TSUJI HITOMI, WASA YASUAKI, UCHIDA KENKO

    Proceedings of the Japan Joint Automatic Control Conference   60   1410 - 1415  2017

    DOI CiNii

  • A SFOC-based scheme with PI-ANN controller to regulation of output powers and reduction of current harmonics for DFIG under unbalanced voltage dips

    Hai Nguyen-Thanh, Cuong Vo-Viet, Kenko Uchida, Nguyen Gia Minh Thao

    2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016     452 - 459  2016.11

     View Summary

    © 2016 The Society of Instrument and Control Engineers - SICE. This paper presents a newly modified control scheme using artificial neural network (ANN) for doubly fed induction generator (DFIG) connected with a wind turbine under the unbalance of three-phase grid voltages. In detail, the proposed scheme is based on the stator flux oriented control (SFOC), and it consists of a Sequence Component controller (SCC) and a unique PI with ANN (PI-ANN) hybrid controller. The main objectives of the suggested scheme are to regulate independently the output active and reactive powers of DFIG and to diminish significantly harmonics in the rotor current during the unbalanced grid voltage dips. Numerical simulations, including considerations on sudden changes of reference values for the powers and the random alteration of wind speed, are performed in MATLAB to evaluate effectiveness of the proposed scheme. Furthermore, detailed comparisons between simulation results under the unbalanced voltage dips, obtained with the traditional PI method, PI with fuzzy logic (PI-F) hybrid technique and suggested PI-ANN scheme, also are illustrated to validate the salient performance of the presented control structure.

    DOI

  • Analysis on stability in control of active power filter in electric GRID with megawatt dfig wind farm connected

    Nguyen Gia Minh Thao, Kenko Uchida, Kentaro Kofuji, Toru Jintsugawa, Chikashi Nakazawa

    Renewable Energy and Power Quality Journal   1 ( 14 ) 930 - 938  2016.05

     View Summary

    © 2016, European Association for the Development of Renewable Energy, Environment and Power Quality (EA4EPQ). All rights reserved. This paper presents a pretty comprehensive analysis on stability issues of control for active power filter (APF) installed in an electric grid where megawatt doubly fed induction generator (DFIG) wind farm is connected. Major objectives of this paper are to evaluate roles and impacts of main design parameters in the controller of APF. As well, the ultimate goal is to determine the stable value range and the suitable-performance value range for a proportional control coefficient in APF. Wherein, firstly, background theories of the voltage-detection control method for APF to reduce the voltage and current distortions on the electric grid are described. Furthermore, an appropriate equivalent circuit of a typical grid-connected DFIG wind farm with APF to analyze impedance in the frequency domain is introduced. After that, mathematical formulas and algorithm to determine the stable value range and suitable performance value range for the control coefficient in APF are proposed. Finally, results obtained with the suggested equivalent circuit and impedance analysis technique are shown and discussed in detail. Besides, different operation cases of the controller of APF and the illustrative DFIG wind farm, including parametric uncertainties of the electric grid, also are examined to assess effectiveness of the proposed analysis algorithm.

    DOI

  • A Control Strategy based on Fuzzy Logic for Three-phase Grid-connected Photovoltaic System with Supporting Grid-frequency Regulation

    Nguyen Gia Minh Thao, Kenko Uchida

    Journal of Automation and Control Engineering   4 ( 2 ) 96 - 103  2016

    DOI

  • A novel fuzzy-based control strategy for grid-connected large-scale solar farm with supporting the grid-frequency regulation

    Nguyen Gia Minh Thao, Kenko Uchida

    2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015    2015.09

     View Summary

    © 2015 IEEE. This paper presents a novel control strategy based on fuzzy logic to adjust fittingly the total output-active power injected into a local grid from a large-scale photovoltaic (PV) farm to support grid-frequency regulation. The strategy consists of a central coordinating controller and local controllers at PV power agents. Wherein, the central controller uses a frequency regulation module based on a unique fuzzy logic controller (FLC) to determine the reference value of total active power needed; and then appropriately coordinates the individual reference value for the local controller at each PV agent. As well, each local controller drives all the power-electronic converters and battery charger installed at PV agent to deliver power to the grid exactly according to the reference value obtained from the central controller. Besides, in each local controller, a simulation module based on the mathematical model of PV panel is used to predict beforehand the maximum power from PV arrays, and a control algorithm to regulate state-of-charge (SOC) of the battery bank is also implemented. Simulation results show that the proposed strategy has good performance in delivering the active power to grid with regulating the grid frequency in tolerable ranges even if the AC-system load and solar irradiation unexpectedly vary. Moreover, efficacy in regulating grid frequency of the suggested strategy is also compared with the conventional strategy which uses the full maximum power point tracking (MPPT) mode.

    DOI

  • Active and reactive power control techniques based on feedback linearization and fuzzy logic for three-phase grid-connected photovoltaic inverters

    Gia Minh Thao Nguyen, Kenko Uchida

    Asian Journal of Control   17 ( 5 ) 1522 - 1546  2015.09

     View Summary

    © 2014 Chinese Automatic Control Society and Wiley Publishing Asia Pty Ltd. This paper discusses two techniques based on the feedback linearization (FBL) method to control the active and reactive output powers of three-phase grid-connected photovoltaic (PV) inverters. The first control scheme is an application of the direct FBL approach. The other is an appropriate combination of the FBL and fuzzy logic (FBL-FL), and is the main proposed method of this study. Wherein, a unique fuzzy logic controller (FLC) is designed to enhance effectiveness of the linear control method used in the direct FBL. In detail, its major objectives are to improve the transient response and reduce steady-state oscillations in the output powers. In this research, the illustrative PV inverter utilizes a three-level DC-AC converter, an R-L filter and a 250V/10kV wye-wye transformer to inject the energy, obtained from PV array with a nominal power of 100kW, into the 10kV/60Hz three-phase grid. Numerical simulations in MATLAB and PSIM illustrate that the two FBL-based structures perform very well in independently regulating the active and reactive output powers to the reference values, even within the parametric uncertainties and the unbalanced grid voltage condition. Moreover, comparisons of simulation results, obtained from the traditional proportional-integral (PI) control and the two FBL-based structures, show advantages of the proposed FBL-FL hybrid technique in terms of fast response, small overshoot, acceptable steady-state fluctuation and high robustness.

    DOI

  • Modified controls for grid-connected wind-turbine Doubly Fed Induction Generator under Unbalanced Voltage Dip for Torque Stability and Reduction of Current Harmonic

    Truc Pham-Dinh, Hai Nguyen-Thanh, Kenko Uchida, Nguyen Gia Minh Thao

    Proceedings of the SICE Annual Conference     1493 - 1500  2014.10

     View Summary

    © 2014 SICE. This paper presents modified Stator Voltage Oriented Control (SVOC) for Doubly Fed Induction Generator (DFIG) in wind turbines to reduce torque pulsation during unbalanced voltage dips, and current waveforms are also improved with the decreasing of harmonics. The proposed schemes utilize multiple PI controllers with anti-windup to obtain commanded rotor currents and also introduce extra commanded values for rotor current; as well, Notch filters are used to eliminate the second-order harmonic components. The designed system consists of a wound-rotor induction generator and back-to-back power-electronic converters connected to both rotor and grid sides. Wherein, the modifications are applied to the control of rotor side converter (RSC). Simulations in Matlab/Simulink illustrate the enhanced stability of torque response and the improvement of current waveform. Comparisons of the simulation results with a traditional Stator Flux Oriented Control (SFOC) and a previously suggested modification of SFOC for operation under unbalanced voltage dip are provided to evaluate the newly proposed methods in the paper.

    DOI

  • A comprehensive analysis study about harmonic resonances in megawatt grid-connected wind farms

    Nguyen Gia Minh Thao, Kenko Uchida, Kentaro Kofuji, Toru Jintsugawa, Chikashi Nakazawa

    3rd International Conference on Renewable Energy Research and Applications, ICRERA 2014     387 - 394  2014.01

     View Summary

    © 2014 IEEE. This paper presents a comprehensive analysis technique about harmonic resonance issues in megawatt grid-connected wind farms where the doubly fed induction generator (DFIG) is used. Wherein, firstly, the background theories of the series resonance, parallel resonance and their impacts on the electric system are described. Moreover, a suitable equivalent circuit of typical grid-connected DFIG wind farms for analyzing impedance in the frequency domain is proposed. Then, mathematical formulas are introduced detail to determine exactly orders and amplifications of the voltage and current distortions on both the medium-voltage (MV) bus and low-voltage (LV) bus. Lastly, results obtained from the proposed equivalent circuit and impedance analysis technique are compared to other results achieved with the detailed wind farm simulated in MATLAB/SimPowerSystems. As well, many different operation cases of the illustrative grid-connected DFIG wind farm, including parametric variations, are also examined to evaluate the accuracy and effectiveness of the proposed analysis technique.

    DOI

  • 不確かな情報環境におけるLQエネルギー需要ネットワークのVCGメカニズムによる統合

    岡島, 平田,内田

    計測自動制御学会論文集   49 ( 12 ) 1186 - 1195  2013.12  [Refereed]

  • LQエネルギー需給ネットワークに対する購入電力容量制限付きモデル予想型プライシング

    山下,岡島, 村尾,内田

    第56回自動制御連合講演会   13 ( 23 ) 919 - 924  2013.11  [Refereed]

  • 不確かな情報環境におけるLQエネルギー需要ネットワークの予算均衡型メカニズムによる統合

    岡島,村尾, 平田,内田

    第56回自動制御連合講演会   13 ( 23 ) 925 - 930  2013.11  [Refereed]

  • シアノバクテリアの概日リズムモデルを用いた温度補償性メカニズム解析

    島田,内田

    第56回自動制御連合講演会   13 ( 23 ) 1167 - 1171  2013.11  [Refereed]

  • Consensus Problem in Multi-Agent Systems with Communication Channel Constraint on Signal Amplitude

    M-H.Wang, K.Uchida

    SICE Journal of Control, Measurement, and System Integration (SICE JCMSI)   5 ( 1 ) 7 - 13  2013.09  [Refereed]

  • Direct uptake and degradation of DNA by lysosomes

    Yuuki Fujiwara, Hisae Kikuchi, Shu Aizawa, Akiko Furuta, Yusuke Hatanaka, Chiho Konya, Kenko Uchida, Keiji Wada, Tomohiro Kabuta

    AUTOPHAGY   9 ( 8 ) 1167 - 1171  2013.08  [Refereed]

     View Summary

    Lysosomes contain various hydrolases that can degrade proteins, lipids, nucleic acids and carbohydrates. We recently discovered "RNautophagy," an autophagic pathway in which RNA is directly taken up by lysosomes and degraded. A lysosomal membrane protein, LAMP2C, a splice variant of LAMP2, binds to RNA and acts as a receptor for this pathway. In the present study, we show that DNA is also directly taken up by lysosomes and degraded. Like RNautophagy, this autophagic pathway, which we term "DNautophagy," is dependent on ATP. The cytosolic sequence of LAMP2C also directly interacts with DNA, and LAMP2C functions as a receptor for DNautophagy, in addition to RNautophagy. Similarly to RNA, DNA binds to the cytosolic sequences of fly and nematode LAMP orthologs. Together with the findings of our previous study, our present findings suggest that RNautophagy and DNautophagy are evolutionarily conserved systems in Metazoa.

    DOI

  • 価格提示による最適運用状態への誘導と安定性に関する考察

    平田, 岡田,内田

    SICE第13回制御部門大会   CD-Rom  2013.03  [Refereed]

  • 分散型LQ需給ネットワークのPivotメカニズムによる統合

    岡島, 平田,内田

    SICE第13回制御部門大会   CD-Rom  2013.03  [Refereed]

  • 配電損失を考慮した分散型電源の無効電力出力推定手法の検討

    小出,辻, 大山,内田

    SICE第13回制御部門大会   CD-Rom  2013.03  [Refereed]

  • An Improved Incremental Conductance Maximum Power Point Tracking Algorithm Based on Fuzzy Logic for Photovoltaic Systems

    N.G.M. Thao, K.Uchida

    SICE第13回制御部門大会   CD-Rom  2013.03  [Refereed]

  • Control the active and reactive powers of three-phase grid-connected photovoltaic inverters using feedback linearization and fuzzy logic

    Nguyen Gia Minh Thao, Kenko Uchida

    2013 3rd Australian Control Conference, AUCC 2013     133 - 140  2013

     View Summary

    This paper presents two techniques based on the feedback linearization (FBL) method to control the active and reactive output powers of three-phase grid-connected photovoltaic (PV) inverters. Wherein, the first suggested control scheme is an adoption of the direct FBL approach. The other is an appropriate combination of the FBL and fuzzy logic (FBL-FL), and it is also the main proposed method of this research. In detail, a unique fuzzy logic controller (FLC) is designed to enhance the effectiveness of the suggested FBL, especially in reducing fluctuations in the active and reactive output powers at the steady state. In this study, the demonstrative PV inverter uses a three-level DC-AC converter, an L-type filter and a 250V/10kV wye-wye transformer to inject the energy, obtained from PV array with a nominal power of 100kW, into the 10kV/60Hz three-phase grid. Simulations illustrate that two suggested control schemes have good performances in regulating independently active and reactive output powers to the references, even within parametric uncertainties. Furthermore, comparisons of simulation results, obtained from the traditional PI control and two the presented FBL-based structures, show salient advantages of the proposed FBL-FL technique in terms of quick response, slight overshoot, small steady-state oscillation and high robustness. © 2013 Engineers Australia.

    DOI

  • Discovery of a novel type of autophagy targeting RNA

    Yuuki Fujiwara, Akiko Furuta, Hisae Kikuchi, Shu Aizawa, Yusuke Hatanaka, Chiho Konya, Kenko Uchida, Aya Yoshimura, Yoshitaka Tamai, Keiji Wada, Tomohiro Kabuta

    Autophagy   9 ( 3 ) 403 - 409  2013  [Refereed]

     View Summary

    Regulated degradation of cellular components by lysosomes is essential to maintain biological homeostasis. In mammals, three forms of autophagy, macroautophagy, microautophagy and chaperone-mediated autophagy (CMA), have been identified. Here, we showed a novel type of autophagy, in which RNA is taken up directly into lysosomes for degradation. This pathway, which we term 'RNautophagy,' is ATP-dependent, and unlike CMA, is independent of HSPA8/ Hsc70. LAMP2C, a lysosomal membrane protein, serves as a receptor for this pathway. The cytosolic tail of LAMP2C specifically binds to almost all total RNA derived from mouse brain. The cytosolic sequence of LAMP2C and its affinity for RNA are evolutionarily conserved from nematodes to humans. Our findings shed light on the mechanisms underlying RNA homeostasis in higher eukaryotes. © 2013 Landes Bioscience.

    DOI

  • A Gain Scheduling Model of Temperature Compensation for Circadian Rhythm of Cyanobacteria

    Miki Shimada, Kenko Uchida

    2013 9TH ASIAN CONTROL CONFERENCE (ASCC)    2013  [Refereed]

     View Summary

    The KaiC phosphorylation cycle generates the circadian rhythm without the transcription and translation of kai genes. To study the mechanism of the circadian rhythm, we use the model proposed by Kurosawa et al, describing the KaiC phosphorylation process in DD case. The temperature compensation is one of the most important features of the circadian rhythm. Therefore, some methods used to construct the temperature compensated model, have been proposed. In this paper, we applied the gain scheduling method proposed by Takeuchi to the model. In which, we focused on another essential feature named "temperature entrainment". This study investigates the mechanism of the phase shift and the temperature entrainment by using the temperature compensated model under the temperature cycle. Simulations results, including the comparison with the biological experiments, clearly illustrate the effectiveness of the proposed model.

  • Control The Photovoltaic Grid-Connected System Using Fuzzy Logic and Backstepping Approach

    Nguyen Gia Minh Thao, Kenko Uchida

    2013 9TH ASIAN CONTROL CONFERENCE (ASCC)    2013  [Refereed]

     View Summary

    This paper presents a comprehensive method to design a compatible controller system for the photovoltaic (PV) single-phase grid-connected system. The demonstrative PV system in this study consists of four 250W solar panels with a nominal total power of 1 kW, a non-inverting buck-boost DC-DC converter, and a DC-AC inverter, including a LCL output filter. Main objectives of the PV system in use are threefold: tracking and operating at the maximum power point (MPP) of the PV array, regulating the DC link voltage to 200 V, and delivering the power to the 110V/60Hz electric grid with unity power factor (PF). To fulfill three above goals respectively, the designed controller system is composed of three major modules. In which the first is the MPPT Controller module, using an improved incremental conductance (INC) algorithm based on fuzzy logic. Another is the DC Link Voltage Regulator module constituted by a PI-Fuzzy hybrid controller. And the last is the Current Controller module based on the backstepping approach. Simulations show that the proposed controller system completely accomplishes listed aims even when the solar radiation and temperature change suddenly.

  • REFERENCE GOVERNOR FOR OUTPUT SMOOTHING OF RENEWABLE ENERGY GENERATION

    Yutaka Tsubota, Genki Baba, Kenko Uchida, Toru Jintsugawa, Yosuke Nakanishi

    2013 9TH ASIAN CONTROL CONFERENCE (ASCC)    2013  [Refereed]

     View Summary

    Output smoothing using storage facilities for wind turbine generators has been realized typically by means of a first order system, as a low pass filter, together with compensators for keeping a level of energy storage and several limiters for energy flows; however, it is not easy to achieve an appropriate combination of the filter, the compensators and the limiters, for a desired performance of the output smoothing. To overcome this difficulty, we propose a new scheme of the output smoothing, which generates, by solving a Model Predictive Control (MPC) problem, an optimal reference signal for storage facilities so that the output smoothing is achieved and the constraints on the storage level and the energy flows are satisfied; in this scheme, trade-offs among smoothing performance and constraint fulfillment levels can be designed by selecting weighting parameters in the performance index. We perform numerical simulations, and discuss usability of the proposed scheme by comparing it with the existing output smoothing methods using fixed time-constant filter.

  • Interval Consensus Problem of Multi-agent Systems with Time-delay

    Wang MingHui, Kenko Uchida

    2013 32ND CHINESE CONTROL CONFERENCE (CCC)     7204 - 7209  2013  [Refereed]

     View Summary

    Interval consensus problem of multi-agent systems is a new consensus problem in which the multi-agent system given by the proposed protocol can globally asymptotically converge to a specified point on the closed and bounded interval. In this paper, we discuss interval consensus problem of multi-agent systems with two types of time-delays, i.e., communication delay and input delay. Our work shows that the communication delay does not affect the consensus while the input delay does. For communication delay, the system given by the proposed protocol can reach globally asymptotically interval consensus with any time delay. As for bounded input delay, the system given by the proposed protocol can reach globally asymptotically interval consensus and then the system can also achieve a generalized interval average-consensus if the directed graph is balanced. Simulations are provided that demonstrate the effectiveness of our theoretical results.

  • Comparison between Modifications of SFOC and DPC in Control of Grid-Connected Doubly Fed Induction Generator under Unbalanced Voltage Dip

    Truc Pham-Dinh, Hai Nguyen-Thanh, Kenko Uchida, Nguyen Gia Minh Thao

    2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)     2581 - 2588  2013  [Refereed]

     View Summary

    This paper presents both the previously and newly modified Stator Flux Oriented Control (SFOC) and Direct Power Control (DPC) structures for Doubly Fed Induction Generator (DFIG) in wind turbines to improve responses of active power, reactive power and generator's torque during the grid voltage unbalance. In the newly proposed SFOC-based scheme, which emphasizes on improvement of generator's torque performance, PI controllers with anti-windup, Notch filters and the Sequence Component Controller (SCC) are utilized. The other control techniques use single or multiple applications of PI controller with anti-windup, hybrid PI-Fuzzy controller with anti-windup and Notch filter to eliminate the second-order harmonic components. The designed system consists of a wound rotor induction generator and power-electronics converters at both rotor and grid sides. The modifications are applied to the rotor side converter (RSC). Simulations in Matlab/Simulink illustrate the enhanced stability of torque, active and reactive powers delivered by DFIG in both the SFOC-based and DPC-based schemes. Moreover, comparisons in simulation results, obtained separately from all the presented control structures, are provided to evaluate the effectiveness of the newly proposed scheme.

  • Cluster Consensus of Multi-agent Systems with Communication Delay (ICCAS 2013)

    Ming-Hui Wang, Kenko Uchida

    2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013)     617 - 622  2013  [Refereed]

     View Summary

    Cluster consensus problem of the multi-agent systems with communication delay is studied in this paper. We consider the multi-agent systems with a special Laplacian matrix as its system matrix. For two types of protocols wIth time-delay, our work shows that the multi-agent systems with communi ation delays can reach cluster consensus. Some numerical simulations are given to verify the effectiveness of the theoretlcal results.

  • A dynamic mechanism for LQG power networks with random type parameters and pricing delay

    Yusuke Okajima, Toshiyuki Murao, Kenji Hirata, Kenko Uchida

    Proceedings of the IEEE Conference on Decision and Control     2384 - 2390  2013  [Refereed]

     View Summary

    We consider a dynamic game model of power networks with generators and/or consumers, called agents, and one public commission, called utility
    a game with a prescribed dynamic mechanism is performed such that each agent decides a private control to minimize its own cost functional, and the utility manages information transmissions between the utility and agents and decides command signals, called prices, to minimize a public cost functional. We discuss designs of the mechanism that integrates strategic determinations of private controls by the agents into the optimal public controls that achieve the optimal social welfare and rational agents can accept. The model of this paper is a generic linear Gaussian model of power networks, which is motivated by so-called average system frequency models
    in each model of the agents, we includes the type parameter presenting each agent's private information
    we also consider the time delay in calculation of prices by utility. Assuming that each private cost functional as well as the public cost functional is quadratic, we derive formulas of the pricing schemes, and the incentive cost, inspired by the pivot function in the mechanism design theory literate from economics, that characterize our mechanism design in both formulations of the fixed horizon control and the receding horizon control cases. © 2013 IEEE.

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  • 歩行者を考慮した交通到着予測による信号交差点の最適制御

    江波戸, 市川, 高浜,内田

    第55回自動制御連合講演会   CD-Rom   147 - 152  2012.11  [Refereed]

  • 異なる構造をもつ振動的遺伝子ネットワークに対する内因的ゆらぎの評価

    日出間, 河内,内田

    第55回自動制御連合講演会   CD-Rom   315 - 320  2012.11  [Refereed]

  • エネルギー需要ネットワークの最適化と不確かな情報に基づく統合メカニズム

    岡島, 平田,内田

    第55回自動制御連合講演会   CD-Rom   1539 - 1544  2012.11  [Refereed]

  • 価格提示による最適運用状態への誘導に関する考察

    平田, 岡田,内田

    第55回自動制御連合講演会   CD-Rom   1545 - 1550  2012.11  [Refereed]

  • エネルギー需要・供給ネットワークにおける分散・統合化とメカニズムデザインアプローチ

    平田,内田

    Proc. of Dynamics and Design Conf. 2012    2012.09  [Refereed]

  • ベイジアンアプローチによる運転行動モデリング及び個人の識別

    山下, 岡本,内田

    SICE第12回制御部門大会   CD-Rom  2012.03  [Refereed]

  • 電力需要者の効用最大化行動に基づくモデル予測型プライシング手法

    塚越, 岡島,内田

    SICE第12回制御部門大会   CD-Rom  2012.03  [Refereed]

  • エネルギー需要・供給ネットワークにおける分散・統合化と制度設計に関する考察

    平田,内田

    SICE第12回制御部門大会   CD-Rom  2012.03  [Refereed]

  • 分散化と統合化の制御理論

    平田,内田

    計測と制御   51 ( 1 ) 55 - 61  2012.01  [Refereed]

  • Consensus of Multi-agent Systems with Signal Amplitude Constraint in Communication

    MingHui Wang, Kenko Uchida

    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)   CD-Rom   108 - 112  2012  [Refereed]

     View Summary

    Consensus problem of multi-agent systems with communication channel constraint is studied by providing a special Laplacian of directed graphs in this paper. Communication delays as one kind of channel constrains in multi-agent systems have been discussed in the recent literature. Different from those works, consensus problem with communication channel constraint on signal amplitude is addressed in this paper. Our work shows that the consensus can be obtained as long as some state-dependent switching parameters are introduced into the consensus protocol. It is shown that the system given by the proposed protocol can reach globally asymptotically consensus and that the system can also achieve a generalized average-consensus if the directed graph is balanced. An example has been proposed to illustrate the effectiveness of the method.

  • Consensus Problem of Second-order Multi-agent Systems with Communication Channel Constraint on Signal Amplitude (ICCAS 2012)

    Ming-Hui Wang, Kenko Uchida

    2012 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)     1198 - 1202  2012  [Refereed]

     View Summary

    This paper investigates the consensus problem of the second-order multi-agent systems with communication channel constraint on signal amplitude. Communication delays as one kind of channel constraints in the second-order multi-agent systems have been discussed in the recent literature while in this paper consensus problem of second-order multi-agent systems with communication channel constraint on signal amplitude is investigated. A state-dependent switching parameter is introduced into the consensus protocol. A sufficient condition is obtained for the consensus problem of the second-order multi-agent systems with communication channel constraint based on our early work. A simple example is also given to verify the effectiveness of the proposed theorem.

  • Consensus Problem of Multi-agent Systems with Sensing Constraint on Range

    MingHui Wang, Kenko Uchida

    2012 FIFTH INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE AND DESIGN (ISCID 2012), VOL 1     472 - 476  2012  [Refereed]

     View Summary

    Consensus problem of multi-agent systems with sensing constraint on range is studied in this paper. It is known that sensors have limited sensing capabilities although they are very important components and play a vital role in networked control systems. This paper discusses the consensus problem of the multi-agent systems in which some agents are outside the sensing ranges of their neighbors. We introduce an initial-state-dependent switching parameter into the consensus protocol, and show that the consensus can be obtained as long as some conditions are satisfied. An example is proposed to illustrate the effectiveness of the method.

    DOI

  • Cluster Consensus of Multi-agent Systems with Signal Amplitude Constraint in Communication

    MingHui Wang, Kenko Uchida

    2012 FIFTH INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE AND DESIGN (ISCID 2012), VOL 1     192 - 196  2012  [Refereed]

     View Summary

    Cluster consensus problem of the multi-agent systems with signal amplitude constraint in communication is studied by providing a special Laplacian of directed graphs in this paper. A sufficient condition is obtained for the cluster consensus problem of the multi-agent systems with signal amplitude constraint in communication by introducing a state-dependent switching parameter into the cluster consensus protocol. A numerical simulation is given to verify the effectiveness of the theoretical analysis.

    DOI

  • 自然エネルギー発電を含む小規模パワーネットワークの潮流最適化

    塚越,内田

    第54回自動制御連合講演会     23 - 27  2011.11  [Refereed]

  • 負荷周波数制御システムにおけるpricing-sased制御器

    東,大場,内田

    第54回自動制御連合講演会     28 - 29  2011.11  [Refereed]

  • Sum of Squaresを用いたpricing-based負荷周波数制御システムの解析

    東,渡邉,内田

    第54回自動制御連合講演会     30 - 31  2011.11  [Refereed]

  • ベイジアンアプローチによる運転行動の個別モデル化

    山下, 岡本,内田

    第54回自動制御連合講演会     1424 - 1429  2011.11  [Refereed]

  • Parkinson's disease-associated mutations in alpha-synuclein and UCH-L1 inhibit the unconventional secretion of UCH-L1

    Chiho Konya, Yusuke Hatanaka, Yuuki Fujiwara, Kenko Uchida, Yoshitaka Nagai, Keiji Wada, Tomohiro Kabuta

    NEUROCHEMISTRY INTERNATIONAL   59 ( 2 ) 251 - 258  2011.08  [Refereed]

     View Summary

    Ubiquitin carboxy-terminal hydrolase L1 (UCH-L1) is an intracellular protein abundantly expressed in neurons, and a mutation in UCH-L1 has been identified in familial Parkinson's disease. UCH-L1 has been detected in human cerebrospinal fluid, raising the possibility that UCH-L1 is secreted from neurons. In the present study, we showed that a portion of UCH-L1 is secreted from cultured cells. The secretion of D30K UCH-L1, which lacks ubiquitin binding activity, was decreased compared with that of wild-type UCH-L1, while the secretion of C90S UCH-L1, which lacks hydrolase activity, was not. Treatment with Brefeldin A, an inhibitor of vesicle transport from the endoplasmic reticulum to the Golgi, did not block the secretion of UCH-L1, indicating that UCH-L1 is secreted by an unconventional pathway. The UCH-L1 sequence from Leu-32 to Leu-39 is similar to the unconventional secretory signal sequence of engrailed 2, and substitution of the leucines within this region (L32S/L32A/L34S/L34A/L39S/L39A) reduced the secretion of UCH-L1. We found that the Parkinson's disease-associated mutation I93M in UCH-L1 decreased the secretion of I93M UCH-L1. In addition, Parkinson's disease-linked alpha-synuclein mutants reduced the secretion of endogenous UCH-L1. Our results indicate that the hydrolase activity is not necessary for the unconventional secretion of UCH-L1, and suggest that the ubiquitin binding activity and the sequence between Leu-32 and Leu-39 are involved in the secretion. Moreover, the secretion of UCH-L1 could be involved in the pathology of Parkinson's disease. (C) 2011 Elsevier B.V. All rights reserved.

    DOI

  • Robustness Analysis and Optimization of Circadian Clocks fluctuated by Intrinsic Noise

    Y.Ito, S.Kawachi, K.Uchida

    Proc. of 2011 8th Asian Control Conference (ASCC)   CD-Rom   506 - 511  2011.05  [Refereed]

  • Just-In-Timeモデリングによるドライブ挙動を包含した自動車変速制御

    岡本,森本, 大橋,内田

    計測自動制御学会産業論文集   10 ( 3 ) 17 - 26  2011  [Refereed]

  • Model reference adaptive control for constrained linear systems

    Pham Anh Tu, Kenko Uchida

    Proceedings of the IASTED International Conference on Modelling, Identification and Control     294 - 299  2011  [Refereed]

     View Summary

    The presence of state and control constraints in physi cal systems may lead to performance deterioration and instability if not adequately accounted for in controller design processes. Therefore, a procedure of state and control constraint fulfillment for uncertain linear systems, which firstly require an adaptive controller, is proposed. Model Reference Adaptive Control (MRAC) Method is selected to design the controller, and Lyapunov stability theory is used to obtained adaptive laws. To solve the constraint fulfillment problem, a concept of maximal output admissible set [8], [11] is utilized to predict safe operation of the plant. Constraint fulfill ment procedure is described as polynomial optimization problems, and a numerical design example is carried out to support the arguments.

    DOI

  • Identification of Driver Operations with Extraction of Driving Primitives

    Masayuki Okamoto, Shunsuke Otani, Yasumasa Kaitani, Kenko Uchida

    2011 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA)   CD-Rom   338 - 344  2011  [Refereed]

     View Summary

    Modeling the driver behavior is expected to play a fundamental role in designing systems of driver monitoring, warning, assist control and training. In this paper, we present an identification method of automobile driver operations based on a hierarchical clustering approach, which leads to a stochastic piecewise affine (PWA) model. The driver behavior can be viewed as an outcome of the hybrid system that consists of (continuous) primitive driving operations and their (discrete) switchings. We describe the driving primitives by PWA models and the switchings by hidden Markov models (HMMs). One significant issue of this hybrid modeling is to extract the distinct states of driving operation from the driver behavior and determine the number of the states. To this problem, we propose a method to estimate the number of states using an idea of hierarchical clustering. We apply our identification method to the accelerator operations of driver, and demonstrate its efficacy through numerical experiments using the real data of four drivers.

  • Formulas for intrinsic noise evaluation in oscillatory genetic networks

    Yohei Ito, Kenko Uchida

    JOURNAL OF THEORETICAL BIOLOGY   267 ( 2 ) 223 - 234  2010.11  [Refereed]

     View Summary

    The linear noise approximation is a useful method for stochastic noise evaluations in genetic regulatory networks, where the covariance equation described as a Lyapunov equation plays a central role. We discuss the linear noise approximation method for evaluations of an intrinsic noise in autonomously oscillatory genetic networks; in such oscillatory networks, the covariance equation becomes a periodic differential equation that provides generally an unbounded covariance matrix, so that the standard method of noise evaluation based on the covariance matrix cannot be adopted directly. In this paper, we develop a new method of noise evaluation in oscillatory genetic networks; first, we investigate structural properties, e.g., orbital stability and periodicity, of the solutions to the covariance equation given as a periodic Lyapunov differential equation by using the Floquet-Lyapunov theory, and propose a global measure for evaluating stochastic amplitude fluctuations on the periodic trajectory; we also derive an evaluation formula for the period fluctuation. Finally, we apply our method to a model of circadian oscillations based on negative auto-regulation of gene expression, and show validity of our method by comparing the evaluation results with stochastic simulations. (C) 2010 Elsevier Ltd. All rights reserved.

    DOI

  • ハイブリッドシステムに基づく運転行動認識および個人の識別

    大谷,貝谷, 岡本,内田

    第53回自動制御連合講演会   CD-ROM   89 - 93  2010.11  [Refereed]

  • 同一非結合システム群に対する衝突回避を考慮した分散型LQG制御

    川井, 佐藤,内田

    第53回自動制御連合講演会   CD-ROM   118 - 123  2010.11  [Refereed]

  • 内因的ノイズを考慮した概日リズムモデルの評価とロバスト性解析

    伊藤, 河内,内田

    第53回自動制御連合講演会   CD-ROM   511 - 516  2010.11  [Refereed]

  • Identification of a novel chemical potentiator and inhibitors of UCH-L1 by in silico drug screening

    Takeshi Mitsui, Kazunori Hirayama, Shunsuke Aoki, Kaori Nishikawa, Kenko Uchida, Takashi Matsumoto, Tomohiro Kabuta, Keiji Wada

    NEUROCHEMISTRY INTERNATIONAL   56 ( 5 ) 679 - 686  2010.04  [Refereed]

     View Summary

    Ubiquitin-C-terminal hydrolase L1 (UCH-L1) is a de-ubiquitinating enzyme expressed in the brain and reproductive tissues as well as certain cancers. The hydrolase activity of UCH-L1 has been implicated in Alzheimer's disease and cancer invasion; therefore, it may represent a therapeutic target for these diseases. The present study was undertaken to identify novel chemical modulators for the hydrolase activity of UCH-L1. To identify chemicals that bind to the active site of UCH-L1, we carried out in silico structure-based drug screening using human UCH-L1 crystal structure data (PDB ID: 2ETL) and virtual compound libraries containing 26,891 and 304,205 compounds. Among the compounds with the highest binding scores, we identified one that potentiates the hydrolase activity of UCH-L1, and six that inhibit the activity in enzymatic assays. These compounds may be useful for research on UCH-L1 function, and could lead to candidate therapeutics for UCH-L1-associated diseases. (C) 2010 Elsevier Ltd. All rights reserved.

    DOI

  • アトラクタ設計による小型飛行船の自律的な周期運動の実現と解析

    SICE第10回制御部門大会   CD-ROM  2010.03  [Refereed]

  • LMIの分解を用いた同一非結合システム群に対する分散制御

    森田,内田

    SICE第10回制御部門大会   CD-ROM  2010.03  [Refereed]

  • 同一非結合システム群に対する分散型LQG制御

    松澤,内田

    SICE第10回制御部門大会   CD-ROM  2010.03  [Refereed]

  • Application of Improved Local Models of Large Scale Database-based Online Modeling to Prediction of Molten Iron Temperature of Blast Furnace

    Norio Kaneko, Shinroku Matsuzaki, Masahiro Ito, Haruhisa Oogai, Kenko Uchida

    ISIJ INTERNATIONAL   50 ( 7 ) 939 - 945  2010  [Refereed]

     View Summary

    The large scale database-based online modeling called LOM is the one of local modeling method. This method has been developed to apply the just-in-time modeling for the blast furnace by us. In this paper, we propose two new types of local models in LOM to improve the prediction performance. One is used weighted multiple regression model as a linear local model of LOM. The other is used on-line Bayesian learning model as a nonlinear local model of LOM. In order to compare the prediction performance of the two types of local models in LOM, we evaluate the prediction performance by using the real process data of the blast furnace.

  • Automobile On-demand Gear-shift Control Including Driver Characteristics

    Masayuki Okamoto, Shigeru Morimoto, Masataka Ohashi, Kenko Uchida

    2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS   CD-ROM   896 - 901  2010  [Refereed]

     View Summary

    In this paper, a new automobile gear-shift control for Continuously Variable Transmissions (CVTs) is presented. Conventional gear-shift control is based on so-called maps. Its setting is generally conservative and drivers can change shift maps themselves by operating switches such as a gear-shift or tip switches. However, it is troublesome for the drivers who are not positive for driving to operate them. To overcome this problem, we design a new gear-shift control for CVTs considering the driver characteristics of gear-shift operation based on a Just-In-Time(JIT) modeling. In addition, we reduce the number of input variables of the JIT model by linear regression in view of the limits on memory capacity and computational load for on-line calculation. Furthermore, the output of JIT model is smoothed with the least squares B-spline interpolation. Our experiments show that it has downshifted automatically on demand without driver's gear-shift operation when approaching curves.

  • Performance Evaluation of Circadian Clocks Fluctuated by Intrinsic Noise

    Yohei Ito, Kenko Uchida

    2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS   CD-ROM   506 - 511  2010  [Refereed]

     View Summary

    Using the linear noise approximation, we approch to the problem of evaluation and prediction of behavior of autonomous oscillatory genetic networks fluctuated by intrinsic noise. In this approach, the state covariance of the networks represents all the information concerning the fluctuation by intrinsic noise, and further, when the genetic network is an autonomous oscillatory system, the state covariance obeys a periodic Lyapunov differential equation that has generally unbounded solutions. Based on the analysis of stability and periodicity properties of the solution to the periodic Lyapunov differential equation, we propose two measures for evaluating intrinsic noise. Circadian clock is a typical example of autonoumous oscillatory genetic networks. Focusing on the simple core model (Gonze and Goldbeter, 2006) for circadian clocks and using the proposed measures, we evaluate robust performances concerning periodicity and amplitude of oscillations in the model fluctuated by intrinsic noise by changing system parameters.

  • Effects of Intrinsic Noise in Temperature-compensated Models for Circadian Rhythms

    S.Ichikawa, Y.Ito, G.Kurosawa, K.Uchida

    Proc. of ICROS-SICE Int'l Joint Conf. 2009   CD-ROM   200 - 205  2009.08  [Refereed]

  • 高炉操業データの3次元画像情報化と独立成分分析による操業監視

    伊藤,松崎, 内田,大貝

    計測自動制御学会産業論文集   8 ( 10 ) 82 - 89  2009.08  [Refereed]

  • Model Predictive Sensor Schedule

    E..Iwasa, K.Uchida

    SICE Journal of Control, Measurement, and System Integration   2 ( 3 ) 139 - 145  2009.05  [Refereed]

  • Periodic Lyapunov Differential Equation for Noise Evaluation in Oscillatory Genetic Networks

    Sho Ichikawa, Yohei Ito, Kenko Uchida

    2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3   CD-ROM   83 - 88  2009  [Refereed]

     View Summary

    The Lyapunov equation, which describes stochastic variations of systems as a covariance equation, plays a central role in evaluation and prediction of behavior of genetic regulatory networks fluctuated by molecular noises. When the genetic network is an autonomously oscillatory system, the Lyapunov equation becomes a periodic differential equation that has generally unbounded solutions. We discuss orbital stability and periodicity properties of the solutions to the periodic Lyapunov differential equation by using Floquet-Lyapunov theory, and propose two global measures for evaluating stochastic fluctuations of the whole periodic trajectory. We also provide an evaluation formula for the period fluctuation.

  • Synthesis of Autonomous Periodic Motion of a Small Blimp System Using the van der Pol Equation

    Satoru Okada, Yuki Matsuhashi, Kenko Uchida

    ASCC: 2009 7TH ASIAN CONTROL CONFERENCE, VOLS 1-3     953 - 958  2009  [Refereed]

     View Summary

    In this paper, we develop a method to realize an autonomous periodic motion of a small blimp system in a horizontal plane. The idea behind the method is to make the dynamics of a small blimp system approach asymptotically to that of the van der Pol equation that has a limit cycle. The method consists of the following two steps: First, we introduce two constraints. One has a role to connect the motion equation of a small blimp system with the van der Pol equation, and the other has a role to divide the coupled system into two independent systems. Second, we design an output stabilizing controller for each of two independent systems, so that the two constraints are fulfilled.

  • UCH-L1による細胞増殖促進

    三井,株田, 株田(千, 内田,和田

    第31回日本分子生物学会年会・第81回日本生化学会大会    2008.12  [Refereed]

  • 概日リズムの温度補償モデルに対する分子ゆらぎを考慮した確率シミュレーション

    市川, 伊藤,内田

    第51回自動制御連合講演会   CD-ROM   332 - 335  2008.11  [Refereed]

  • 生物システムにおけるマルチレベル統合モデリングの課題(講演)

    内田

    第51回自動制御連合講演会    2008.11  [Refereed]

  • 高炉の可視化と大規模データベースモデリング

    松崎,伊藤, 内藤,内田

    日本鉄鋼協会第156回秋季講演大会    2008.09  [Refereed]

  • 細胞の機能解析に向けた制御の視点

    内田

    第52回システム制御情報学会研究発表講演会講演論文集   CD-ROM   47 - 48  2008.05  [Refereed]

  • Development of an Operation Support System for the Blast Furnace in the Ironmaking Process: Large-scale Database-based Online Modeling and Integrated Simulators

    H.Ogai, M.Ogawa, K.Uchida, S.Matsuzaki, M.Ito

    SICE Journal Of Control, Measurement, and System Integration (SICE JCMSI)   1 ( 3 ) 199 - 206  2008.05  [Refereed]

  • ネットワークを介した離散時間システムの出力フィードバックゲインスケジューリング制御

    田井,内田

    SICE第8回制御部門大会   CD-ROM  2008.03  [Refereed]

  • ファン・デル・ポール方程式を用いた小型飛行船システムの自立的な周期運動の実現

    松橋,内田

    SICE第8回制御部門大会   CD-ROM  2008.03  [Refereed]

  • 概日リズムのロバスト温度保障モデル

    竹内, 市川,内田

    SICE第8回制御部門大会   CD-ROM  2008.03  [Refereed]

  • 視覚センサを用いた自律移動ロボットによる環境地図作成

    定方,内田

    平成20年電気学会全国大会講演論文集     118 - 119  2008.03  [Refereed]

  • オンラインペイズ学習による高炉操業予測

    坂本,内田, 大貝, 伊藤,松崎

    平成20年電気学会全国大会講演論文集     381 - 382  2008.03  [Refereed]

  • Aberrant molecular properties shared by familial Parkinson's disease-associated mutant UCH-L1 and carbonyl-modified UCH-L1

    T.Kabuta, R.Setsuie, T.Mitsui, A.Kinugawa, M.Sakurai, S.Aoki, K.Uchida, K.Wada

    Human Molecular Genetics   17 ( 10 ) 1482 - 1496  2008.02  [Refereed]

  • 座談会「制御と生命科学」 (生命科学と制御 第13回)

    山本,内田, 小原, 銅谷,木村

    計測と制御   47 ( 3 ) 237 - 247  2008  [Refereed]

  • 大規模データベースオンラインモデリングの逐次予測システムの構築と工業炉プロセスへの応用

    小川,葉,大貝, 立野,内田

    計測自動制御学会産業論文集   7 ( 4 ) 26 - 32  2008  [Refereed]

  • 大規模データベースオンラインモデリングの廃棄物処理プロセスへの応用とガイダンス手法の提案

    葉,小川,吉永, 大貝,内田

    計測自動制御学会産業論文集   7 ( 6 ) 40 - 47  2008  [Refereed]

  • モデル予測型LQGセンサスケジューリング

    岩佐,内田

    制御理論シンポジウム    2008  [Refereed]

  • 同一非干渉線形システム群に対する外乱抑制型分散制御

    荒木,内田

    制御理論シンポジウム    2008  [Refereed]

  • Prediction of Blast Furnace Operation using On-line Bayesian Learning

    N. Kaneko, S. Sakamoto, K. Uchida, H. Ogai, M. Ito, S. Matsuzaki

    2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4     1931 - +  2008  [Refereed]

     View Summary

    The large scale database-based online modeling, called LOM, is a type of Just-In-Time modeling for blast furnace. In this paper, we propose a new type of LOM using a nonlinear local model to improve the performance of the long-term prediction. To estimate the parameter of the nonlinear local model, we use on-line Bayesian learning scheme with Sequential Monte Carlo. The prediction performance of the new LOM is demonstrated by using the real process data of blast furnace.

  • Model Predictive Sensor Scheduling

    Eriko Iwasa, Kenko Uchida

    2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4     1947 - 1952  2008  [Refereed]

     View Summary

    The sensor scheduling is to select a sensor (or a group of sensors) from multiple sensors at each time step so as to perform optimally a task based on the sensed data. In this paper, we pose a model predictive type deterministic/stochastic sensor scheduling problem for discrete-time linear Gaussian time-varying systems, and develop an approach to solve these problems based on the dynamic programming recursion. We show first that, in a special case of deterministic scheduling where the Riccati recursion of error covariance satisfies a specific structural condition, the online optimization using the dynamic programming is reduced to a static optimization, so that the model predictive sensor scheduling can be easily implemented online. Next, we discuss the stochastic scheduling problem, and show an alternative condition of optimization reduction, which lead to a stochastic sensor scheduling easily implemented online. Finally, we propose two practical sensor schedulings for deterministic and stochastic case, and discuss an example to illustrate the two sensor schedulings.

  • Disturbance Attenuation Type Distributed Control for Identical Decoupled Linear Systems

    Jun Araki, Kenko Uchida

    2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4     1001 - 1006  2008  [Refereed]

     View Summary

    We propose a design method of disturbance attenuation type distributed control for identical decoupled linear systems together with conditions for stability of the closed loop global system. Using a simple example of formation flight corrupted by disturbances, we compare the design by the proposed method with that by the LQ control method in Borrelli and Keviczky (2006); we consider two kinds of disturbances, system disturbances and parameter variation. And we demonstrate that proposed method has superior robustness against disturbances.

  • Parameter Estimation for Temperature Compensation of Circadian Clocks Sept.9-12, 2007, Stuttgart, pp.153-158

    T.Takeuchi, S.Ichikawa, G.Kurosawa, K.Uchida

    Proc. of the FOSBE 2007     153 - 158  2007.09  [Refereed]

  • A temperature-compensated model for circadian rhythms that can be entrained by temperature cycles

    Tsutoniu Takeuchi, Takamichi Hinohara, Gen Kurosawa, Kenko Uchida

    JOURNAL OF THEORETICAL BIOLOGY   246 ( 1 ) 195 - 204  2007.05  [Refereed]

     View Summary

    From the viewpoint that reaction rates will change with temperature, we present a general method to build circadian clock models that generate circadian oscillations with almost constant period under different constant ambient temperature, and propose an algorithm estimating the parameter condition for compensated period against the change of temperature based on the PER single-feedback loop model of Goldbeter [1995. A model for circadian oscillations in the Drosophila period protein (PER). Proc. R. Soc. London Ser. B 261, 319-324] for Drosophila. We show that the model with derived parameters can realize the temperature compensation over a wide range of temperature, and simultaneously can realize the entrainment to temperature cycles. (c) 2007 Elsevier Ltd. All rights reserved.

    DOI

  • A temperature-compensated model for circadian rhythms that can be entrained by temperature cycles

    Tsutoniu Takeuchi, Takamichi Hinohara, Gen Kurosawa, Kenko Uchida

    JOURNAL OF THEORETICAL BIOLOGY   246 ( 1 ) 195 - 204  2007.05  [Refereed]

     View Summary

    From the viewpoint that reaction rates will change with temperature, we present a general method to build circadian clock models that generate circadian oscillations with almost constant period under different constant ambient temperature, and propose an algorithm estimating the parameter condition for compensated period against the change of temperature based on the PER single-feedback loop model of Goldbeter [1995. A model for circadian oscillations in the Drosophila period protein (PER). Proc. R. Soc. London Ser. B 261, 319-324] for Drosophila. We show that the model with derived parameters can realize the temperature compensation over a wide range of temperature, and simultaneously can realize the entrainment to temperature cycles. (c) 2007 Elsevier Ltd. All rights reserved.

    DOI

  • フラットネス特性を利用した小型飛行船の軌道追従制御

    立石,内田

    SICE第7回制御部門大会    2007.03  [Refereed]

  • 大規模データベースオンラインモデリングのプラットフォームフリーシステムの開発と高速化

    小川,吉永,葉, 大貝,内田

    SICE第7回制御部門大会    2007.03  [Refereed]

  • 軌道安定解析を用いた概日リズムモデルの評価

    日野原,内田

    SICE第7回制御部門大会    2007.03  [Refereed]

  • 時変な伝送遅延が存在するネットワークを介した線形システムのスライディングモード制御

    舩津,内田

    SICE第7回制御部門大会    2007.03  [Refereed]

  • マルチパラメトリック計画法を用いた昇圧型DC-DCコンバータのモデル予測制御

    赤芝,内田

    電気学会全国大会講演論文集   ( 第3分冊 ) 66 - 67  2007.03  [Refereed]

  • 状態可到達集合に基づく制約条件付ビジュアルサーボ系の構成—出力フィードバックによるアプローチ—

    井出,内田

    電気学会全国大会講演論文集   ( 第3分冊 ) 50 - 51  2007.03  [Refereed]

  • 時間ペトリネットによる大型輪転機の確率的故障診断

    藤倉,池谷, 内田,竹内

    電気学会全国大会講演論文集   ( 第3分冊 ) 27 - 28  2007.03  [Refereed]

  • Development of sequential prediction system for Large scale database-based Online Modeling

    Masatoshi Ogawa, Yeh Yichun, Harutoshi Ogai, Kenko Uchida

    ICCAS 2007 - International Conference on Control, Automation and Systems     1456 - 1459  2007

     View Summary

    This paper reports a sequential prediction system of "Large scale database-based Online Modeling (LOM)". The sequential prediction system predicts time-series process variables repeating processing that predicts process variables of next step by using the predicted process variables of previous step and prepared manipulated variables. Furthermore, the system is applied to the industrial reactor; Practical effectiveness of the system is verified. As the result, the system has predicted the process variables with satisfactory accuracy. The practical effectiveness has been confirmed. ©ICROS.

    DOI

  • 高炉操業における大規模データベースオンラインモデリングに基づく予測制御

    土方,森, 内田, 大貝, 伊藤,松崎

    材料とプロセス(日本鉄鋼協会第151回春季講演大会)   20 ( 2 )  2007  [Refereed]

  • 細胞制御問題のトピックスI -概日リズムとがん-

    内田

    計測と制御   46 ( 4 ) 325 - 330  2007  [Refereed]

  • 大規模データベースオンラインモデリングのクロスプラットフォームシステムの開発と高速化

    小川,田島, 大貝, 立野, 伊藤, 松崎,内田

    日本設備管理学会誌   19 ( 1 ) 1 - 8  2007  [Refereed]

  • スライディングモードを利用した離散入力システムの制御

    神谷,内田

    計測自動制御学会論文集   43 ( 6 ) 439 - 446  2007  [Refereed]

  • Evaluation of circadian clock model based on orbital stability

    Takamich Hinohara, Kenko Uchida

    Proceedings of the SICE Annual Conference     1348 - 1352  2007  [Refereed]

     View Summary

    The interactions among the components of biological systems, which are DNA, RNA and proteins, create specific cell functions. Recently, many works try to understand mechanism of the interactions from dynamical systems viewpoints, and for this problem, concepts and results in control engineering are expected to play significant role. However, the biological systems are generally nonlinear and complex, and are difficult objects of analysis and synthesis. In this paper, we propose an evaluation method, which is based on orbital stability analysis, of identifying important parts of nonlinear systems that have periodic orbits such as circadian rhythms or cell cycle control, and apply the method to a circadian rhythm model for Drosophila proposed by Leloup and Goldbeter (1998). © 2007 SICE.

    DOI

  • Gain scheduled output feedback control of discrete-time networked systems

    Masahiro Tai, Kenko Uchida

    PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3     243 - 248  2007  [Refereed]

     View Summary

    This paper discusses the H-infinity control synthesis for discrete-time linear networked systems with time-varying delays in input and output channels. The time-varying delays are assumed to take their values in finite sets, and assumed to be measurable only on line. Our formulation allows the (worst) case of random delays with no stochastic assumption. Considering delays as parameters, we first reformulate the H-infinity control problem for networked systems with time-varying delays into that for linear parameter-varying (LPV) systems with jumping parameters. Next, we present a sufficient condition, which is given as a finite set of linear matrix inequalities (LMIs) depending on values of parameters, for synthesizing a gain scheduled output feedback control for LPV systems with jumping parameters, and based on this condition, derive an output feedback controller scheduled with input-output delays. Finally, applying our controller to the networked system composed of the cart and inverted pendulum plant and the input-output channels with random jumping delays, we show that our controller, which does not assume any stochastic property on delays, displays a good performance almost similar to that of the existing stochastic H-infinity controller.

  • 分散制御とチーム/ゲーム理論:再訪と最近の発展

    内田

    計測と制御   46 ( 11 ) 835 - 840  2007  [Refereed]

  • On robust stability and sensitivity of circadian rhythms

    Kazuto Ogawa, Nao Takekawa, Kenko Uchida, Shigenobu Shibata

    ASIAN JOURNAL OF CONTROL   8 ( 3 ) 281 - 289  2006.09  [Refereed]

     View Summary

    We develop an approach to robustness analysis of circadian rhythms from the viewpoints of (local) robust stability of periodic trajectories and their period-sensitivity, based on mathematical models. Our attention is directed to the core molecular model generating circadian rhythms in Drosophila, proposed by Goldbeter [1], for our approach to be illustrated. We consider two cases when the circadian rhythms are subjected to periodic forcing by light/dark (LD) cycles and when the circadian rhythms are under continuous darkness (DID). First, we propose conditions/algorithms for (local) robust stability, and show that the circadian rhythms generated by the core molecular model are (locally) robustly stable, in both LD and DD cases. Second, in DD case, we derive a formula of period sensitivity, and assess effects of (infinitesimal) parameter-variations on the period of the circadian rhythms.

  • 概日時計における同調メカニズムと周期回復の可能性

    内田,竹内, 日野原

    第6回計測自動制御学会制御部門大会     445 - 448  2006.05  [Refereed]

  • 温度変動に関する周期感度最小化に基づく概日リズムのモデル

    竹内, 日野原, 内田

    第6回計測自動制御学会制御部門大会     441 - 444  2006.05  [Refereed]

  • 有界外乱に対する状態可到達集合に基づく制約条件付ビジュアルサーボ系の構成

    小溝,内田

    電気学会全国大会講演論文集     73 - 74  2006.03  [Refereed]

  • 位相幾何学的手法による幾何学情報を考慮した未知環境探索—サイクルのある環境の場合—

    徳間,内田

    電気学会全国大会講演論文集     98 - 99  2006.03  [Refereed]

  • 高炉操業における独立成分分析を併用した大規模データベースオンラインモデリング

    伊藤,松崎, 中村,森, 内田,大貝

    材料とプロセス(日本鉄鋼協会第151回春季講演大会)   19 ( 2 )  2006  [Refereed]

  • 入力むだ時間系とH-infinity制御

    児島, 内田

    計測と制御   45 ( 1 ) 67 - 74  2006.01  [Refereed]

  • 時変の伝送遅れが存在する通信路を介した線形システムのH-infinity予測制御

    御崎, 内田, 東, 藤田

    計測自動制御学会論文集   42 ( 1 ) 11 - 16  2006.01  [Refereed]

  • Blast furnace operation support system integrated with partial unsteady simulator and LOM

    Masatoshi Ogawa, Junichi Tajima, Harutoshi Ogai, Masahiro Ito, Shinroku Matsuzaki, Kenko Uchida

    Proceedings of the 2006 IEEE International Conference on Control Applications, Vols 1-4     1523 - 1528  2006  [Refereed]

     View Summary

    In the field of pig ironmaking process, operation malfunction is caused by both enlarging a blast furnace and increasing use of low quality ore. Thus, operation support systems predicting a blast furnace performance are demanded. This paper reports a Java-based operation support system integrated with a "Large-scale database-based Online Modeling (LOM)" and a blast furnace simulator. The system predicts blast furnace performance by combining the partial unsteady simulator of the physical modeling method and the LOM of the local modeling method and supports the operation. To construct the system, the Java-based partial unsteady simulator is developed and the existing LOM is rebuilt by using versatile database and Java to realize the generalized LOM with general versatility. These systems are integrated by using Java.

  • Control theoretic views on circadian rhythms

    T. Takeuchi, T. Hinohara, K. Uchida, S. Shibata

    PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4     1064 - 1069  2006  [Refereed]

     View Summary

    Circadian rhythms, which are observed in most of living things, e.g. bacteria, fungi, plants, and animals, are self-sustained oscillations with about 24 hours period, and have the following properties: The first property is that the oscillation is entrained by light/dark cycles; the second one is that the oscillation, especially the period of the oscillation, is robust against changes of environment. In this paper, we investigate these two properties from control theoretic viewpoints. First, considering light/dark cycle as periodic control input, we try to explain how periodic control inputs can entrain one self-sustained circadian oscillator described by a core molecular model for Drosophila by Goldbeter (1995). Second, for structural understanding of robustness of circadian rhythms, we propose an evaluation method of the robustness based on period sensitivity, and try to design some rate parameters, which are regarded as control parameters, based on some optimizations using a robustness measure, when a rate parameter is moved to outside of normal area by environmental changes.

  • Constrained visual servoing based on reachable sets for systems with bounded disturbance

    Satoru Ide, Tomoya Komizo, Kenko Uchida

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   CD-ROM   5336 - +  2006  [Refereed]

     View Summary

    Visual Servoing (VS) has so many advantages and potentialities in applications that it has been studied intensively from several viewpoints. To realize VS, we have to deal with constraints necessary for VS such as keeping all features of moving target in the field of view and avoiding saturation of manipulator torque limitation. In this paper, we propose a new method to construct VS system taking the constraints for VS into account explicitly based on reachable sets for systems with bounded disturbance. We propose also a switching strategy to get the controller more high performance in addition to constraint fulfillment. We demonstrate efficacies of this method by performing a experiment of VS using 6link manipulator PA10.

  • Development of generalized large-scale database-based online modeling and its speed-enhancement technology

    Junichi Tajima, Masatoshi Ogawa, Yuya Yoshinaga, Harutoshi Ogai, Kenko Uchida, Masahiro Ito, Shinroku Matsuzaki

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13     973 - +  2006  [Refereed]

     View Summary

    In this paper, development of LOM with general versatility (Generalized LOM) and its speed enhancement technology are described. An existing LOM is rebuilt by using versatile database and Java to realize the "Generalized LOM". The Generalized LOM doesn't depend on the software platform and it is convenient to use the network and the visualization. Furthermore, the speed of the Generalized LOM is enhanced. The processing time is shortened without reducing the prediction accuracy.

  • Application of partial unsteady simulator and LOM for blast furnace operation support

    Masatoshi Ogawa, Yichun Yeh, Junichi Tajima, Harutoshi Ogai, Kenko Uchida, Shinroku Matsuzaki, Masahiro Ito

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13     977 - +  2006  [Refereed]

     View Summary

    In the field of pig ironmaking process, operation malfunction is caused by both enlarging a blast furnace and increasing use of low quality ore. Thus, operation support systems predicting a blast furnace performance are demanded. This paper reports application of a partial unsteady simulator and a "Large-scale database-based Online Modeling (LOM)"for blast furnace operation support. First, the partial unsteady simulator constructed by using steady model as fundamental model is described. Second, a generalized LOM rebuilt by the existing LOM system is introduced. Third, a Java-based operation support system is described. The system is realized by combining the simulator of the physical modeling method and the LOM of the local modeling method. The system predicts dynamic molten pig-iron temperature in blast furnace. To predict the dynamic molten pig-iron temperature, a basic tank model of metal and slag is incorporated into. the simulator. Functions representing effect of pulverized coal injection are incorporated into the unsteady model.

  • Large scale database-based online modeling using ICA of visualized process data for blast furnace operation

    Y. Hijikata, J. Mori, K. Uchida, H. Ogai, M. Ito, S. Matsuzaki, K. Nakamura

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13     982 - +  2006  [Refereed]

     View Summary

    The large scale databace-based online modeling, called LOM, is a type of Just-In-Time modeling for blast furnace. The database of LOM is so far built by quantizing directly measurement process data. Recently it has been shown that the image data generated by visualizing shaft pressure and stave temperature is very useful for blast furnace operation and guidance. In this paper we try to extend LOM to the one incorporated with the visualized process data. First we extract features of the visualized process data by using independent component analysis (ICA), and add the features (independent components) of the visualized process data, as process data, to the database of LOM. Prediction performance of the extended LOM is illustrated by using real process data.

  • ニューラルネットワークによる予測を利用した移動物体の追従システム

    第48回自動制御連合講演会    2005.11  [Refereed]

  • 離散入力アファインシステムにおけるスライディングモードを用いた制御

    第34回制御理論シンポジウム     425 - 432  2005.10  [Refereed]

  • 画像情報化した高炉操業データの独立成分分析

    日本鉄鋼協会第150回秋季後援大会    2005.09  [Refereed]

  • Robustness Analysis of Stability and Periodicity in Circadian Rhythms

    K.Ogawa, N.Takekawa, T.Hinohara, K.Uchida, S.Shibata

    Proc. of Foundations of Systems Biology in Engineering (FOSBE)2005     81 - 84  2005.08  [Refereed]

  • An Evolution Architecture for Circadian Rhythms using Adaptive Learning Systems with Error Feedbacks

    T.Azuma, K.Uchida, M.Fujita, S.Shibata

    Proc. of Foundations of Systems Biology in Engineering (FOSBE)2005     77 - 80  2005.08  [Refereed]

  • Java-based Integrating Simulator for Blast Furnace

    K.Koga, M.Ogawa, H.Ogai, M.Ito, K.Uchida

    .Preprints of the 16th IFAC World Congress     CD - ROM  2005.07  [Refereed]

  • 分子モデルによる哺乳類の概日リズムのロバスト性解析

    SICE第5回制御部門大会     695 - 698  2005.05  [Refereed]

  • Javaによる高炉統合シミュレータと統合可視化システム

    小川, 大貝, 古賀, 伊藤, 松崎, 内田, 田島

    計測自動制御学会産業論文集   4 ( 13 ) 91 - 97  2005.05  [Refereed]

  • 位相幾何学的手法と幾何学的手法を併用した未知環境探索

    電気学会全国大会    2005.03  [Refereed]

  • 画像データビジュアルサーボにおける三次元復元を利用した軌道計画法

    電気学会全国大会     3  2005.03  [Refereed]

  • 区分的線形システムに対するH∞フィルタの設計

    電気学会全国大会     4  2005.03  [Refereed]

  • 高炉操業統合可視化システム

    電気学会全国大会     3 - 312  2005.03  [Refereed]

  • 大規模データベースオンラインモデリング-高炉への適用-

    内田, 大貝, 伊藤

    計測と制御   44   107 - 111  2005.02  [Refereed]

  • プロセスのモデリングと制御・監視

    内田, 山下, 加納

    計測と制御.   44   83 - 85  2005.02  [Refereed]

  • 生物における制御理論の課題

    平成17年度電気関係学会北陸支部連合大会    2005  [Refereed]

  • Blast Furnace Operation Guidance by Java-based Simulator

    SICE2005    2005  [Refereed]

  • Gain-scheduling controller design for TCP/AQM considering router queue length and time-delay

    M Kishi, Y Funatsu, T Azuma, K Uchida

    IECON 2005: THIRTY-FIRST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3     395 - 399  2005  [Refereed]

     View Summary

    In this paper, we design Active Queue Management scheme for dynamical models of compuer network based on control theory. TCP/AQM (Transmission Control Protocol/Active Queue Management) network models are nonlinear and including time-delay. Taking these characteristics into account explicitly, we popose a new design method of AQM controller. Especially, paying attention that time-delay is depend on queue length clearly, we suggest an appropriate gain-scheduling controller based on new type of Linear Parameter Varying (LPV) systems with parameterdependent time-delay. Effectiveness of the proposed method is evaluated by using matlab and ns-2(Network Simulator Ver. 2).

  • ロバスト安定論から概日リズム分子機構を見る

    第33回制御理論シンポジウム    2004.11  [Refereed]

  • H∞予測制御の性能とその限界

    第47回自動制御連合講演会    2004.11  [Refereed]

  • サンプル点間状態予測器を用いたビジュアルフィードバック系の構成

    第47回自動制御連合講演会    2004.11  [Refereed]

  • むだ時間を持つ電気油圧サーボ系のゲインスケジューリング制御

    杉山, 内田

    日本機械学会論文集C編   70 ( 699 ) 160 - 167  2004.11  [Refereed]

  • LPV systems Characterization of H-infinity Control for Linear Systems with Time-Varying Communication Delays

    M.Misaki, K.Uchida, T.Azuma, M.Fujita

    Proc. of the 5th IFAC Workshop on Time-Delay Systems     CD - ROM #125  2004.09  [Refereed]

  • Large scale detabase Online Modeling for Blast Furnace

    M.Ito, S.Matsuzaki, N.Odate, K.Uchida

    Proc. of IEEE Conference on Control Applications 2004     906 - 911  2004.09  [Refereed]

  • Gain Scheduling Control for Electro-hydraulic Servo System Considering Time-delay Modeling Error

    T.Sugiyama, K.Uchida

    Proc. of IEEE Conference on Control Applications 2004     CR  2004.09  [Refereed]

  • Development of the Blast Furnace Integrated Java-Based Simulator

    M.Koga, H.Ogai, M.Ogawa, M.Ito, K.Uchida, S.Matsuzaki

    roc. Of IEEE Conference on Control Applications 2004     1290 - 1295  2004.09  [Refereed]

  • Memory Output Feedback Control with Constrained Feedback Gains for Linear Time Delay Systems

    T.Azuma, M.Fujita, K.Uchida

    Proc. of Asian Control Conference 2004     2015 - 2021  2004.07  [Refereed]

  • Another look at finite horizon H-infinity control problems for systems with input delays

    K Uchida, M Fujita, K Ikeda

    AUTOMATICA   40 ( 6 ) 977 - 984  2004.06  [Refereed]

     View Summary

    We discuss a finite horizon H-infinity control problem for time-varying systems with input delays. Clarifying a relationship between two H-infinity control problems in input delay case and in measurement delay case, we derive a solution in input delay case based on the known result for the H-infinity control problem in measurement delay case, and show that the solution has the same predictor-observer structure as the solution in measurement delay case has. Using this structural information on the solution, we also present an elementary proof of the solution to the finite horizon H-infinity control problem for systems with input delays, which is based only on completion of squares. (C) 2004 Elsevier Ltd. All rights reserved.

    DOI

  • 大規模データベースオンラインモデリング技術の高炉への適用

    日本鉄鋼協会第133回制御技術部会資料    2004.06  [Refereed]

  • Identification of Secondary Path in ANC Using Diagonal Recurrent Neural Networks with EKF Algotithm

    R.T.Bambang, R.R.Yacoub, K.Uchida

    Proc. of Asian Control Conference 2004     664 - 672  2004.06  [Refereed]

  • 時変の伝送遅延が存在する通信路を介した線形システムのH∞予測制御

    SICE第4回制御部門大会    2004.05  [Refereed]

  • 入力の拘束を考慮した空調システムの省エネルギー型モデル予測制御

    電気学会全国大会    2004.03  [Refereed]

  • オブザーバを用いた複数モデルベース強化学習

    電気学会全国大会    2004.03  [Refereed]

  • オプティカルフローに基づく実環境でのビジュアルサーボの実現

    電気学会全国大会    2004.03  [Refereed]

  • Gain-scheduled velocity and force controllers for electrohydraulic servo system

    T Sugiyama, K Uchida

    ELECTRICAL ENGINEERING IN JAPAN   146 ( 3 ) 65 - 73  2004.02  [Refereed]

     View Summary

    The load variation of the electrohydraulic servo system causes degradation of the control characteristic. This is because the flow characteristic of the flow control valve depends on the load condition. Here, we propose the flow calculation formula to have continuous flow between turbulent and laminar flow so that we compose the linear plant model with a scheduling parameter. Then, we design gain-scheduled controllers for the velocity and hydraulic force control. (C) 2003 Wiley Periodicals, Inc. Electr Eng Jpn, 146(3): 65-73, 2004; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ eej.10239.

    DOI

  • Filtered-X Radial Basis Function Neural Networks for Active Noise Control

    R.Bambang, A.Lazuardi, K.Uchida

    Proc. ITB Eng. Science   36 ( 1 ) 21 - 42  2004  [Refereed]

  • 高炉操業における大規模データベースオンラインモデリング

    伊藤, 松崎, 大貝, 大館, 内田, 斉藤, 佐々木

    鉄と鋼   90   59 - 66  2004  [Refereed]

  • On the H-infinity Control System Design Attenuating Initial State Uncertainties

    T.Namerikawa, M.Fujita, R.S.Smith, K.Uchida

    Trans. SICE   40 ( 3 ) 307 - 314  2004  [Refereed]

  • On robustness of periodic trajectories in circadian systems

    K Ogawa, N Takekawa, K Uchida, S Shibata

    ISCCSP : 2004 FIRST INTERNATIONAL SYMPOSIUM ON CONTROL, COMMUNICATIONS AND SIGNAL PROCESSING     181 - 184  2004  [Refereed]

     View Summary

    In this paper, we approach to robustness of circadian rhythms from the viewpoint of (local) robust stability of periodic trajectories. We use the core molecular model proposed by Goldbeter (1995) for cases when the circadian rhythms are not only subjected to periodic forcing by light/dark (LD) cycles but also under continuous darkness. We propose conditions/algorithms to test the robustness for both cases.

  • Smooth bending and stretching of a triple inverted pendulum by H-infinity/mu control

    K Kamiya, A Ogawa, K Suzuki, K Uchida

    SICE 2004 ANNUAL CONFERENCE, VOLS 1-3     581 - 584  2004  [Refereed]

     View Summary

    This paper focuses on designing control laws to bend and stretch a triple inverted pendulum smoothly. It is difficult to realize bending and stretching with only one controller based on the linearized model at a specific equilibrium point. We propose the method that make the range covered by one linear controller wider and realize the movement by one controller.

  • Large scale database-based online modeling on blast furnace operation

    Masahiro Ito, Shinmku Matsuzaki, Harutoshi Ogai, Naoki Odate, Kenko Uchida, Shinichi Saito, Nozomi Sasaki

    Tetsu-To-Hagane/Journal of the Iron and Steel Institute of Japan   90 ( 11 ) 917 - 924  2004  [Refereed]

     View Summary

    With the advance of computer hardware performance and database system technology, it has been practicable to store and to search for a large quantity of data. So that Local modeling method, such as Just-In-Time modeling, has become very attractive in recent years. We have developed "Large scale database-based Online Modeling" as the practical method based on the Just-In-Time modeling concept on blast furnace operation, which has very complicated physical phenomena and strong non-linear specific characteristics. The validity of the developed modeling method has been confirmed by the study with blast furnace operation data, then the past similar operation data have been searched and the prospective operation data have been estimated very quickly and precisely.

    DOI

  • スケジューリング制御を用いた三重倒立振子の屈伸運動

    第46回自動制御連合講演会論文集     807 - 808  2003.11  [Refereed]

  • 独立成分分析を併用したデータベースオンラインモデリングと予測制御

    第46回自動制御連合講演会論文集     864 - 865  2003.11  [Refereed]

  • 一般化予測制御による空調システムの温湿度制御

    第46回自動制御連合講演会論文集     557 - 558  2003.11  [Refereed]

  • 位相幾何学的アプローチを用いた未知環境探索による幾何学マップの獲得

    第46回自動制御連合講演会論文集     50 - 53  2003.11  [Refereed]

  • Predictive H-infinity Control for Linear Systems over Communication Channels with Time-Varying Delays

    K.Uchida, Y.Misaki, T.Azuma, M.Fujita

    Proc. of the 4th IFAC Workshop on Time-Delay Systems   CD-ROM(MM2-5)  2003.09  [Refereed]

  • Memory Observer-Based Output Feedback Control for Linear Time-Delay Systems

    T.Azuma, H.Naito, S.Sagawa, F.Fijita, K.Uchida

    Proc. of the 4th IFAC Workshop on Time-Delay Systems   CD-ROM(TM1-5)  2003.09  [Refereed]

  • H∞ control for time delay systems - state predictive approach -

    SICE2003     567 - 570  2003.08  [Refereed]

  • Active Noise Control in Three Dimension Space Using Diagonal Recurrent Neural Networks

    R.Bambang, K.Uchida, B.Wardhana

    Proc. of the 32nd International Congress and Exposition on Noise Control Engineering    2003.08  [Refereed]

  • Finite-dimensional characterizations of H-infinity control for linear systems with delays in input and output

    K Uchida, K Ikeda, T Azuma, A Kojima

    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL   13 ( 9 ) 833 - 843  2003.07  [Refereed]

     View Summary

    We formulate H-infinity control problems for linear systems with delays in input and output, and discuss possibility of finite-dimensional characterizations of solutions. In the case when delay exists in control input and controlled output, first, we derive an output feedback H-infinity control formula of the central solution type, Which is given by using solutions of finite- and infinite-dimensional Riccati matrix inequalities. Second, we show that, if the controlled output is chosen such that it satisfies the 'prediction condition', the solution to the infinite-dimensional Riccati inequality can be calculated by solving a finite-dimensional Riccati inequality. We provide a system theoretic interpretation for the prediction condition, and show that, if the prediction condition is satisfied, there is an equivalent H-infinity control problem for finite-dimensional linear systems with no delay. Finally, the equivalence result is extended to the case when delay exists also in measurement output. Copyright (C) 2003 John Wiley Sons, Ltd.

    DOI

  • Quadratic cost output feedback control for bilinear systems

    S Sasaki, K Uchida

    INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE   34 ( 5 ) 345 - 355  2003.04  [Refereed]

     View Summary

    This paper considers output feedback control problems for bilinear systems with a quadratic cost function and develops a robust control theory approach. A key point of the approach is to regard once the bilinear term as a term with unknown parameters and then use some robust control synthesis methods. This approach derives two types of nonlinear output feedback controller that guarantee an upper bound for the cost function. Efficiencies of the proposed approach are also demonstrated through a numerical example.

    DOI

  • むだ時間を有す電気油圧サーボ系のゲインスケジューリング制御

    日本機会学会第8回「運動と振動の制御」シンポジウム    2003  [Refereed]

  • 目標操作量の切り換えによる省エネルギー型空調制御

    高畑, 内田, 平

    電気学会論文誌C   Vol.123-C, No.9   1597 - 1604  2003  [Refereed]

  • 線形むだ時間システムの可到達集合解析と拘束つきH-infinityコントローラ設計への応用

    池田, 内田

    電気学会論文誌C   Vol.123-C;No.1   50 - 56  2003  [Refereed]

  • 最適制御とゲインスケジューリング

    内田

    ふぇらむ   Vol.8,No.6   19 - 22  2003  [Refereed]

  • ゲインスケジューリング制御とその周辺

    内田

    電気学会論文誌C   Vol.123-C, No.6   1040 - 1044  2003  [Refereed]

  • Output feedback control synthesis for linear time-delay systems via infinite-dimensional LMI approach

    T Azuma, S Sagara, M Fujita, K Uchida

    42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS     4026 - 4031  2003  [Refereed]

     View Summary

    This paper considers synthesis problems of output feedback controllers for linear time-delay systems via infinite-dimensional Linear Matrix Inequality (LMI) approach. Based on our recent work considering synthesis problems of stabilizing dynamic output feedback controllers which guarantee the internal stability of the dosed loop systems, we derive existence conditions and explicit formulas of two different dynamic output feedback H-infinity controllers, which guarantee the internal stability of the closed loop systems and a prescribed level of L-2 gain of closed loop systems. The derived dynamic output feedback H-infinity controllers can be interpreted as controllers which consist of memory state feedback controllers and memoryless/memory observers which have new observer structures. Next, we introduce a technique to reduce conditions for synthesis in the form of infinite-dimensional LMIs to the finite number of LMIs, and present. a feasible algorithm for synthesis of output feedback H-infinity controllers based on the finite-dimensional LMIs. Finally we demonstrate the efficacy of the proposed output feedback H-infinity controllers by numerical examples.

  • A practical linear identification method based on geometric representation of time invariant continuous systems

    R Watanabe, K Uchida

    42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS     1126 - 1131  2003  [Refereed]

     View Summary

    In this paper, we propose a geometric point of view for linear time invariant continuous systems and the method of identification based on this point of view. We also discuss the influence of observation noise on the evaluation of the system in our method based on the set membership approach. Then we demonstrate the proposed method of identification in experiment for a DC motor system.

  • データベースオンラインモデリングによる予測制御

    第45回自動制御連合講演会講演論文集     371 - 372  2002.11  [Refereed]

  • On Input Delay and Measurement Delay in H-infinity Control Problems

    K.Uchida

    Proc. of the 10th Japanese-German Seminar on Nonlinear Problems in Dynamical Systems    2002.10  [Refereed]

  • 通信路における情報遅れを考慮した制御問題

    平成14年電気学会電子・情報・システム部門大会講演論文集     113 - 114  2002.09  [Refereed]

  • H-infinity Control for Linear Systems with Multiple Time-delays

    T.Azuma, K.Uchida, M.Fujita

    Proc. of the 4th Asian Control Conference     2152 - 2155  2002.09  [Refereed]

  • Memory state feedback control synthesis for linear systems with time delay via a finite number of linear matrix inequalities

    T Azuma, K Ikeda, T Kondo, K Uchida

    COMPUTERS & ELECTRICAL ENGINEERING   28 ( 3 ) 217 - 228  2002.05  [Refereed]

     View Summary

    In this paper, we consider a synthesis problem of delay-dependent memory state feedback control which stabilizes linear time-delay systems. First we derive conditions for stability analysis and controller synthesis in the form of infinite-dimensional (parameter-dependent) linear matrix inequalities (LMIs), while infinite dimensionality of the LMIs may lead to less conservative results, but makes the conditions difficult to use. Second we show a technique to reduce the infinite-dimensional LMIs to a finite number of LMIs. A numerical example is given to demonstrate out approach. (C) 2002 Elsevier Science Ltd. All rights reserved.

  • ビジュアルサーボによるヘリコプタモデルの姿勢制御-サンプル値制御によるアプローチ-

    電気学会システム・制御研究会    2002.03  [Refereed]

  • 入出力端の変動を考慮した線形制御則の構成法

    電気学会システム・制御研究会    2002.03  [Refereed]

  • 目標操作量の切り換えによる省エネルギー型空調制御

    電気学会システム・制御研究会    2002.03  [Refereed]

  • 海洋観測のための中層フロートの浮力制御

    電気学会システム・制御研究会    2002.03  [Refereed]

  • 複数自律移動ロボットの協調行動による環境認識

    平成14年電気学会全国大会    2002.03  [Refereed]

  • 通信遅れを考慮した遠隔制御-モデル予測制御によるアプローチ-

    平成14年電気学会全国大会    2002.03  [Refereed]

  • Steamed Palm Classification by Decision Trees and Neural Network

    平成14年電気学会全国大会    2002.03  [Refereed]

  • 海洋観測のための中層フロートの省エネルギー型浮力制御

    平成14年電気学会全国大会    2002.03  [Refereed]

  • 入力飽和制限のある線形むだ時間システムの安定化

    制御理論シンポジウム    2002  [Refereed]

  • 電気油圧サーボ系における速度および推力のゲインスケジューリング制御

    杉山, 内田

    電気学会論文誌D   122-D;11  2002  [Refereed]

  • 線形むだ時間システムにおけるL2ゲイン解析と状態フィードバック制御-無限次元LMIアプローチ-

    池田, 東, 内田

    電気学会論文誌C   Vol.122-C;No.1   90 - 98  2002  [Refereed]

  • 可調整パラメータを有するロバストモデル規範制御系-出力可到達集合解析に基づく設計

    渡辺, 片山, 内田

    システム制御情報学会論文誌   Vol.15, No.8   387 - 395  2002  [Refereed]

  • Switching Form Velocity to Force Control for Electro-hydraulic Servosystems Based on LPV Systems Modeling

    T.Sugiyama, K.Uchida

    Proc. of the IFAC World Congress, CD-ROM(#T-Tu-A16-5    2002  [Refereed]

  • Gain scheduled velocity and force controllers for the electro-hydraulic servosystem

    T Sugiyama, K Uchida

    PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6   1-6   4433 - 4438  2002  [Refereed]

     View Summary

    The load variation of the electro-hydraulic servosystem causes degradation of the control characteristic. This is because the flow characteristic of the flow control valve depends on the load condition. Here, we propose the flow calculation formula to have continues flow between turbulent and laminar flow so that compose the linear plant model with a scheduling parameter. Then, design gain scheduled controllers for the velocity and hydraulic force control.

  • Adaptive identification as gain scheduling

    Ryo Watanabe, Kenko Uchida

    Proceedings of the American Control Conference   2   1532 - 1537  2002  [Refereed]

     View Summary

    In this paper, we consider the Lyapunov approach to adaptive identification for systems with unknown time invariant parameter. We describe the adaptive identification problem as stability analysis for linear parameter varying system, and then discuss the convergence of identification error and its convergence rate based on parameter dependent Lyapunov function.

    DOI

  • A generalized H-infinity control system design attenuating initial state uncertainties

    T Namerikawa, M Fujita, RS Smith, K Uchida

    PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6   1-6   2204 - 2209  2002  [Refereed]

     View Summary

    This paper deals With a generalized H-infinity control attenuating initial-state uncertainties. An H-infinity control problem, which treats a mixed attenuation of disturbance and initial-state uncertainty for linear time-invariant systems in the infinite-horizon case, is examined. The mixed attenuation supplies H-infinity controls with good-transients and assures H-infinity controls of robustness against initial-state uncertainty. We derive a necessary and sufficient condition of the generalized mixed attenuation problem. Furthermore we apply this proposed method to a magnetic suspension system, and evaluate attenuation property of the proposed generalized H (infinity) control approach.

  • DSP based RBF neural modeling and control for active noise cancellation

    RT Bambang, L Anggono, K Uchida

    PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL     460 - 466  2002  [Refereed]

     View Summary

    This paper presents active control of acoustic noise using radial basis function (RBF) networks and its digital signal processor (DSP) real-time implementation. The neural control system consists of two stages: first, identification (modeling) of secondary path of the active noise control using RBF networks and its learning algorithm, and secondly neural control of primary path based on neural model obtained in the first stage. A tapped delay fine is introduced in front of controller neural, and another tapped delay line is inserted between controller neural networks and model neural networks. An algorithm referred to as FX-RBF is proposed to account for secondary path effects of the control system arising in active noise control. The resulting algorithm turns out to be the filtered-X version of the standard RBF learning algorithm. We address centralized and decentralized controller configuration and their DSP implementation is carried out. Effectiveness of the neural controller is demonstrated by applying the algorithm to active noise control within a 3 dimension enclosure to generate quiet zones around error microphones. Results of the real-time experiments shows that 10-30 dB noise attenuation is obtained, are better than those obtained by classical least mean-square technique, such as FX-LMS.

  • 入出力分散に関する線形系の有界性

    電気学会東京支部茨城支所研究発表会    2001.12  [Refereed]

  • Another Look at Finite Horizon H-infinity Control Problems for Systems with Input Delays

    K.Uchida, M.Fujita, K.Ikeda

    Proc. of the 3<SUP>rd</SUP> IFAC Symposium on Time Delay Systems, Santa Fe     22 - 27  2001.12  [Refereed]

  • An Approach to Constarined State Feedback H-infinity Control Synthesis

    K.Ikeda, K.Uchida

    Proc. of the 3<SUP>rd</SUP> IFAC Symposium on Time Delay Systems, Santa Fe     35 - 40  2001.12  [Refereed]

  • 我が国における中層フロートの開発・第二報

    海洋調査技術学会第13回研究成果発表会プログラム    2001.11  [Refereed]

  • 入力むだ時間システムの有限時間区間H∞制御

    第30回制御理論シンポジウム     32 - 33  2001.11  [Refereed]

  • 線形時不変システムの幾何学的な解釈に基づいたシステムパラメータの同定-実験による検証-

    第30回制御理論シンポジウム    2001.11  [Refereed]

  • A noise attenuation property of the Kalman filter

    K.Yamanaka, K.Uchida

    Proc. of the 33rd ISCIE Int'l Symposium on Stochastic Systems Theory     246 - 248  2001.10  [Refereed]

  • Reachable Set Analysis and Constrained H∞Control Synthesis for Linear Time-Delay Systems

    Proc. of the SICE/ICASE Workshop    2001.07  [Refereed]

  • むだ時間を考慮した空調システムの制御

    SICE2001    2001.07  [Refereed]

  • Gain Scheduling Control Application for aPassenger Aircraft

    日本機械学会第7回「運動と振動の制御」シンポジウム     498 - 501  2001.04  [Refereed]

  • Active Control of Acoustic Noise Using Adaprtive H∞Filter Algorithm

    日本機械学会第7回「運動と振動の制御」シンポジウム     506 - 509  2001.04  [Refereed]

  • Active Control of Acoustic Noise using redial Vasis Unction Neural Networks

    R.T.Bambang, L.Anggono, K.Uchida

    Poc. Of MIC 2001   1   442 - 448  2001.02  [Refereed]

  • 油圧推力に依存したLPVモデルと速度・推力制御機の設計

    SICE制御部門大会    2001  [Refereed]

  • 入力の大きさを制御したメモリーレスフィードバックによるむだ時間システムのH∞制御

    SICE制御部門大会    2001  [Refereed]

  • ゲインスケジューリングとしてのモデル規範型適応制御

    SICE制御部門大会    2001  [Refereed]

  • 超磁歪材アクチュエータを有する直動型サーボ弁のモデリングとゲインスケジューリングによるスプール位置制御

    杉山, 内田

    システム制御情報学会論文誌   14; 3   110 - 116  2001  [Refereed]

  • ゲインスケジューリングとしての適応同定

    渡辺, 内田

    計測と制御   Vol.40;No.10   729 - 734  2001  [Refereed]

  • Infinite-dimensional LMI approach to analysis and synthesis for linear time-delay systems

    K Ikeda, T Azuma, K Uchida

    KYBERNETIKA   37 ( 4 ) 505 - 520  2001  [Refereed]

     View Summary

    This paper considers an analysis and synthesis problem of controllers for linear time-delay systems in the form of delay-dependent memory state feedback, and develops an Linear Matrix Inequality (LMI) approach. First, we present an existence condition and an explicit formula of controllers, which guarantee a prescribed level of L-2 gain of closed loop systems, in terms of infinite-dimensional LMIs. This result is rather general in the sense that it covers, as special cases, some known results for the cases of delay-independent/dependent and memoryless/memory controllers, while the infinity dimensionality of the LMIs makes the result difficult to apply. Second, we introduce a technique to reduce the infinite-dimensional LMIs to a finite number of LMIs, and present a feasible algorithm for synthesis of controllers based on the finite-dimensional LMIs.

  • ゲインスケジューリング-適応・非線形制御への展開

    第1回「適応学習制御調査研究会」資料    2000.11  [Refereed]

  • 適応同定に対するリアプノフアプローチについての考察

    第23回Dynamical System Theoryシンポジウム    2000.11  [Refereed]

  • 入力の大きさを制限した状態フィードバックによるむだ時間システムのH∞制御

    第23回Dynamical System Theoryシンポジウム     29 - 32  2000.11  [Refereed]

  • Finite-Dimensional Characterizations of Analysis and Synthesis for Time-Delay Systems

    K.Uchida

    Proc. Of the 9th German-Japanese Seminar Nonlinear Problems in Dyamical Systems    2000.08  [Refereed]

  • 物理法則に基づく空調システムのモデリングと制御

    SICE2000    2000.07  [Refereed]

  • 線形むだ時間システムの可到達集合解析

    SICE2000    2000.07  [Refereed]

  • モデル予測と最適化

    第44回システム制御情報学会研究発表講演会    2000.05  [Refereed]

  • リアプノフ関数に基づいたシステムパラメータの推定

    第29回制御理論シンポジウム     301 - 304  2000.05  [Refereed]

  • 画像処理に伴う演算時間を考慮したビジュアルサーボ

    電気学会全国大会    2000.03  [Refereed]

  • 協調性のある複数自律移動ロボットによる環境認識

    電気学会全国大会    2000.03  [Refereed]

  • 線形むだ時間システムに対する無限次元線形行列不等式アプローチにおける凸多面体の一構成法

    電気学会全国大会    2000.03  [Refereed]

  • 自動車の自動操舵—ビジュアルサーボによるアプローチ—

    藤原, 小森, 藤田, 内田

    計測と制御   Vol.39, No.2   130 - 134  2000  [Refereed]

  • 遺伝的アルゴリズムによる最適Look-up-Tableを用いた閉ループ系の構成

    尾花, 渡辺, 内田

    電気学会論文誌C   120-C; 6   819 - 824  2000  [Refereed]

  • ビジュアルサーボによる自動車の自動操縦

    小森, 藤原, 藤田, 内田

    電気学会論文誌C   120-C; 4   501 - 506  2000  [Refereed]

  • Resolution Improvement of the Actuator which Has Giant Magnetrostrictive Maerial by Gain Scheduled Controller

    T.Sugiyama, T.Azuma, K.Uchida

    Proceedings of the 3rd Asian Control Conference   CD-ROM   2132 - 2137  2000  [Refereed]

  • H(infinity) output feedback control problems for bilinear systems

    S Sasaki, K Uchida

    ADVANCES IN DYNAMIC GAMES AND APPLICATIONS   5   31 - 46  2000  [Refereed]

     View Summary

    In this paper, we consider H(infinity) output feedback control problems for bilinear systems, and present a design example of artifical rubber muscle actuator control system. First we derive two types of H(infinity) output feedback controller via the differential game approach. The controllers are characterized in terms of the solutions satisfying two Riccati inequalities depending on the state of generalized plant or controller. Second, we propose algorithms to solve the Riccati inequalities via specifying a domain of the state and solving constant coefficient Riccati inequalities. The proposed algorithms include an evaluation method for the domain of internal stability. Finally, we demonstrate efficiency of the proposed algorithm through a numerical example.

  • Finite-Dimensional Characterizations of H∞ Control for Linear Systems with Delays in Control Input and Controlled Output

    K.Uchida, K.Ikeda, T.Azuma, A.Kojima

    Proc. Of 2nd IFAC Workshop on Linear time Delay Systems     219 - 224  2000  [Refereed]

  • Constraine State Feedback H∞ Control of Nonlinear Systems

    T.Azuma, R.Watanabe, K.Uchida

    Proceedings of the 3rd Asian Control Conference   CD-ROM   476 - 479  2000  [Refereed]

  • A new LMI approach to analysis of linear systems depending on scheduling parameter in polynomial forms

    Takehito Azuma, Ryo Watanabe, Uchida Kenko, Masayuki Fujita

    At-Automatisierungstechnik   48 ( 4 ) 199 - 204  2000  [Refereed]

     View Summary

    This paper proposes a new LMI approach to analysis of linear systems depending on scheduling parameter in polynomial forms: we first propose a method to reduce the parameter dependent LMI condition, which characterizes internal stability and L2 gain, to the finite number of LMI conditions by introducing a convex polyhedron which includes a polynomial curve parameterized by scheduling parameter
    next we propose a systematic procedure to construct the convex polyhedron. Our approach enable us to analyze L2 gain of linear systems with scheduling parameter in polynomial forms through computation of the finite number of LMIs. To show efficacy of our approach, we finally make a numerical experiment of L2 gain analysis for a gasturbine engine model which is described as a linear system with a scheduling parameter in polynomial form of two degree. © Oldenbourg Verlag.

    DOI

  • Behavioral Inelusion

    R.Watababe, K.Uchida

    Proc. of 38<SUP>th</SUP> Conf. on Decision and Control(Phenix)     102 - 107  1999.12  [Refereed]

  • 時変なパラメータ変動を持つ線形システムのモデル規範制御

    第22回Dynamical System Theoryシンポジウム     147 - 150  1999.10  [Refereed]

  • 空調システムの省エネルギー制御

    空気調和・衛生工学会学術講演会講演論文集     1277 - 1280  1999.09  [Refereed]

  • Nonlinear Output Feedback Control of PWM Inverter with Internal Resistance

    S.Sasaki, T.Inoue, K.Uchida

    Proc. of Europian Control Conference, ECC'99(Karlsruhe)    1999.09  [Refereed]

  • LQG Control for Systems with Shceduling Parameter

    K.Uchida, R.Watanabe, M.Fujita

    Proc. of Europian Control Conference, ECC'99(Karlsruhe)    1999.09  [Refereed]

  • Infinite-Dimensional LMI Approach to H∞ Control Synthesis for Linear Systems with Time Delay

    T.Azuma, K.Ideda, K.Uchida

    Proc. of Europian Control Conference, ECC'99(Karlsruhe)    1999.09  [Refereed]

  • スケジューリングパラメータを持つ線形システムに対する二つの性能指標

    SICE '99     331 - 332  1999.07  [Refereed]

  • LQ制御による空調システムの省エネルギー制御

    SICE '99     737 - 738  1999.07  [Refereed]

  • 入力の大きさを制限した状態フィードバックによる非線形システムの安定化

    SICE '99     781 - 782  1999.07  [Refereed]

  • 入力の大きさを制限した状態フィードバックによる非線形システムのH∞制御

    第28回制御理論シンポジウム     57 - 60  1999.05  [Refereed]

  • 振舞いに関する包含に基づく2次システムの解析

    第28回制御理論シンポジウム     9 - 12  1999.05  [Refereed]

  • 直流側電圧の垂下特性を考慮したPWMインバータの電流追従制御-交流側電流のみを観測する場合-

    電気学会全国大会     9 - 14  1999.03  [Refereed]

  • 出力可到達集合解析に基づいたアンチワインドアップコントローラの解析

    渡辺, 内田, 藤田

    計測自動制御学会論文集   Vol.35, No.7   861 - 868  1999  [Refereed]

  • 実用化が見えてきたゲインスケジューリング

    渡辺, 内田

    計測と制御   38;   31 - 36  1999  [Refereed]

  • 自己スケジューリングパラメータを持つ線形システムの準大域的なL<SUP>2</SUP>ゲイン解析

    東, 渡辺, 内田

    システム制御情報学会論文集   Vol.12, No.11   639 - 646  1999  [Refereed]

  • Infinite-dimensional LMI Approach to H∞ Control for Linear Time-delay Systems

    T.Azuma, K.Ideda, K.Uchida

    Proc. of Korea-Japan Joint Workshop on robust and Predictive control of TDS / Seoul    1999.01  [Refereed]

  • ビジュアルサーボによる自動車の自動操縦

    第41回自動制御連合講演会     197 - 198  1998.11  [Refereed]

  • 振舞に関する包含 Behavioral Inclusion

    第21回Dynamical System Theoryシンポジウム     125 - 130  1998.10  [Refereed]

  • むだ時間を含む線形システムに対するH∞制御への無限次元LMIアプローチ

    第21回Dynamical System Theoryシンポジウム     137 - 140  1998.10  [Refereed]

  • ゲインの大きさを制限したむだ時間を含む線形システムにおける状態フィードバック制御

    電気学会,電子・情報・システム部門大会講演論文集     345 - 346  1998.09  [Refereed]

  • Design and implementation of anti-windup controller based on stated feedback H(infinity) control theory

    R Watanabe, A Matsui, K Uchida

    ELECTRICAL ENGINEERING IN JAPAN   124 ( 1 ) 33 - 41  1998.07  [Refereed]

     View Summary

    In the control of an actual plant, there commonly exists a constraint on the control input caused by mechanical constraint on the actuator or in order to protect the plant. This constraint usually exerts an adverse effect on control performance, called windup phenomenon. Anti-windup technique is known as one of the most effective techniques to prevent such windup phenomenon.
    In this paper, we propose a new design of anti-windup controller based on state feedback H(infinity) control theory. This design consists of representation of an anti-windup controller that includes a free parameter, and decision of the free parameter by using state feedback H(infinity) control theory. We also discuss the problem on discretization of an anti-windup controller in implementation. In a numerical case study, we demonstrate the performance of the proposed anti-windup controller by computer simulation. (C) 1998 Scripta Technica, Elects Eng Jpn, 124(1): 33-41, 1998.

  • Semi-global L<SUP>2</SUP> Gain Analysis of Nonlinear Systems - An Approach via Linear Systems with Self-scheduling parameters

    T.Azuma, R.Watanabe, K.Uchida

    Proc. of IFAC Conference on System Structure & Control / Nantes     339 - 344  1998.07  [Refereed]

  • Nonlinear H∞ Control System Design via Extended Quadratic Lyapunov Function

    S.Sasaki, K.Uchida

    Proc. of IFAC Symposium NOLCOS'98 / Enschede     163 - 168  1998.07  [Refereed]

  • Memory State Feedback Control Synthesis for Linear Systems with Time Delay via a finite Number of Linear Matrix Inequalities

    T.Azuma, T.Kondo, K.Uchida

    Proc. of IFAC Workshop LTDS'98 / Grenoble     183 - 187  1998.07  [Refereed]

  • 非線形システムの準大域的な準大域的な状態フィードバックH∞制御

    第27回制御理論シンポジウム     79 - 84  1998.05  [Refereed]

  • 曲率を用いた連続時間システムの評価技法

    第27回制御理論シンポジウム     195 - 200  1998.05  [Refereed]

  • むだ時間を含むシステムのL2ゲイン解析

    電気学会研究会資料    1998.03  [Refereed]

  • 非線形システムに対する状態可到達集合の解析

    システム制御情報学会講演会    1998  [Refereed]

  • 不確かなパラメータとスケジューリングパラメータを持つ線形システムに対するH∞制御

    東, 渡辺, 内田

    システム制御情報学会 論文誌   11;6   297 - 305  1998  [Refereed]

  • ゲインスケジューリング—適応/非線形制御への展開

    内田, 渡辺

    システム/制御/情報   42;6   306 - 311  1998  [Refereed]

  • 2次システムに対する状態可到達集合の解析

    渡辺, 内田, 藤田

    計測自動制御学会 論文集   34;1   1590 - 1595  1998  [Refereed]

  • Semi-global state feedback H-infinity control of nonlinear systems - An approach via linear systems with self-scheduling parameters

    T Azuma, R Watanabe, K Uchida

    PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6     781 - 785  1998  [Refereed]

     View Summary

    In this paper, we consider semi-global L-2 gain analysis and semi-global state feedback H-infinity control design for nonlinear systems described as linear systems with self-scheduling parameters. First we show a method to convert linear systems with self-scheduling parameters into linear systems with scheduling parameters based on evaluation of the domain of the self-scheduling parameter. Second, using the tools for linear systems with scheduling parameters, we discuss semi-global L-2 gain analysis and semi-global H- infinity control design and propose an approach together with feasible formulas of computation.

  • Semi-global L-2 gain analysis for kth-degree systems based on reachable set analysis

    Y Sato, R Watanabe, K Uchida

    PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6     1886 - 1888  1998  [Refereed]

     View Summary

    In this paper, we define the kth-degree system which is regarded as Taylor series up to the kth-degree term for the nonlinear system, and propose an analysis technique of the semi-global L-2 gains based on the reachable set analysis for the kth-degree systems with the constraint sets on the disturbances. In this technique, the upper bounds of the semi-global L-2 gains are obtained by solving linear matrix-inequalities. We also illustrate the effectiveness of the proposed method with a numerical example.

  • むだ時間を含む線形システムにおける状態フィードバック制御-有限個のLMI条件に基づく構成法-

    第40回自動制御連合講演会    1997.11  [Refereed]

  • 可到達集合解析に基づくk次システムの準大域的なL2ゲイン制御

    第20回Dynamical System Theoryシンポジウム     155 - 160  1997.10  [Refereed]

  • 非線形システムの準大域的なL2ゲイン解析-自己スケジューリングパラメータを持つ線形システムに基づくアプローチ

    第20回Dynamical System Theoryシンポジウム     149 - 154  1997.10  [Refereed]

  • 拡張2次形式リアプノフ関数によるロバスト視覚サーボ系の設計

    SICE'97    1997.07  [Refereed]

  • 不確かなパラメータを持つLPVシステムに対するScheduledロバストH∞制御

    SICE'97    1997.07  [Refereed]

  • 可到達集合解析に基づくk次システムの準大域的なL2ゲイン解析

    第26回制御理論シンポジウム    1997.05  [Refereed]

  • 出力可到達集合解析に基づいたアンチワインドアップコントローラの解析

    第26回制御理論シンポジウム     93 - 97  1997.05  [Refereed]

  • 拡張2次形式リアプノフ関数によるある非線形システムに対する出力フィードバック制御

    第26回制御理論シンポジウム     311 - 314  1997.05  [Refereed]

  • 有限個のLMI条件によるパラメータ依存LMI条件の解法-凸多面体の構成法-

    第26回制御理論シンポジウム     223 - 226  1997.05  [Refereed]

  • 視覚フィードバックによる自律ロボットの制御-狭路進入・移動問題-

    電気学会研究会    1997.03  [Refereed]

  • スケジューリング制御によるロバストビジュアルサーボの構成

    電気学会研究会    1997.03  [Refereed]

  • 遺伝的アルゴリズムによる最適Look-up-Tableコントローラを用いた閉ループ系の構成

    電気学会研究会    1997.03  [Refereed]

  • 拡張2次形式リアプノフ関数による非線形H∞制御問題へのミニマックスアプローチ

    誘導シンポジウム    1997  [Refereed]

  • 進化型ニューラルネットワークと移動障害物回避問題への応用

    内藤, 内田

    電気学会論文誌C   Vol.117-C, No.6   768 - 776  1997  [Refereed]

  • 状態フィードバックH∞制御理論を用いたアンチワインドアップコントローラーの設計と実装

    渡辺, 松井, 内田

    電気学会論文誌C   Vol.117-C, No.3   307 - 313  1997  [Refereed]

  • 周波数重み付き平衡実現によるH<SUP>2</SUP>最適制御器の低次元化

    長堂, 示村, 石田, 内田

    システム制御情報学会論文誌   10;1   18 - 25  1997  [Refereed]

  • 拡張2次形式リアプノフ関数による非線形システムのL<SUB>2</SUB>ゲイン解析—線形行列不等式による凸解析アプローチ—

    佐々木, 内田

    計測自動制御学会論文集   Vol.33, No.5   352 - 358  1997  [Refereed]

  • 拡張2次形式リアプノフ関数による非線形状態フィードバック制御の構成法—線形行列不等式による凸解析アプローチ—

    佐々木, 内田

    計測自動制御学会論文集   Vol. 33, No. 11   1111 - 1113  1997  [Refereed]

  • 移動ロボットによるダイナミックビジョンシステム

    森, 加藤, 内田

    計測自動制御学会   Vol.33, No.3   224 - 226  1997  [Refereed]

  • スケールドH∞ノルム条件に基づいた二次安定領域の評価

    渡辺, 内田, 藤田, 示村

    計測自動制御学会論文集   Vol.33, No.4   268 - 273  1997  [Refereed]

  • Quadratic Cost Output Feedaback Control for Bilinear Systems

    S.Sasaki, K.Uchida

    Proc. of the 2nd Asian Control Conference   July, Seoul   577 - 580  1997  [Refereed]

  • H-infinity control attenuating initial-state uncertainties

    K Uchida, A Kojima, M Fujita

    INTERNATIONAL JOURNAL OF CONTROL   66 ( 2 ) 245 - 252  1997.01  [Refereed]

     View Summary

    A generalized type of H-infinity control problem, which treats a mixed attenuation of disturbance and initial-state uncertainty for linear time-invariant systems in the infinite-horizon case, is examined. The mixed attenuation supplys H-infinity controls with good transients or assures H-infinity controls of robustness against initial-state uncertainty. A necessary and sufficient condition for an H-infinity control to attain the mixed attenuation is given. On the basis of this condition, the robustness of H-infinity controls against initial-state uncertainty is discussed.

  • Electric power steering with H-infinity control designed to obtain road information

    N Sugitani, Y Fujuwara, K Uchida, M Fujita

    PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6   June, Albuquerque   2935 - 2939  1997  [Refereed]

     View Summary

    ''Optimum steering feel'', one goal of an automotive engineer, is related to how much information a vehicle obtains relating to the road. ''Road information'' is regarded as a frequency band of tire/steering wheel transmission characteristics, and in this paper we propose a method of supplying road information to the driver using a systematic control design with a ''generalized plant'' and ''H-infinity control''. In addition, the suitability and effectiveness of this Electric Power Steering (EPS) control system in supplying road information, derived from a greater freedom in designing the steering characteristics, is proven in experiments.

  • An approach to solving parameter-dependent LMI conditions based on finite number of LMI conditions

    T Azuma, R Watanabe, K Uchida

    PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6   June, Albuquerque   510 - 514  1997  [Refereed]

     View Summary

    Recently many researches for Linear Parameter Varying Systems focus on the approach using a parameter-dependent Lyapunov function. Analysis and controller design for Linear Parameter Varying Systems are characterized by parameter-dependent Linear Matrix inequalities(LMIs). In this paper, pie propose an approach to solving parameter-dependent LMI conditions based on finite number of LMI conditions. The proposed method does not require any particular assumptions on the parameter dependence except continuity. We consider a class of Linear Parameter Varying Systems and apply the proposed technique on analysis of their L(2)gain. Finally we demonstrate its efficacy by numerical case study.

  • A convex characterization of analysis and synthesis for nonlinear systems via extended quadratic Lyapunov function

    S Sasaki, K Uchida

    PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6   June, Albuquerque   411 - 415  1997  [Refereed]

     View Summary

    Using an extended quadratic Lyapunov function of the form V(x) = x(T)P(x)x, We consider La-gain analysis and state feedback control synthesis for input-affine polynomial type nonlinear systems, and derive Riccati type matrix inequality conditions that depend on a. We show that the solution P(x) can be given by solving linear matrix inequalities asa polynomial type matrix. We also determine the domain of internal stability. We finally show that the proposed method is effective through a numerical-example of bilinear systems.

  • Syntheses of H<SUP>∞</SUP> Output Feedback Control for Bilinear Systems

    S.Sasaki, K.Uchida

    Proc.of the 35th IEEE Conference on Decision and Control(Kobe)     3282 - 3287  1996.12  [Refereed]

  • H∞ Output Feedback Control Problems for Bilinear Systems

    S.Sasaki, K.Uchida

    Proc.of the 7th Symposium on Dynamic Games and Appli..(Shonan)     806 - 814  1996.12  [Refereed]

  • A Minimax Approach to Robust H<SUP>2</SUP>Performance Control Problems

    K.Uchida, M.Fujita

    Proc.of the 7th Symposium on Dynamic Games and Appli..(Shonan)     900 - 906  1996.12  [Refereed]

  • 2次システムに対する出力可到達集合の解析

    第19回Dynamical System Theoryシンポジウム    1996.10  [Refereed]

  • 有限個のLMI条件に基づいたパラメータ依存LMI条件の解法

    第19回Dynamical System Theoryシンポジウム    1996.10  [Refereed]

  • 拡張2次形式リアプノフ関数による非線形状態フィードバック制御の構成法

    第19回Dynamical System Theoryシンポジウム    1996.10  [Refereed]

  • A Robust Control Theory Approach to Output Feedback Control Problems for Bilinear Systems

    S.Sasaki, K.Uchida

    Proc.of the 7th German-Japanese Seminar on Nonlinear Problems in Dynamical Systems   Schloss Reisensburg  1996.09  [Refereed]

  • 拡張二次形式リアプノフ関数による非線形システムに対する状態フィードバック制御

    SICE’96     731 - 752  1996.07  [Refereed]

  • ゲインスケジューリングを用いたジェットエンジンの推力制御

    SICE’96    1996.07  [Refereed]

  • 2次近似システムに対する可到達集合の解析

    第25回制御理論シンポジウム     5 - 10  1996.05  [Refereed]

  • 有限個のLMI条件に基づいたスケジューリングパラメータを持つ線形システムの解析における凸包の構成法

    第25回制御理論シンポジウム     73 - 78  1996.05  [Refereed]

  • 拡張2次形式リアプノフ関数による非線形システムのL2ゲイン解析

    第25回制御理論シンポジウム     83 - 88  1996.05  [Refereed]

  • ロードインフォメーションを考慮した電動パワーステアリング制御

    (社)自動車技術会学術講演会前刷集     129 - 132  1996  [Refereed]

  • 微分ゲームとRiccati方程式

    内田

    計測と制御   35;12   968 - 970  1996  [Refereed]

  • 双線形システムに対するH<SUP>∞</SUP>出力フィードバック制御問題の解法

    佐々木, 内田

    計測自動制御学会論文集   32;6   871 - 879  1996  [Refereed]

  • 構造化特異値による閉ループ特性を考慮した制御器の低次元化

    長堂, 示村, 石田, 内田

    計測自動制御学会論文集   32;7   1080 - 1086  1996  [Refereed]

  • ゲインスケジューリングの新しい展開

    内田, 渡辺, 藤田

    電気学会論文誌C   116-C;10   1085 - 1088  1996  [Refereed]

  • A new LMI approach to analysis of linear-systems with scheduling parameter - Reduction to finite number of LMI conditions

    R Watanabe, K Uchida, M Fujita

    PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4     1663 - 1665  1996  [Refereed]

     View Summary

    In recent results on analysis and design of scheduled control for linear systems with scheduling parameter, parametrically-dependent LMI conditions characterize internal stability and L(2) gain performance. In this article, parametrically-dependent LMI condition is reduced to finite number of parametrically-independent LMI conditions. By applying this approach, actual analysis and actual design of the scheduled control for linear systems with scheduling parameter can be feasible by means of finite number of computation.

  • 自己スケジューリングパラメータを持つアフィンシステムの安定性

    第18回Dynamical System Theoryシンポジウム    1995.11  [Refereed]

  • LFRによる双線形H∞制御問題の解法

    第18回Dynamical System Theoryシンポジウム    1995.11  [Refereed]

  • LFRを用いたスケジューリングパラメータを持つ線形システムの解析

    第18回Dynamical System Theoryシンポジウム     157 - 162  1995.11  [Refereed]

  • H∞ Control Attenuating Initial State Uncertainties

    K.Uchida, A.Kojima, M.Fujita

    Proc. of the 3rd European Control Conference (Roma)   /   1819 - 1823  1995.09  [Refereed]

  • H∞ Control Attenuating Initial State Uncertainties

    K.Uchida, A.Kojima, M.Fujita

    Proc. of the 3rd European Control Conference (Roma)     1819 - 1823  1995.09  [Refereed]

  • 離散時間H∞フィルタアルゴリズムとそのビジュアルトラッキングへの応用

    藤田,丸山, 川端,内田

    計測自動制御学会論文集   31;8   1047 - 1053  1995.08  [Refereed]

  • スケジュールドH∞制御の先端応用

    SICE’95     859 - 860  1995.07  [Refereed]

  • スケジュールドH∞制御の先端理論

    SICE’95     855 - 856  1995.07  [Refereed]

  • ミニマックスアプローチによる有限時間双線形H∞制御問題の解法

    SICE’95    1995.07  [Refereed]

  • 最適予見繰り返し制御と安定条件

    安藤,中村, 示村,内田

    計測自動制御学会論文集   31;7   871 - 879  1995.07  [Refereed]

  • 有限個のLMI条件に基づいたスケジューリングパラメータを持つ線形システムの解析

    第24回制御理論シンポジウム    1995.05  [Refereed]

  • 双線形H∞制御問題への微分ゲームアプローチ

    第24回制御理論シンポジウム     51 - 54  1995.05  [Refereed]

  • Emergent Neural Network: A new design method of neural networks and its application to moving obstacle avoidance

    H.Naito, K.Uchida

    Proc. Int. Workshop on Biologically Inspired Evolutionary Systems (Tokyo)     37 - 44  1995.05  [Refereed]

  • MU-SYNTHESIS OF AN ELECTROMAGNETIC SUSPENSION SYSTEM

    M FUJITA, T NAMERIKAWA, F MATSUMURA, K UCHIDA

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   40 ( 3 ) 530 - 536  1995.03  [Refereed]

     View Summary

    This paper deals with mu-synthesis of an electromagnetic suspension system. First, an issue of modeling a real physical electromagnetic suspension system is discussed. We derive a nominal model as well as a set of models in which the real system is assumed to reside. Different model structures and possible model parameter values are fully employed to determine unstructured additive plant perturbations, which directly yield uncertainty frequency weighting function. Second, based on the set of plant models, we setup robust performance control objectives. Third, we make use of the D-K iteration approach for the controller design. Finally, implementing the controller with a digital signal processor, experiments are carried out. With these experimental results, we show robust performance of the designed control system.

  • 進化型ニューラルネットワークを用いた移動障害物回避

    電気学会研究会資料   SC-95 ( 14 ) 39 - 48  1995.03  [Refereed]

  • LMIによるH2/ESPR混合制御問題の解法

    平成8年電気学会全国大会    1995  [Refereed]

  • 進化型ニューラルネットワークに基づく探索・回収ロボットシステム

    平成8年電気学会全国大会    1995  [Refereed]

  • AVRつきPSSのスケジュールドH∞制御に基づく設計

    平成8年電気学会全国大会    1995  [Refereed]

  • 周波数依存評価関数型2自由度最適サーボによる4WSアクチュエータ制御

    第3回制御理論応用シンポジウム    1995  [Refereed]

  • 電気学会技術報告-新世代の制御理論

    電気学会   535  1995  [Refereed]

  • スケジューリングパラメータを持つ線形システムのH∞制御

    渡辺,内田, 藤田,示村

    計測自動制御学会論文集   31;4   481 - 488  1995  [Refereed]

  • ゲインスケジューリング

    内田

    計測と制御   34;3   182 - 187  1995  [Refereed]

  • Robot Vision System with Self-Learning Mechanism

    H.Kobayashi, K.uchida, Y.Matsuzaki

    Journal of Artificial Neural Networks   2;1・2   137 - 144  1995  [Refereed]

  • Emergent neural network -A new design method of nearal networks and its application to mobing obstacle avoidance-

    H.Naito, K.Uchida

    Proc.Int.Workshop on Biologically Inspired Evolutionary Systems   /   37 - 44  1995  [Refereed]

  • H∞制御設計における単位変換

    第37回自動制御連合会講演会     29 - 32  1994.11  [Refereed]

  • 二次安定性解析における定数スケーリング

    第17回Dynamical System Theoryシンポジウム    1994.11  [Refereed]

  • Minimaxアプローチによる制御系の設計

    第11回誘導制御シンポジウム     123 - 126  1994.10  [Refereed]

  • ROBUST STABILIZATION OF A SYSTEM WITH DELAYS IN CONTROL

    A KOJIMA, K UCHIDA, E SHIMEMURA, S ISHIJIMA

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   39 ( 8 ) 1694 - 1698  1994.08  [Refereed]

     View Summary

    A robust stabilization problem is discussed for a system with delays in control. We derive a robust stabilizing law against additive perturbations. Then, motivated by the feature of predictive controllers, we investigate the structure of robust stabilizing law and provide some interpretations on the relation between the value of time delay and the achievable margin of robust stabilizability.

  • MIXED H-2/H-INFINITY CONTROL WITH POLE-PLACEMENT IN A CLASS OF REGIONS

    RT BAMBANG, E SHIMEMURA, K UCHIDA

    OPTIMAL CONTROL APPLICATIONS & METHODS   15 ( 3 ) 151 - 173  1994.07  [Refereed]

     View Summary

    The problem of mixed H-2/H(infinity) control with pole placement is considered for linear time-invariant systems. This is the problem of determining a controller for linear time-invariant systems which minimizes the H-2-norm of a certain closed-loop transfer function subject to an H(infinity)-norm constraint on another closed-loop transfer function and an additional constraint on the location of the closed-loop poles in the complex plane. An optimization problem is posed for the pole-constrained H-2/H(infinity) problem in such a way that the objective function is expressed as a weighted sum of the actual H-2 cost and its upper bound. A necessary condition for the optimization problem is derived via the Lagrange multiplier technique. The condition involves a set of highly coupled equations. By sacrificing the H-2 performance, an alternative optimization problem is posed in order to simplify the necessary condition. An iterative algorithm for solving the coupled equations arising in the necessary conditions is proposed and numerical examples are presented.

  • Infinite Horizon H∞ Control of Linear Systems with Initial State Uncertainties

    23rd SICE Symposium on Conrol Theory     111 - 114  1994.05  [Refereed]

  • スケジューリングパラメータを持つ線形系のロバスト安定性

       1994.05  [Refereed]

  • 燃料流量制御弁の状態フィードバックH∞制御

    第23回計測自動制御学会シンポジウム    1994.05  [Refereed]

  • ROBOT VISION SYSTEM BY NEURAL NETWORK - ACTIVE VISION AND SELF-LEARNING

    Y MORI, H KOBAYASHI, K UCHIDA

    ATUOMATIC CONTROL - WORLD CONGRESS 1993, VOL 4   3,65-70   361 - 364  1994  [Refereed]

  • ROBUST-CONTROL OF REHEAT-FAN ENGINE

    R WATANABE, M KUROSAKI, K UCHIDA, E SHIMEMURA, M FUJITA

    PROCEEDINGS OF THE 1994 AMERICAN CONTROL CONFERENCE, VOLS 1-3   SC-93-20〜26   787 - 790  1994  [Refereed]

  • 有限時間双線形H∞制御問題へのミニマックスアプローチ-開ループ解と近似解法-

    第17回Dynamical System Theoryシンポジウム     25 - 30  1994  [Refereed]

  • 制御入力が制限を受ける制御系に対するAnti-Windup and Bumpless Transfarの新しい設計法

    渡辺,内田, 藤田,示村

    計測自動制御学会   6月30日   660 - 668  1994  [Refereed]

  • リカッチ方程式を用いた間接法によるコントローラの低次元化

    長堂,示村, 石田,内田

    計測自動制御学会論文集   10月30日   1266 - 1268  1994  [Refereed]

  • State Feedback H∞ Control of Gasturbine Engines

    Proc. of the 1st Asian Control Conference II     453 - 456  1994  [Refereed]

  • ROBUST-CONTROL OF AN AUTOMATIC-TRANSMISSION SYSTEM FOR PASSENGER VEHICLES

    H FURUKAWA, K HAGIWARA, M FUJITA, K UCHIDA

    PROCEEDINGS OF THE THIRD IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3     397 - 402  1994  [Refereed]

  • Robust Control of Systems with Scheduling Parameter

    Proc. of the 6th Japanese-German Seminar on Nonlinear Problems in Dynamical Systems     171 - 182  1994  [Refereed]

  • ROBUST-CONTROL OF REHEAT-FAN ENGINE

    R WATANABE, M KUROSAKI, K UCHIDA, E SHIMEMURA, M FUJITA

    PROCEEDINGS OF THE 1994 AMERICAN CONTROL CONFERENCE, VOLS 1-3     787 - 790  1994  [Refereed]

  • Mixed H2/H∞ Output Feedback Control via LMI Part 2 : Design for LTI Systems under Structured Uncertainties

    Proc. of the 1st Asian Control Conference III     323 - 326  1994  [Refereed]

  • Mixed H2/H∞ Output Feedback Control via LMI Part 1 : Design for LTI Systems

    Proc. of the 1st Asian Control Conference III     319 - 322  1994  [Refereed]

  • L2 GAIN AND H infinity CONTROL OF LINEAR SYSTEMS WITH SCHEDULING PARAMETER

    R WATANABE, K UCHIDA, M FUJITA, E SHIMEMURA

    PROCEEDINGS OF THE 33RD IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4     1412 - 1414  1994  [Refereed]

  • DIGITAL IMPLEMENTATION OF ROBUST MU-CONTROL FOR A ROBOT MANIPULATOR

    M FUJITA, T NAMERIKAWA, K UCHIDA

    PROCEEDINGS OF THE 1994 AMERICAN CONTROL CONFERENCE, VOLS 1-3     2450 - 2454  1994  [Refereed]

  • Scheduling Parameterを持つ線形システムのH∞制御

    第16回Dynamical System Theoryシンポジウム    1993.12  [Refereed]

  • 左既約分解に基づくAnti-Windupコントローラの設計

    第16回Dynamical System Tehoryシンポジウム     57 - 62  1993.12  [Refereed]

  • 最適予見繰返し制御とその安定条件

    第16回Dynamnical System Theoryシンポジウム     1 - 6  1993.12  [Refereed]

  • 微分ゲームアプローチによるH∞制御

    第10回誘導制御シンポジウム     123 - 128  1993.11  [Refereed]

  • 微分ゲームとH∞制御:鞍点解の一般化

    第36回自動制御連合会講演会     39 - 42  1993.10  [Refereed]

  • 混合H2/H∞フィルタ問題の簡単な場合

    第36回自動制御連合会講演会     123 - 124  1993.10  [Refereed]

  • 遺伝学習ニューラルネットワークと障害物回避問題への応用

    第36回自動制御連合会講演会     287 - 288  1993.10  [Refereed]

  • Scheduling Parameterを持つ線形システムのL2ゲイン

    制御理論シンポジウム     1 - 6  1993  [Refereed]

  • Finite Horizon H∞ Estimation for Linear Discrete-Time Systems--A Direct Approach Based on Completing Square--

    制御理論シンポジウム    1993  [Refereed]

  • 再熱ファンエンジンのロバスト制御

    第32回計測自動制御学会学術講演会     355 - 356  1993  [Refereed]

  • 閉ループ系の特性保存を考慮した周波数重みによるコントローラ低次元化

    計測自動制御学会論文集   29/2,233-235  1993  [Refereed]

  • 入力のむだ時間を含む系のロバスト安定化

    計測自動制御学会論文集   29/3,319-325  1993  [Refereed]

  • V2500燃料制御弁FDRVのロバスト制御

    電気学会論文誌D   113/11,1272-1281  1993  [Refereed]

  • Mixed H<SUB>2</SUB>/H<SUP>∞</SUP> Control with Root Clustering

      29/3,233-235  1993  [Refereed]

  • Mixed H<SUB>2</SUB>/H<SUP>∞</SUP> Control with Pole Placement : State Feedaback Case

    Proc. 1993 American Control Conference   2777-2779  1993  [Refereed]

  • Mixed H<SUB>2</SUB>/H<SUP>∞</SUP> Control under Variance Constraints

    Int. J. Systems Sci. ,   24/11,1997-2017  1993  [Refereed]

  • Mixed H<SUB>2</SUB>/H<SUP>∞</SUP> Control of Uncertain Systems

    Proc. 1993 American Control Conference   245-247  1993  [Refereed]

  • H-INFINITY CONTROL OF GASTURBINE ENGINES FOR HELICOPTERS

    R WATANABE, M KUROSAKI, T KUSAKAWA, K UCHIDA, M FUJITA

    PROCEEDINGS OF THE 1993 AMERICAN CONTROL CONFERENCE, VOLS 1-3   1123-1127   1123 - 1127  1993  [Refereed]

  • FINITE-HORIZON DISCRETE-TIME H-INFINITY FILTER WITH APPLICATION TO AN ACTIVE VISION SYSTEM

    M FUJITA, A MARUYAMA, T TANIGUCHI, K UCHIDA

    PROCEEDINGS OF THE 32ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4   2194-2196   2194 - 2196  1993  [Refereed]

  • EXPERIMENTS ON THE LOOP SHAPING BASED H-INFINITY CONTROL OF A MAGNETIC BEARING

    M FUJITA, K HATAKE, F MATSUMURA, K UCHIDA

    PROCEEDINGS OF THE 1993 AMERICAN CONTROL CONFERENCE, VOLS 1-3   8月12日   8 - 12  1993  [Refereed]

  • An Experimental Evaluation and Comparison of H<SUP>∞</SUP>/μ Control for a Magnetic Bearing

    Proc. 12th IFAC World Congress   4,393-398  1993  [Refereed]

  • ASYMPTOTIC H-INFINITY DISTURBANCE ATTENUATION BASED ON PERFECT OBSERVATION

    M FUJITA, K UCHIDA, F MATSUMURA

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   36 ( 7 ) 875 - 880  1991.07  [Refereed]

     View Summary

    This note proposes a design method of controllers which ensure internal stability and attain asymptotically H infinity disturbance attenuation. The design procedure developed in this note consists of two steps: 1) design an H infinity state feedback control via an algebraic Riccati equation approach; 2) under a certain minimum-phase condition, recover the achievable performance asymptotically by applying high-gain observers. We make use of the perfect observation for the design of high-gain observers. Further, it is shown that the asymptotic recovery can be attained by using reduced-order observers, provided there is no direct feedthrough of controls and disturbances in observations.

  • ROBUST STABILIZATION OF UNCERTAIN TIME-DELAY SYSTEMS VIA INTERNAL AND EXTERNAL APPROACHES

    A KOJIMA, K UCHIDA, E SHIMEMURA

    PROCEEDINGS OF THE 29TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6   38/2,373-379   1624 - 1626  1990  [Refereed]

  • ON THE CENTRAL CONTROLLER - CHARACTERIZATIONS VIA DIFFERENTIAL-GAMES AND LEQG CONTROL-PROBLEMS

    K UCHIDA, M FUJITA

    SYSTEMS & CONTROL LETTERS   13 ( 1 ) 9 - 13  1989.07  [Refereed]

  • THE LINEAR-QUADRATIC OPTIMAL-CONTROL APPROACH TO FEEDBACK-CONTROL DESIGN FOR SYSTEMS WITH DELAY

    K UCHIDA, E SHIMEMURA, T KUBO, N ABE

    AUTOMATICA   24 ( 6 ) 773 - 780  1988.11  [Refereed]

  • STRUCTURAL-PROPERTIES OF THE LINEAR-QUADRATIC STOCHASTIC-CONTROL PROBLEM

    K UCHIDA

    SIAM JOURNAL ON CONTROL AND OPTIMIZATION   21 ( 5 ) 677 - 685  1983  [Refereed]

  • SUFFICIENT CONDITIONS FOR OBSERVATION-INNOVATION EQUIVALENCE IN WHITE GAUSSIAN CHANNELS WITH FEEDBACK

    K UCHIDA

    SIAM JOURNAL ON CONTROL AND OPTIMIZATION   19 ( 5 ) 667 - 675  1981  [Refereed]

  • OPTIMAL CODING IN 2-USER WHITE GAUSSIAN CHANNELS WITH FEEDBACK

    K UCHIDA

    IEEE TRANSACTIONS ON INFORMATION THEORY   27 ( 5 ) 570 - 576  1981  [Refereed]

  • ON OPTIMAL-CONTROL OF THE STOCHASTIC-SYSTEMS WITH DELAYED CONTROLS AND DELAYED MEASUREMENTS

    K UCHIDA

    JOURNAL OF MATHEMATICAL ANALYSIS AND APPLICATIONS   75 ( 2 ) 454 - 464  1980  [Refereed]

  • On Certainty Equivalence in Linear-quadratic Control Problems with Nonlinear Measurements

    Information and Control   Feb-41  1979  [Refereed]

  • A Note on the Existence of the Nash Equilibrium Point in Stochastic Differential Games

    SIAM J. on Control and Optimization   1月17日  1979  [Refereed]

  • On Existence of a Nash Equilibrium Point in N-person Nonzero-sum Stochastic Differential Game

    SIAM J. on Control and Optimization   1月16日  1978  [Refereed]

  • Ubiquitin C-terminal Hydrolase L1 (UCH-L1) Acts as a Novel Potentiator of Cyclin-dependent Kinases to Enhance Cell Proliferation Independently of Its Hydrolase Activity

    T.Kabuta, T.Mitsui, M.Takahashi, Y.Fujiwara, C.Kabuta, C.Konya, Y.Tsuchiya, Y.Hatanaka, K.Uchida, H.Hohjoh, K.Wada

    J. of Biological Chemistry   288 ( 18 ) 12615 - 12626

  • Real Time Pricing and Pivot Mechanism for LQG Power Networks

    Y.Okajima, T.Murao, K.Hirata, K.Uchida

    Proc. of the 2013 IEEE Multi-conference on Systems and Control     495 - 500

▼display all

Books and Other Publications

  • 数理工学事典

    分担執筆

    朝倉書店  2011 ISBN: 9784254280036

  • 状態推定の理論

    2004.06

  • 鉄鋼便覧(第4版)

    日本鉄鋼協会編  2002.07

  • 電気工学ハンドブック(第6版)

    電気学会  2001.02

  • H∞制御の実プラントへの応用

    計測自動制御学会  1996.05

Industrial Property Rights

  • 製造プロセスの操業状態の予測方法、装置、コンピュータプログラム、及びコンピュータ読み取り可能な記憶媒体

    4691005

    内田 健康, 大貝 晴俊

    Patent

  • プロセスの操業状態の制御方法、装置、及びコンピュータプログラム

    4488964

    内田 健康, 大貝 晴俊, 森 憲一, 秋月 影雄

    Patent

  • プロセスの状態類似事例検索方法および状態予測方法並びに記録媒体

    4268500

    内田 健康, 犬島 浩, 松下 直樹

    Patent

  • プロセスの状態類似事例検索方法及び状態予測方法、並びにコンピュータ読み取り可能な

    4307129

    内田 健康, 秋月 影雄, 大舘 尚記

    Patent

Awards

  • 計測自動制御学会論文賞

    2010  

  • 日本鉄鋼協会「計測・制御・システム技術賞」

    2009.03  

  • SICE Fellow

    2008  

  • IEEE Control Systems Society the 2007 Outstanding Chapter Award

    2007.12  

  • Outstanding Service Award (Automatica)

    2005.06  

  • 日本鉄鋼協会「計測・制御・システム研究賞」

    2005.03  

  • IFAC日本委員会功績賞

    2001  

  • 計測自動制御学会論文賞

    1997  

  • 計測自動制御学会論文賞

    1996  

  • AVH Research Fellow

    1982  

▼display all

Research Projects

  • Studies on biological control theory for analysis and synthesis of molecule attractors fluctuated by intrinsic noise

    Project Year :

    2010.04
    -
    2013.03
     

     View Summary

    By using mathematical models and investigating the control mechnism that generates biological rhythms against intrinsic noises, which is the objective of this study, we have the following results: (1) We proposed evaluation measures of amplitude and periodicity fluctuations of oscillatory attractors by intrinsic noise; we characterized (2) the parameter set and (3) the feedback structure that make the rhythm more robust against intrinsic noise ; (4) we built the mathematical model that presents simultaneously the temperature compensation and the temperature entrainment when intrinsic noise can be neglected

  • 環境共生型高精度エネルギー予測/高効率エネルギー利用技術

    文部科学省 

    Project Year :

    2003
    -
    2007
     

  • 電子制御トルクサーボ系のロバスト性向上に関する研究

    Project Year :

    2003
    -
    2004
     

  • 電子制御トルクサーボ系のロバスト性向上に関する研究

    Project Year :

    2003
    -
    2004
     

  • 人と環境に優しい次世代情報処理技術

    文部科学省 

    Project Year :

    1999
    -
    2003
     

  • 電子制御トルクサーボ系のロバスト性向上に関する研究

    Project Year :

    2002
    -
     
     

  • 環境共生型高精度エネルギー予測/高効率エネルギー利用技術

    文部科学省 

    Project Year :

    1998
    -
    2002
     

  • 実世界指向プラントシミュレ−タによる創造的操業解析ガイダンス研究

    Project Year :

    2001
    -
     
     

  • 海洋観測用フロート 自動昇降制御系の研究

    Project Year :

    2000
    -
     
     

  • 温湿度制御方法への状態フィードアックの導入に関する研究

    Project Year :

    1999
    -
     
     

  • 温湿度制御方法への状態フィードアックの導入に関する研究

    Project Year :

    1999
    -
     
     

  • 制御状態に制約のある最適制御問題の内点法による高速解法の研究

    Project Year :

    1999
    -
     
     

  • 温湿度制御方法への状態フィードアックの導入に関する研究

    Project Year :

    1998
    -
     
     

  • 遺伝的アルゴリズムのエンジン制御への応用

    Project Year :

    1995
    -
     
     

  • ロバスト制御理論によるエンジン制御則の設計

    Project Year :

    1993
    -
     
     

  • Design Theory of Control Systems which preserves Stability and Control Quality under Failure

     View Summary

    Stability and quality of control in feedback control systems under failure were analyzed, and design methods of the controller were developed, which preserve stability and quality of control under such circumstances as a break down in some of signal lines or parameter variations in plants. The main results are as follows:1. A necessary and sufficient condition for integrity was derived in terms of the return difference matrix of a closed loop in normal operation. A series of design methods to realize integrity were developed.2. A design method of a controller was developed, which preserves quality of control as well as integrity under failure in feedback loop.3. A new concept of responsible control was proposed. It is a control scheme where each control agent is responsible in respective set of outputs. By this responsible control scheme, one can expect strong integrity.4. A general stability condition for a system with time-delay was derived.5. A general theory of an optimal regulator for a system with time-delay was developed.6. A design tool for a controller possessing integrity was implemented in an in-house CAD system - ISSACS

  • ロバスト・ウィーナフィルタの構成に関する基礎研究

     View Summary

    推定すべき信号の状態空間モデルが既知であることを前提にすれば、ウィーナフィルタの構成問題はスルマンフィルタの構成問題となる。本研究では、信号の状態空間モデルを前提とし、モデルの構造、次数、パラメータの値は既知であるが、情報源でありモデルの駆動入力となる信号と観測雑音の統計的性質は未知という形で推定問題を定式化し、ロバスト・ウィーナフィルタの構成問題を検討した。H^∞-最適制御理論は制御系への外乱として最悪のものを想定した制御系構成理論である。そこでまず、推定問題における信号および雑音の統計的性質がまったくわからないという前提に立ち、H^∞-最適制御理論におけるH^∞ー最適化手法の推定問題への適用可能性を調べた。最近の研究によれば、H^∞-最適制御理論が微分ゲーム理論と密接な関係にあり、微分ゲームにおいて現れるRiccati方程式の解を用いた制御則によりH^∞-最適制御が構成できることがわかって来た。本研究における推定問題では、Kalman-Bucy型のフィルタを考え推定誤差方程式を導き、推定誤差に関するH^∞-最適化をおこなった。具体的には、推定誤差分散方程式を微分ゲームにおけるRiccati方程式の双対形に一般化し、この方程式の解を用いてフィルタゲインを構成した。その結果、確定的な対外乱および対入力特性を考慮し、ロバスト性の度合を指定できるロバストフィルタを構成できることが明らかとなった。また、このようにして構成されたロバスト・フィルタの推定器としての性能や安定性、さらにミニ・マクス性などを確認することができた。本研究で得られたロバスト・フィルタは、長い歴史をもつロバスト・フィルタの研究においてこれまでに議論されたことのない、まったく新しいタイプのロバスト・フィルタである

  • Design Theory for Fault Tolerant Control Systems

     View Summary

    Design problems of a controller, which enable the control system to remain stable in case of failure in its components, are discussed from three directions ;(1) Design theory of a robust controller for the system with time-delay. A robust control problem for the case when failure of components results in perturbation of system parameter is discussed. The theory is developed for the linear system with time-delay. A widely applicable general theory es developed by describing the system with an operator differential equation and by utilizing a property of a operator Liapunov and Riccati equations.(2) Gain margin of a system designed by an H control theory. H* control theory is attracting a wide attention for designing a robust control system. Two most crucial topics on the system designed by an H*theory are discussed ; (a) Gain margin under which stability of a closed loop is preserved, and (b) Upper limit of gain which assures the optimality. It is derived that the system has an infinitely large gain margin, and the optimality is assured for that range of gain.(3) Design theory to supperss the effect of disturbance. Some class of component failure can be modeled as disturbance to the nominal system. A disturbance attenuation problem is discussed with respect to the following issues ; (a) H_2 /H* mixed problem to include the optimality, (b) Relation to the differential game, (c) Asymptotic disturbance attenuation problem, and (d) A finite horizon problem

  • 微分ゲ-ム理論に基づくロバスト推定器・制御器の構成法

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    制御入力を一方のプレ-ヤの方策とし、パラメ-タ変動や摂動、あるいは未知入力を他方のプレ-ヤの方策と考えて、ロバスト制御問題を利害の対立する2人のプレ-ヤの微分ゲ-ムとみなすのは、ロバスト制御問題へのひとつの自然な接近法である。本研究においては、このような観点から、微分ゲ-ム理論における従来の成果と、本研究の中で生まれた新たな微分ゲ-ム理論の展開に基づいて、新しいロバスト制御理論の提案を行った。近年、制御系の感度あるいは補感度を評価基準として、周波数領域における最適制御を構成することにより、ロバストな制御系を構成する理論、すなわちH-無限大理論の発展が著しい。本研究においては、まずこのH-無限大制御が微分ゲ-ムの鞍点対の一方として得られることを示し、同時に、鞍点対の他方である最悪外乱の具体的な形を決定した。つぎに、これらの結果に基づいて、微分ゲ-ム理論の観点からH-無限大制御理論の再構成を試み、H-無限大制御の本質的な構造を明らかにするとともに、見通しのよい構成法を与えることができた。以上の過程では、最悪外乱の具体的な形が求められたことが重要である。本研究で得られた以上のH-無限大制御構成法は、純粋に時間領域におけるものである。そこでこの構成法を、有限制御時間区間をもつ時変系のH-無限大制御へと一般化し、新しいロバスト制御理論を確立した。その結果、とくに、有限制御時間区間問題の固有の問題である、端点における状態の制御および初期外乱の制御が可能となった。以上は制御器の構成に関するものであるが、推定器に関しても、微分ゲ-ム理論とH-無限大制御理論を融合した新しいロバスト推定器の構成法を与えることができた

  • 混合型H^2/H^∝制御の微分ゲ-ム理論的構成法に関する研究

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    本研究では,本確定な外乱あるいはモデル化誤差に対して頑健な制御(ロバスト制御)の時間領域における新しい構成法を提案し,得られた制御の性能と限界を理論的に考察した。制御の構成と外乱あるいはモデル化誤差の想定を利害の対立する微分ゲ-ムとみなし,そのゲ-ムの解を構成することによりロバスト制御を得ることができる。Hー無限大制御はこのようなアプロ-チにより得られるロバスト制御の典型的なものであり,このことが一方ではHー無限大制御の能性を保守的なものとしてしまう要因でもあった。本研究では,Hー無限大制御の優れたロバスト性にLQ制御の優れた応答性を加えた制御を実現することにより,Hー無限大制御の保守性を克服することをねらいとした。Hー無限大制御は利害の対立する外乱あるいはモデル誤差として最悪なものを想定している。そこで,外乱あるいはモデル化誤差の能力を制御系設計の立場からみて合理的な制限を加えた新たな微分ゲ-ムを考え,これを解くことにより新しい制御(混合型H^2/H^∝制御)を構成した。この制御は,原微分ゲ-ムに対しては非零和解であり,原微分ゲ-ムの零和解すなわちHー無限大制御と比較すると,H^2タイプのコストに関して優れた制御となっている。H^2タイプのコストは制御系の渦度応答の評価に適しており,その意味で混合型H^2/H^∝制御は所期の目的を達成している。外乱あるいはモデル化誤差の能力の制限として,2通りの方法を導入した。第一の方法は,外乱を任意に想定できる部分と白色ノイズの和として表現するもので,第二の方法は,制御性能の評価を,任意に想定できる外乱に対するものと白色ノイズに対するものに分け,前者ではH^∝制御としての評価を,後者ではH^2制御としての評価をおこなうものである。本アプロ-チは純粋に時間領域におけるものであり,定式化は時変系にも適用できる形式となっている

  • Design of robust performance control against real parameter variations

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    The objective of this research was to establish a design method for robust performance controllers against real parameter variations of systems. Robust performance controllers mean the controllers which assure stability and a prescribed level of some performance. Real parameter variations mean system uncertainties due to system failures, modeling errors or system parameter changes. This research, in particular, focused on the following points : (1) To develop a mathematical model to describe system failures ; (2) To developan index to evaluate deterioration ofsystem performance due to failures in systems ; (3) To establish a theory fordesign method of controllers ; (4) To develop an algorithm for designing controllers ; (5) To develop a CAD system to perform the algorithm ; (6) To overcome delay in control.These points were discussed in this paper, and several important results were obtained. The discussions in this research led to a general procedure for regarding, for example, system failures as real parameter variations in systems. Based on this procedure, problems can be treated as design problems of robust controllers. A design method of controllers which realize a desirable pole location and robust stability was obtained. A robust stabilization problem for systems with delay in control was solved by using two finite dimensional Riccati equations. The robustcontrol design problem was reduced to some control design problems for nonlinear systems. To solve the nonlinear control problem, we developed a method based on the so-called gain scheduling, which lead to a linear control problem, and showed its effectveness.Through this research, a CAD system in our laboratory was used. Some new tools for performing our design method were developed and used successfuly in the CAD system

  • 混合型H^2/H∞推定理論に関する研究

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    混合型H^2/H∞推定理論の中心課題は混合型H^2/H∞推定器の構成法を確立することである.本研究では,与えられたH∞ノルム評価性能を満足する推定器(H∞推定器)の中でH^2ノルム評価(2乗推定誤差評価)が最も優れたものを混合型H^2/H∞推定器と定義した.まず与えられた性能をもつH∞推定器の全てを特徴づける問題を検討し,縮小写像をパラメータとする一つの解答を与えた.次に,このH∞推定器の集合の中から最小のH^2ノルム評価法をもつ推定器を求める問題(混合型H^2/H∞推定問題)を議論した.混合型H^2/H∞推定問題に対してはある特別な場合に最適解を得ている.その解はオールパス特性をもち,典型的なH∞推定器の性質をもった解であることはわかったが,その物理的な意義についてはまだ明確にはなっていない.一般には,混合型H^2/H∞推定問題は一種の特異最適値問題であり,解決困難な問題であることが判明した.そこで,H^2ノルム評価の代わりに,その一つの上界となる指数関数型のH^2ノルム評価を導入し,この評価を最小にするH∞推定器を求める問題を検討した.この問題に対しては,十分に一般的な形で,しかも容易に構成できる形で解を得ることができた.またその解の特徴を明らかにすることもできた.得られたH^2/H∞推定器の性能,特徴を具体例で検証するために,離散時間型の解を導き,アクティブビジョンによる推定問題に適用した.カルマンフィルターとの比較を通して,H^2/H∞推定器がロバスト性の面で優れていることを示した

  • スケジューリングパラメータを持つ線形制御系の設計理論に関する研究

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    ゲインスケジューリングは大きな潜在能力を秘めた実際的な手法であるが、系統的な方法として確立されたものではない。本研究では、スケジューリングパラメータを独立変数にとるという着想のもとに、ゲインスケジューリング理論の体系化を目標とした。そこでは、まずゲインスケジューリング理論の枠組みの検討をおこない、ついでゲインスケジューリングによって構成される非線形制御系の解析法と評価方を与えた。そして、その評価の観点から満足できる(各平衡点での線形近似系に対する)線形制御則の構成法とスケジューリング法を確立した。本研究では特に、スケジューリング手法(例えば補間法)の問題には言及せず、理想的なスケジューリングが可能という前提に立って、十分満足できる制御性能を持った大域的制御則を与える線形制御則の構成法を与えている。構成法は状態フィードバックが可能な場合、出力フィードバックのみが許される場合、それぞれに対して与えられている。計算機シミュレーションによりその有効性を確認しているが、特に状態フィードバックが可能な場合については、実システムへの適応性についても検討し、良好な結果を得ている。実システムとしては、ガスタービンエンジンの制御問題と発電機制御問題(AVRつきPSSの設計問題)を取り上げ、モデリングから、解析・設計までをおこなった。非線形システムのシミュレーションモデルにより数値実験をおこない、提案手法の有効性を確認することができた。これらの成果は今後発表予定である

  • Research on analysis and synthesis method of nonlinear control systems based on gain scheduling theory

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    To establish the solution method and the design algorithm for nonlinear control problems, we investigated stability analysis and synthesis problems, control problems with L^2 gain performance and robust control problems. First, using an extended quadratic Lyapunov function which reflects a special structure of model, we proposed design methods of state feedback control and output feedback control. Through simulation studies in real system models, we showed efficiencies of the proposed method. As for the solution method of parameter-dependent linear matrix inequalities which appear in the proposed method, we also proposed a new solution method via finite-dimensional linear matrix inequalities, which borrows an idea of solution method of linear matrix inequalities in gain scheduling algorithms. Next, focusing on a special type of nonlinear systems which have kth-degree polynomial type of nonlinearlity, we developed a new analysis method of L^2 gain of nonlinear systems based on reachable sets and fin ite-dimensional linear matrix inequalities. The main point of our approach to nonlinear control problems is to consider full state or a part of state of nonlinear systems as a scheduling parameter and to apply analysis and synthesis methods for linear systems to the linear systems with scheduling parameter. In this approach, one problem which arises is how to estimate a priori the range of scheduling parameter and/or the range of the variation of scheduling parameter. We succeeded also in developing an solution method for this problem

  • Studies on Analysis and Synthesis of Control Systems Based on Infinite-Dimensional Linear Matrix Inequalities

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    In this research we established a unified methodology of analysis and control synthesis for linear systems with uncertain parameters, uncertain but measurable parameters (scheduling parameters), and spatially distributed parameters. The proposed algorithm is based on infinite-dimensional linear matrix inequalities which are sufficient conditions not only for analysis of prescribed performances, e.g. stability and input-output L2 gain but also for solvability of control synthesis which realizes prescribed performances. The Linear system with scheduling parameters, which is a special case of the systems we consider, can describe a class of nonlinear systems by taking some internal variables as scheduling parameters, but this description leads generally to a hard problem in analysis and control synthesis, called the "hidden-loop problem". The proposed algorithm succeeds in overcoming the hidden-loop problem by introducing the linear matrix inequality that characterizes a reachable set of state. As linear systems with spatially distributed parameters, in particular, we discuss linear time-delay systems, and propose an algorithm based on the particular type of infinite-dimensional linear matrix inequalities that depend on the time-delay parameter. We also proposed a reduction method of the infinite-dimensional linear matrix inequality to a finite-dimensional matrix inequality. The main point of the reduction method is to construct a convex polyhedron in parameter space, and is an extension of the idea that the present researcher used previously in the problem of gain scheduling. Efficacy of the proposed algorithm was demonstrated through numerical simulations and experiments

  • Studies on Control Design Method based on On-line Modeling and Optimization

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    We investigated methods of updating the model adaptively based on online data in the control loop: a combination of an extension of LPV systems modeling and an extension of model predictive control scheme. On the basis of these discussions, we formulated control problems, and proposed solutions and algorithms for calculating the controls. In particular, we paid attention to the role of the information delay and the obstacles raised by the information delays.First, as controlled objectives, we focused electro-hydraulic servosystems, which contain nonlinear elements and uncertainties and are difficult to be modeled exactly. We constructed a linear local model in the neighborhood of each selected operating point of the electro-hydraulic system, and built an LPV global model by using load variations as a scheduling parameter. For the LPV systems, we derived the worst-case optimal control strategy, and demonstrated the effectiveness of the control strategy in the computer simulations and in the real plants. Second, as a typical difficulty in controlling the plant based on the local models, we focused the problem caused by information delays in the state, input and output. In particular, we investigate how to conquer the input and output delays in controlling the plant. The worst-case optimal control scheme was proposed; the finite-dimensional algorithm for constructing the control scheme was derived, the predictor-observer structure of the control scheme was clarified, and the illustrative numerical simulations were reported

  • Studies on Optimization Control of Networked Systems based on Local Models

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    We studied methods to control complex/large/networked systems based on local/uncertain models. We considered the cases where locality of models in space and/or time is assumed and time delays exist in the channels between subsystems. For locality in space and nonlinearity, we proposed an approach using analysis and synthesis techniques of linear parameter varying (LPV) systems ; for locality in time, we proposed a model predictive control approach ; for locality in both space and time, we proposed an approach based on Just-In-Time(JIT) modeling and model predictive control scheme. These approaches are developed through solving two types of control problems for complex/large/networked systems. First, we extended the known method for LPV systems to electro-hydraulic servosystems, which contain nonlinear elements, uncertainties and time delays, and designed a gain scheduled H-infinity controller. Second, we focused our attention to blast furnace which presents very complicated/nonlinear physical phenomena and is difficult to built models, and proposed a new online modeling and predictive control scheme based on a large scale database consisting of blast furnace process data. As for time delays, we conquered this issue by using input/state/output prediction on delay time interval based on models and by transforming the control problems for time delay systems to the ones for LPV systems, which leads to solving some parameter dependent linear matrix inequalities (LMIs). We also discussed a congestion control of nonlinear networks including time delay based on control theory

  • Studies on analysis and control of attractors for developing biological control theory

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Specific Research

  • ゆらぎを伴う生物アトラクターの解析と構成に関する制御理論的研究

    2009  

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     モデリングの方法に関して実施した研究の概要: 生物のみならず人工物におけるアトラクターの解析・制御の関する研究の調査、さらに生物におけるゆらぎの研究の調査から開始した。本研究では数理モデルに基づくアプローチを採用し、ゆらぎを伴うアトラクターのモデリングに関する研究の調査とモデリングに関するソフトウエアの調査をおこない、その結果に基づき確率モデルの構築に取り組んだ。特に生命現象の典型的な例である概日リズムというゆらぎを伴うアトラクターに焦点を絞った。本研究では概日リズムの制御メカニズムにおけるゆらぎの役割を定性的に理解するために、単純なモデルを用いた。  ゆらぎを伴うアトラクターの定量的評価の概要: 遺伝子レベルから細胞レベルに至る分子・細胞システムで実現されている機能に対するゆらぎの問題は避けて通れない。確率モデルの構築を検討しながらゆらぎを伴う概日リズムのアトラクターを定量的に評価する方法を検討した。確率モデルの構築とゆらぎを伴うアトラクターの解析を平行して行い、それぞれの検討結果を合わせた知見に基づいて相互に行き来しながら検討を進めた。解析においては、アトラクターの確率分布の数理解析と同時に、その確率分布から導かれる生物学的に意義のあるゆらぎの統計量・評価量とは何かを検討した。先行研究として平衡状態に関するゆらぎの解析と評価に関する結果が公表されているので、その調査結果を踏まえた検討をおこない、平衡状態からアトラクターという動的な定常状態に変更されたときに、制御メカニズムを解明するためには(例えば、概日リズムのゆらぎとロバスト性の関係を解明するためには)どのような評価が合理的であるのか、また、どのような評価が生物学的特徴を抽出できるのか、といった視点から解析と評価の問題を検討した。

  • 無限次元線形行列不等式に基づく制御系の解析設計法に関する研究

    1999  

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     まず、モデリング手法およびモデリングの実例の調査、および関連の研究のサーベイをおこない、状態の一部分をパラメータにとることで線形形となる非線形系、むだ時間や空間パラメータを持つ分布定数形、不確かなパラメータを持つ系について検討した。 次に、パラメータを持つ線形系のモデリングをおこない制御問題を定式化した。具体的には、想定する3種類のパラメータを用いた線形系によるモデリングの有効性を詳細に調べ、モデルに基づいて構成される制御則によってどのような制御性能が保証できるのかを、パラメータの性質に基づいて理論的に、また計算機シミュレーションを用いて検討し、制御問題を定式化した。 定式化された制御問題において、無限次元線形行列不等式によって記述される条件の導出をおこないゲインスケジューリングにおける隠れループの問題の解法を提案した。最初に、定式化された制御問題に対する条件を、パラメータに依存する無限次元線形行列不等式の形式で導出した。ひきつづき、非線形系をパラメータを持つ線形系としてモデル化した場合に焦点を絞り、パラメータが状態に依存してしまう(すなわち隠れループが存在する)ことを事前に考慮するために、可到達領域の評価法を導入して、閉ループ形の特性のみならずパラメータの特性も含めた解析設計のための無限次元線形行列不等式条件を導出した。

  • ゲインスケジューリング理論に基づく非線形/適応制御系の設計法に関する研究

    1998  

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     非線形制御問題の解法と設計アルゴリズムの確立を目指して、前年度に引き続き、安定性の問題、L〈SUB〉2〈/SUB〉ゲインを評価関数とする制御問題、ロバスト制御問題と検討を進めた。まず、モデルの特殊性を考慮した拡張2次形式リアプノフ関数の適用により、状態フィードバックの場合と出力フィードバックの場合それぞれに設計法を提案した。実システムのモデルへの適用とシュミレーションを通して、提案法の有効性を確認した。提案法で必要となる状態に依存する線形表列不等式の解法についても、スケジューリングパラメータに依存する線形行列不等式の解法を準用することによって、有限次元の線形行列不等式の解法に帰着させる方法を提案した。また、k次多項式型という特別な非線形系については、可到達集合解析という新しい解析手法を用いて、L〈SUB〉2〈/SUB〉ゲインの解析を、有限次元の線形行列不等式の解法に帰着させる方法を開発した。 本研究で展開した非線形制御問題へのアプローチは、状態あるいは状態の一部をスケジューリングパラメータとみなして線形系の手法を活用することにある。その場合、解決しなければならない問題は、不確かなパラメータが含まれる場合の問題、またスケジューリングパラメータの地域や変化率の範囲など事前に分かっていなければならない情報をどのようにして手に入れるかという問題である。本研究では、この問題のそれぞれについて、一つの解決策を与えることに成功した。パラメータ依存の線形行列不等式の解決については、一つの実行可能なアルゴリズムを提案したが、この問題についてはさらに効率的な方法を考える必要がある。また本研究の提案法はさらに広範囲の制御問題の解法に適用可能であり、これらの問題は今後の課題である。

  • ゲインスケジューリング理論に基づく非線形制御系の解析設計法に関する研究

    1997  

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    非線形システムとして多項式形式のものを取り上げ、状態の一部をスケジューリングパラメータにとることにより、多項式型自己スケジューリングパラメータをもつ入力アフィン線形システムに対する制御問題を定式化した。本年度は、このように定式化された非制御問題に対して、安定性の解析、安定化制御問題、L2ゲイン解析、ロバスト制御問題を検討した。 対象となる非線形システムは自己スケジューリングパラメータをもつ線形システムとなるため、著者らによって近年開発されたスケジューリングパラメータをもつ線形システムの解析・設計手法を適用した。そのとき残された問題はスケジューリングパラメータが状態に依存するという困難をいかに解決するかということであった。本研究では、2次形式の行列が状態に依存する拡張2次形式リアプノフ関数を用いて、解析・設計の条件を線形行列不等式の形式で導出することによってこの問題の解決を計った。しかしこの線形行列不等式は状態に依存するため無限次元の条件である。そこで状態空間に凸領域を設定し、パラメータとしての状態が形成する超曲面をとり囲むことによって、その端点のみで条件を解くことによって有限次元の行列不等式に帰着させている。以上の手順をアルゴリズムとして整理し、ビジュアルサーボ問題、ゴム人工筋による追従問題、混合液攪拌プラントの制御問題などの実プラントの数値例においてその有効性を確認している。 上記のアルゴリズムは解析・設計において共通するものであるが、設計においては、線形の行列方程式を解くステップが追加される。この条件は局所的には自動的に成立する条件であり、特別な場合には解析的に解くことができる。しかし大域的な解を得るには数値計算に頼らざるを得ない。この条件を解く効率的な方法を開発することが今後の1つの課題である。研究成果の発表1997年4月 計測自動制御学会・渡辺亮、内田健康、藤田政之、示村悦二郎・『計測自動制御学会論文集』・「スケールドH∞ノルム条件に基づいた二次安定領域の評価」1997年5月 計測自動制御学会・佐々木清吾、内田健康・『計測自動制御学会論文集』・「拡張2次形式リアプノフ関数による非線形システムのL2ゲイン解析」1997年6月 『応用信号処理研究分科会第17回研究例会資料』・内田健康・「ゲインスケジューリング理論の動向」

  • 自己スケジューリングパラメータを持つアファイン系に基づく非線形制御系の解析設計理論

    1996  

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     非線形制御系の設計手法という観点から体系化されつつある近年のゲインスケジューリング手法を眺めると、スケジューリングパラメータが状態に依存することを考慮していないため、得られる制御機能が保守的になるという問題があった。本研究では、スケジューリングパラメータが状態に依存することを可能な限り陽に考慮したゲインスケジューリング手法の開発と、その結果に基づく非線形制御系り解析設計理論の確立を目標とし、下記のような成果を得た。 非線形系を、情報をパラメータとして自己スケジューリングパラメータをもつアフィン系としてとらえ、パラメータを固定して線形系に対する安定条件あるいは有界L2ゲイン条件を考えると、それらの条件は、状態という連続値のパラメータに依存する無限次元の条件となる。本研究では、パラメータの値域に適当な凸多面体を導入し、その端点において条件を満足すれば元の無限次元の条件を保証する新しい解析・設計方法を開発した。その結果、十分条件となるため保守性の改良にはまだ検討の余地があるが、有限個の条件を用いて、無限個の条件により記述される安定性やL2ゲインの有界性を保証することが可能となった。保守性の改良のためには、凸多面体の構成法が重要であるが、本研究においては、この点についても既に有効なアルゴリズムの開発への手がかりを得ている。 最も単線な非線形系として双線形系がある。本研究では、双線形系に対しては、その特別な構造に着目した保守性の少ない解析・設計法を検討した。双線形系に対しても制御入力にかかる状態をスケジューリングパラメータと見なし、ロバスト制御手法を適用するというのが基本的な考え方である。ここでは、双線形系の特別な構造を利用して、パラメータの領域をより詳細に評価することにより保守性の少ない方法を導くことができた。