研究者詳細 - 滑川　徹

論文 - 滑川　徹

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超スマート社会のPlug & Play制御系設計—ネットワーク構造と消散性の活用

小島千昭, 滑川徹

計測と制御（公益社団法人計測自動制御学会） 58 （ 8 ） 600 - 605 2019年08月

研究論文（学術雑誌）, 最終著者, ISSN 0453-4662

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Parking lot allocation and dynamic parking fee system based on a mechanism design approach

Nakanishi H., Namerikawa T.

Proceedings of the American Control Conference （Proceedings of the American Control Conference） 2019-July 2683 - 2689 2019年07月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

© 2019 American Automatic Control Council. In this paper, we present a discussion on smart parking systems in urban traffic networks. Reduced vehicle speed when drivers search for parking lots contributes to increased traffic jams in recent urban traffic networks. We aim to shorten the searching time for parking lots, which is one of the causes of traffic jams, by allocating available parking lots to drivers. Furthermore, we design a dynamic parking fee system and redistribute parking lots to equalize the profits earned by managers of multiple parking lots in traffic-congested areas. We then finally confirm the effectiveness of the proposed algorithm through numerical simulations.

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Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints

Nor M.H., Namerikawa T.B.M.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM （IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM） 2019-July 1397 - 1402 2019年07月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

© 2019 IEEE. This paper addresses the optimal control problem (optimal acceleration and deceleration to minimize fuel consumption) for Connected and Automated Vehicles (CAVs) to cross an intersection with state and control constraints. First, we obtain the crossing time for the CAVs to cross the intersection with Mixed Integer Linear Programming (MILP). Then, the crossing time is used as a terminal time to formulate the optimal control problem and we utilized analytical solution (Hamiltonian analysis) to solve the problem. Finally, we simulated the proposed approach and the results show that, even with the frequently changing crossing time, the controller is capable of providing the solution to the optimal control problem.

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Cooperative transport of quad-rotor by consensus algorithm

Kotani K., Namerikawa T.

2019 12th Asian Control Conference, ASCC 2019 （2019 12th Asian Control Conference, ASCC 2019） 1364 - 1369 2019年06月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

© 2019 JSME. At present, UAV is common to use as a single unit, but by operating as multi-agent system, it is possible to possibly be able to carry out more sophisticated tasks. For example, it may be possible to realize long-distance transportation with heavy object which impossible by a single drone. Therefore, we propose a control method to achieve cooperative transport so that the payload follows the virtual leader. We assume the transporting problem connected payload and multiple quad-rotors with cable. In this research, we treated quad-rotor as a model regarded as a linear secondary system and used consensus algorithm to achieve the purpose. Finally we verified its usefulness by simulation.

Secure State Estimation under Measurement Attacks using Virtual State in Distributed Observer System

Sato S., Namerikawa T.

2019 12th Asian Control Conference, ASCC 2019 （2019 12th Asian Control Conference, ASCC 2019） 1683 - 1688 2019年06月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

© 2019 JSME. In this paper, a distributed secure state estimation problem that is state estimation in distributed observer system in the presence of attacks is mainly discussed. We introduce the notion of graph-based distributed observer representation, virtual state, and a subgroup to derive a condition for the secure state estimation. By the graph-based distributed observer representation, we can consider the system's observability and communication pass connectivity as graph connectivity at once. With the notion of virtual state and the subgroup, we derive the state estimation condition which is the inequality relationship between the number of the allowable attacked observer and the graph connectivity as a theorem. Finally, a simple numerical example verifies the theorem.

Optimization of power flow and scheduling for EV charging based on distributed control

K Mizuno, T Namerilkawa

2019 12th Asian Control Conference (ASCC) 2019年06月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

Energy Management of Smart Home by Model Predictive Control Based on EV State Prediction

Ogata Y., Namerikawa T.

2019 12th Asian Control Conference, ASCC 2019 （2019 12th Asian Control Conference, ASCC 2019） 410 - 415 2019年06月

研究論文（国際会議プロシーディングス）, 共著

© 2019 JSME. The purpose of this paper is to minimize the total electricity cost while considering comfort in the home. We propose home energy management (HEMS) method by model predictive control (MPC) based on EV state prediction. If charging and discharging can be planned based on electric vehicle (EV) usage prediction, it can minimize the charging with an external charging station because it can be charged in advance at home. We introduce a model considering the passage of time in order to predict the use of EV. Finally, we confirm the validity of this research through numerical simulations.

Data-Driven Mean-Field Game Approximation for a Population of Electric Vehicles

Bauso D., Namerikawa T.

2019 IEEE Data Science Workshop, DSW 2019 - Proceedings （2019 IEEE Data Science Workshop, DSW 2019 - Proceedings） 285 - 289 2019年06月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

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A hypothesis of state covariance decorrelation effects to partial observability SLAM

Ahmad H., Othman N., Saari M., Ramli M., Mazlan M., Namerikawa T.

Indonesian Journal of Electrical Engineering and Computer Science （Indonesian Journal of Electrical Engineering and Computer Science） 14 （ 2 ） 588 - 596 2019年05月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 2502-4752

© 2019 Institute of Advanced Engineering and Science. All rights reserved. This paper analyze the performance of partial observability in simultaneous localization and mapping(SLAM) problem. The study focuses mainly on the effect of having a decorrelation technique known as Covariance Inflation to the estimation. The matrix inversion will be the main element to be investigated through two conditions with respect to some defined environment namely as unstable partially observable SLAM and partially observable SLAM via matrix norm analysis. For assessment purposes, the Extended Kalman Filter estimation is referred as the estimator to understand how the conditions can influence the results. The simulation results depicted that, the matrix norm is able to determine the efficiency of estimation and is proportional to the uncertainties of the system.

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マルチ Quad-rotor による協調搬送システムに向けた RISE による外乱補償

小谷健人，滑川徹

電気学会論文誌 C (電子・情報・システム部門誌) 139 （ 4 ） 341 - 349 2019年04月

研究論文（学術雑誌）, 共著, 査読有り

RISEを用いた外乱の抑制および衝突回避に対応するマルチQuad-rotorシステムのフォーメーション制御

小谷健人, 滑川徹

計測自動制御学会論文集（公益社団法人計測自動制御学会） 55 （ 1 ） 68 - 77 2019年01月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 0453-4654

In this paper, we propose a control method which combine collision avoidance method and RISE (Robust Integral of the Sign of Error) for multiple Quad-rotor formation control methods, and confirm effectiveness of this method that is resistant to disturbance by lowering the risk of collision. First, we modeled quad-rotor as a linear system. Next, we described a method to suppress nonlinear disturbance using RISE which is a type of sliding mode control. In addition, we introduced collision avoidance method, and derived the conditions to achieve accurate formation by using Lyapunov stability theory. Finally, we implemented an algorithm in the simulation, and confirmed that the proposed method is functioning correctly.

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A Novel Detection Strategy for Kidnapped Robot Problem in Monte Carlo Localization Using Corridor-Type Map

I Bukhori, ZH Ismail, T Namerikawa

Journal of Electrical And Electronics Engineering 2 (1), 7-12 2019年

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各車両の運動を考慮したミクロ交通流モデルに基づくモデル予測型信号機制御の実行可能性および性能解析

岡本僚太, 手塚悠己, 向井正和, 畑中健志, 飯野穣, 滑川徹

計測自動制御学会論文集（公益社団法人計測自動制御学会） 54 （ 12 ） 849 - 856 2018年12月

研究論文（学術雑誌）, 最終著者, 査読有り, ISSN 0453-4654

This paper is intended to analyze benefits of microscopic real-time optimization for traffic signal control. To this end, we first present a microscopic traffic model consisting of signals and vehicles, where each vehicle dynamics is explicitly incorporated in the form of a mixed logical dynamical system (MLDS) differently from many other related publications taking macroscopic flow models. We then formulate a model predictive control (MPC) problem and then reduce the problem to a mixed integer programming problem. Furthermore, we introduce a linear temporal logic (LTL) constraint to reduce the computation burden and to eliminate unrealistic solutions. The proposed control scheme is then applied to a real-time traffic simulator and it is confirmed that: (i) the number of waiting vehicles for traffic lights is reduced with 54.5% as compared to a fixed-time control scheme and (ii) the average computation time is reduced to about one-tenth relative to the case without the LTL constraint.

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メカニズムデザインに基づく駐車場割当決定および動的駐車代金設計

中西啓晃, 吉原美祐, 滑川徹

計測自動制御学会論文集（公益社団法人計測自動制御学会） 54 （ 10 ） 745 - 756 2018年10月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 0453-4654

In this paper, we discuss the smart parking system in urban traffic network. In recent years, the decline in vehicle speed when searching for parking lots has been caused traffic jam in urban traffic network. Then, in this paper, we aim at shortening the searching time for parking lots, which is one of the causes of traffic jam, by allocating parking lots being available to drivers. Furthermore, we design the dynamical parking fee and redistribute parking lots to level the multiple parking manager's profit in traffic area. Finally, we confirm the effectiveness of proposed algorithm in numerical simulation.

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Robust prediction and MPC-based optimal energy management for HVAC System

Suda T., Namerikawa T.

9th IFAC Symposium on Robust Control Design and 2nd IFAC Workshop on Linear Parameter （IFAC-PapersOnLine） 51 （ 25 ） 662 - 667 2018年09月

研究論文（国際会議プロシーディングス）, 共著, 査読有り, ISSN 2405-8963

© 2018 The purpose of this paper is to achieve a cut in peak electricity demand and lower electricity costs through the optimal management of a heating ventilation and air conditioning (HVAC) system. In addition, robust solar radiation prediction is required for optimal HVAC management. First, solar radiation prediction is applied using a clustering technique based on the k-means method, classifying all data on similar types of solar radiation. Second, an H∞ filter, which is a robust prediction method for outliers, is applied. Next, an optimal HVAC management system is considered for operating the air conditioning, such as the cooling and heating of each room. Model predictive control (MPC), which is used to predict and control the future changes in the temperature of the room and the electrical charge from solar radiation, is applied. Finally, we confirmed the validity of this research through numerical simulations.

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Optimal Control Based on Quasi-Newton Method Considering Cooperation of Constrained Distributed Energy Resources

Sekine T., Namerikawa T.

2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 （2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018） 958 - 963 2018年09月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

© 2018 The Society of Instrument and Control Enginners - SICE. In this paper, load frequency control by optimal control algorithm using quasi-Newton method for microgrid introducing diesel generator and battery is discussed. In the proposed method, we consider microgrid model including diesel generator and battery. Also, saturation is taken into account as a constraint on the input to the model of diesel generator and battery. Then, a cost function considering the storage capacity constraint is formulated. Therefore, we propose an algorithm using the quasi-Newton method to determine inputs that minimize the formalized cost function. In addition to the quasi-Newton method, we propose an algorithm using Backward Sweep to match the terminal condition. Finally, we confirm the effectiveness of the proposed method through numerical simulations.

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Non-Cooperative Optimization of Charging Scheduling of Electric Vehicle via Stackelberg Game

Yoshihara M., Namerikawa T., Qu Z.

研究論文（国際会議プロシーディングス）, 共著, 査読有り

© 2018 The Society of Instrument and Control Enginners - SICE. In this paper, we deal with the charging scheduling optimization problem of electric vehicle using Stackelberg game. Stackelberg game is one of game theory classified as hierarchical, repeating, and non-cooperative game. The charging station determines the price to maximize its own profit from selling energy and each EV determines the energy demand to maximize the charge benefit by competing with other EVs. At this time, we guarantee that Nash equilibrium exists within the EV group. Finally, using numerical simulation, we show that the game reaches an Stackelberg equilibrium.

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Merging of Connected and Automated Vehicles at Roundabout Using Model Predictive Control

Hafizulazwan Bin Mohamad Nor M., Namerikawa T.

研究論文（国際会議プロシーディングス）, 共著, 査読有り

© 2018 The Society of Instrument and Control Enginners - SICE. This paper addresses a merging problem of connected and automated vehicles at single lane with two different freeways roundabout. First, we assume that the merging vehicle already knew the environment of the roadway beforehand. After that, we formulate the optimization problem based on model predictive control framework which includes lane keeping and collision avoidance. Finally, we show in the simulation results that the proposed solution is capable of merging the vehicle at the roundabout effectively.

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Event-Triggered Formation Control of a Generalized Multi-Agent System

Toyota R., Namerikawa T.

研究論文（国際会議プロシーディングス）, 共著, 査読有り

© 2018 The Society of Instrument and Control Enginners - SICE. In this paper, we propose an event-triggered formation control algorithm for a multi-agent system consists of linear discrete agents in order to reduce energy consumption due to unnecessary calculation and communication of agents. By using the event-triggered protocol, which updates the control input aperiodically only when certain triggering condition is satisfied, calculation and communication frequency are reduced. Also the multi-agent system is guaranteed an almost sure stability by determining the control input update timing by the triggering condition which is based on Lyapunov's stability theorem. Finally we verify the effectiveness of the proposed algorithm by numerical simulation.

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分散型モデル予測制御による車両群の合流制御

林靖大, 豊田凌, 滑川徹

計測自動制御学会論文集（公益社団法人計測自動制御学会） 54 （ 9 ） 718 - 727 2018年09月

研究論文（学術雑誌）, 査読有り, ISSN 0453-4654

This paper deals with merging control of automated vehicles using distributed model predictive control. Firstly, we consider a road model which has two main lanes. In the distributed control algorithm, vehicles repeat sharing the planned future trajectory with other vehicles traveling in the vicinity of each vehicle by using communication and re-planning its own trajectory considering the future trajectory of other vehicles. Moreover, in order to further improve the stability of model predictive control, terminal constraints are set and feasible conditions for optimization problems under the terminal conditions are derived. At the last part of this paper, we discuss the result of numerical simulations using distributed merging control algorithm and mention the effectiveness of proposed methods and future works.

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