研究者詳細 - 滑川　徹

論文 - 滑川　徹

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Optimal Power Demand Management among Consumers with Aggregator considering State and Control Constraints

Yoshihiro Okawa, Toru Namerikawa

2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC) （IEEE） 801 - 806 2016年12月

研究論文（国際会議プロシーディングス）, 査読有り, ISSN 0743-1546

This paper presents a novel optimal power demand management method for power consumers with an aggregator considering state and control constraints. The aggregator is an organization who manages some consumers to achieve demand response efficiently. This paper proposes a power demand adjustment method for the aggregator to allocate power reduction among consumers in a distributed manner. Specifically, this method simultaneously derives the optimal power reduction of each consumer using a gradient method and determines the control inputs by solving a quadratic programming problem with state and input constraint conditions. This paper also shows the convergence of the proposed algorithm, and finally, numerical simulation results illustrate the effectiveness of the proposed method.

Multi-Period Regional Energy Management Based on Dynamic Pricing with Non-Deficit Real-Time Market Trading

滑川徹

SICE Journal of Control, Measurement, and System Integration （公益社団法人計測自動制御学会） 9 （ 5 ） 207 - 215 2016年09月

研究論文（学術雑誌）, 共著, 査読有り

This paper deals with a regional demand response method based on dynamic electricity pricing in a multi-period energy market. In the proposed method, first, the power supply and demand in each area are determined considering power flow using the retail and wholesale electricity prices in a day-ahead market. Next, in a real-time market, the proposed method adjusts to power deviations caused by errors in power generation with power demand reduction by consumers and increased power supply from balancing generators. In addition, in order to guarantee the non-deficiency in the real-time market trading, the incentive and penalty price design methods are discussed in this paper. This paper also shows a distributed algorithm for obtaining the optimal values of each market player in both the day-ahead and real-time markets, and finally, numerical simulation results demonstrate the effectiveness of the proposed method.

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Dynamic Pricing Using H∞ Control with Uncertain Behavior in Electricity Market Trading

滑川徹

SICE Journal of Control, Measurement, and System Integration （公益社団法人計測自動制御学会） 9 （ 5 ） 192 - 200 2016年09月

研究論文（学術雑誌）, 共著, 査読有り

This paper deals with a dynamic pricing using the H∞ control with uncertain behavior in electricity market trading. The dynamic pricing is a decision procedure of an electricity price based on power supply and demand balance in power grids. However, in a future deregulated electricity market, both power consumers and generators determine their own power demand and supply selfishly according to the price information. Moreover, uncertainties are also included in their behavior. For this problem, we propose a novel price decision method using the locational price-updating H∞ controllers. This paper shows a design process of this price-updating H∞ controller to evaluate the following performance to reduce supply-demand imbalances in power grids and the robustness against uncertainties in electricity market participants' behavior, respectively. In addition, this paper also shows the effectiveness of our proposed price decision method using the designed H∞ controller through numerical simulation results.

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A Comparative Study of Extended Kalman Filter and H-infinity Filtering For State Estimation of Stewart Platform Manipulator

Shady A. Maged, A. A. Abouelsoud, Ahmed M. R. Fath El Bab, Toru Namerikawa

2016 55TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) （IEEE） 1727 - 1732 2016年09月

研究論文（国際会議プロシーディングス）, 査読有り

This paper presents the estimation of both position and velocity of Stewart Manipulator by means of limbs potentiometer measurements and MEMS inertial sensors. The estimation used the Extended Kalman Filter (EKF) and H-infinity optimal filtering technique based on the combination of these sensors. The two types of filters are used as nonlinear state estimators to the Stewart platform which is modeled as a stochastic differential equations due to measurement noise in case of EKF and as a continuous time system model in case of H-infinity filtering technique. The results of the both filters are compared with each other on the Stewart platform DELTALAB EX800 using MATLAB SimMechanics toolbox. The simulation results show that Kalman filters are not the best choice for parallel manipulator state estimation as they bear from the hypothesis of statistical noise with zero mean as well as known noise covariance, which may reduce its performance. For these reasons, H-infinity filter may be the alternative of Kalman filter.

On the Fault Tolerant Control of a Quadrotor Manipulation System via MPC and DOb Approaches

Ahmed Khalifa, Mohamed Fanni, Toru Namerikawa

2016 55TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) （IEEE） 700 - 705 2016年09月

研究論文（国際会議プロシーディングス）, 査読有り

Recently, the Aerial Manipulation System becomes very attractive for a wide range of applications due to its unique features. However, control of such system is quite challenging. One of the critical challenge is that this system is very susceptible to actuators' faults. In this paper, a Passive Fault Tolerant Control System is proposed to address this issue with robust and optimal performance. The robustness is achieved using a linear Disturbance Observer (DOb) loop. Based on the linearization capability of DOb, a standard Model Predictive Control (MPC) is then used and the resulting control scheme is characterized by both a low computational load and optimal actuators' efforts with respect to conventional nonlinear robust solutions. This controller is tested to achieve the tracking of a point-to-point task space references under the effect of actuators' faults, picking/releasing a payload, changing the operating region, and measurement noise. Efficacy of the proposed technique is verified via numerical simulations.

Robust-Formation Control of Multi-Autonomous Underwater Vehicles based on Consensus Algorithm

Vina Putranti, Zool H. Ismail, Toru Namerikawa

2016 IEEE CONFERENCE ON CONTROL APPLICATIONS (CCA) （IEEE） 2016年09月

研究論文（国際会議プロシーディングス）, 査読有り, ISSN 1085-1992

This paper discusses a robust formation control for multi-Autonomous Underwater Vehicles (AUVs). The AUVs are disturbed by exogenous perturbation during the mission, thus, the Robust Integral Sign of Error (RISE) is adopted. For a formation control, a leader-follower structure based on consensus algorithm is adopted and the use of graph theorem named connected graph is useful to exchange the required information. An AUV called leader is determined to bring a group of information, while the others called followers, receive the information from a leader. Lyapunov analysis proves the stability as well as the error convergence of proposed controller, whilst some simulations are performed to compare between the proposed controller, RISE with consensus, and the existing robust controller, Sliding Mode Controller (SMC) which is combined with consensus algorithm. As a result, the proposed controller works better and produces smaller error.

Formation control considering disconnection of network links for a Multi-UAV system

Mori Shouhei, Namerikawa Toru

Journal of Robotics and Mechatronics （Fuji Technology Press） 28 （ 3 ） 343 - 350 2016年06月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 0915-3942

The formation control algorithm we propose for a multi-UAV uses LMI conditions. Starting with a linearized model of UAVs such as a quadrotor, we introduce a formation control algorithm based on a consensus algorithm, a leader-follower structure, graph theory and the Lyapunov stability theorem for a liner system. We propose the control algorithm using the Lyapunov theorem and LMI conditions for intermittent communication. We demonstrate the proposed control algorithm’s stability even when network links are disconnected. Numerical simulation and experimental validation show the proposed control’s effectiveness.

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Distributed Power Supply-demand Management Based on Negawatt Trading with Energy Storage System

Yoshihiro Okawa, Toru Namerikawa

2016 EUROPEAN CONTROL CONFERENCE (ECC) （IEEE） 1812 - 1817 2016年06月

研究論文（国際会議プロシーディングス）, 査読有り

This paper presents a distributed power supply demand management method based on negawatt trading including charge or discharge power from energy storage systems. In the negawatt trading, power consumers reduce their own power demand and receive monetary reward from the market operator. In order to derive appropriate electricity incentive prices for consumers and to use energy storage systems in power grids efficiently, we deal with a power adjustment problem using some future power supply information in this paper. We then show a novel market algorithm to solve this problem in a distributed manner through market trading among the market operator and consumers. Finally, we verify the effectiveness of our proposed method with numerical simulation results.

ゲインスケジューリングモデル予測制御によるHEVの燃費最適化

井山仁志, 須田貴俊, 西頭昌明, 瀬戸洋記, 向井正和，滑川徹

計測自動制御学会論文集（IEEE） 52 （ 1 ） 1 - 10 2016年01月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 0453-4654

本稿では，ゲインスケジューリングモデル予測制御によるスプリット式HEVの燃費最適化を提案する．複雑なパワートレインを持つHEVには，エンジンとモータの動力を最適に分配するエネルギーマネジメントアルゴリズムが不可欠である．このアルゴリズムにより，走行区間で燃費最適化，ドライバの要求する走行の実現，バッテリの状態管理を行う．本稿では，このエネルギーマネジメントアルゴリズムの設計問題を扱う．
　具体的には，時々刻々と走行状況が変化するHEVにおいて，走行状況やパワートレインの状態をフィードバックし逐次最適化を行うことのできるモデル予測制御によるエネルギーマネジメントを行う．
HEVは時変システムであるため，動作点に適したパラメータを設定し，制御対象を線形パラメータ変動システムとして表現し，それに対してゲインスケジューリングを適用し，前述のモデル予測制御と融合させたゲインスケジューリングモデル予測制御系を設計する．始めに，ベンチマーク問題について言及し，HEVのモデリングを行う．次に，提案するゲインスケジューリングモデル予測制御によるエネルギマネジメントシステムを設計する．最後に，提案した制御則の有効性を数値シミュレーションにより結果を示し，従来法であるルールベース制御の結果と比較検証する．

Optimal energy management for smart grid system considering battery characteristics

Mukai Tatsuya, Igari Shunsuke, Namerikawa Toru

Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi) （WILEY-BLACKWELL） 194 （ 1 ） 18 - 26 2016年01月

研究論文（学術雑誌）, 共著, ISSN 0424-7760

This paper discusses optimal energy management considering battery characteristics for smart grid and microgrid systems. Energy storage systems are very important for energy peak shifting and peak load cutting in microgrid and smart grid systems, but optimal battery formulation and energy management in the use of expensive energy storage system and methods of taking account of battery characteristics are still in the developmental stage. First, the optimal battery placement for a smart grid system with lithium-ion batteries is considered as a means of lifetime extension. The battery choice index for this optimal battery utilization problem of optimal energy management is discussed. Second, a smart grid system with a distributed battery system for grid frequency control with consideration of distributed control and battery characteristics is discussed. Optimal controllers for distributed battery systems to reduce the battery load and to expend the battery lifetime are designed. Simulations are used to demonstrate the effectiveness of the proposed method in comparison with conventional methods.

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コード信号を含む出力を用いたスマートグリッドにおけるリプレイ攻撃の検出

入田隆, 滑川徹

計測自動制御学会論文集 51 （ 12 ） 822 - 828 2015年12月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 0453-4654

情報通信技術を用いた監視制御データ収集システムに基づくスマートグリッドにおいて、サイバーセキュリティを保証することは主要な課題である. 特に, リプレイ攻撃は完全性および認証に影響を及ぼす危険なサイバー攻撃とされている.本論文では, 制御システムのセンサに与えられたサイバー攻撃の一種であるリプレイ攻撃を検出することを目的とする. まず, 電力ネットワークのモデル化を行う. また,故障評価行列およびリプレイ攻撃を定義する. ただし, 故障評価行列は事前推定値および観測値で構成された故障検出フィルタである. そして, リプレイ攻撃を早急に検出できないことを証明する. つぎに, タイムスタンプの役割を担うコード信号としてセンサに意図的な雑音を加える手法を提案する. さらに, 故障評価行列によって, リプレイ攻撃を反映することができることを示す. 最後に, シミュレーション検証によって, 提案手法の有効性を検証する.

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Regional Demand-Supply Management based on Dynamic Pricing in Multi-period Energy Market

Yoshihiro Okawa, Toru Namerikawa

2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) （IEEE） 7201 - 7206 2015年12月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

This paper deals with a regional demand response method based on dynamic electricity pricing in a multi-period energy market. In the proposed method, first, the power demand and supply in each area are determined considering power flow using the retail and wholesale electricity prices in a day-ahead market. Next, to adjust for power deviations caused by errors in power generation, our proposed method solves the problem of optimal allocation between power demand reduction by consumers and increased power supply from balancing generators in a real-time market. This paper also shows a distributed algorithm for obtaining the optimal values of each market player in both the day-ahead and real-time markets, and finally, numerical simulation results demonstrate the effectiveness of the proposed method.

発電機の応答速度を考慮したH∞制御に基づくマイクログリッドの負荷周波数制御

増井健治, 高村俊, 滑川徹

計測自動制御学会論文集 51 （ 8 ） 570 - 578 2015年08月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 0453-4654

本論文では, マイクログリッドの負荷周波数制御問題を扱う.
　電力系統においては, 時々刻々と変化する電力需給バランスを維持する制御として, 発電機の出力を調整する負荷周波数制御をおこなっている. しかし, 再生可能エネルギーの導入により, 需給バランスを維持することがより困難になる. この対策として, 火力・水力発電機に, 蓄電池などの分散型電源を組み合わせることや, 新たな制御理論の適用が検討されている. そこで本論文では, 風力発電機と蓄電池を含むマイクログリッドを対象とし, H∞制御を基とした負荷周波数制御法を提案する.
　はじめに, ディーゼル発電機と蓄電池の応答速度の違いを考慮した一般化プラントを作成する. そして, その一般化プラントに対して静的H∞制御器を設計する. 最後に, 静的H∞制御の繰り返し計算においてしばしば生じる, 過大な制御入力をもたらすゲインを回避するためのLMI条件を示し, 静的H∞制御へと組み込む. 数値シミュレーションにおいては, PI制御器と比較することで, 周波数変動の抑制と蓄電池残容量変化の抑制を示す. また, 発電機と可変抵抗を用いた制御実験においても, 提案手法によって周波数変動を抑制できることを示す.

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Real-Time Pricing Mechanism for Electricity Market With Built-In Incentive for Participation

Namerikawa Toru, Okubo Norio, Sato Ryutaro, Okawa Yoshihiro, Ono Masahiro

IEEE Transactions on Smart Grid （IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC） 6 （ 6 ） 2714 - 2724 2015年07月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 1949-3053

This paper proposes a game-theoretic approach to design a distributed real-time electricity pricing mechanism. Our approach is novel in that it guarantees individual rationality, meaning that it provides suppliers and consumers with a guaranteed incentive to participate in the real-time pricing market. Such an incentive is devised by offering a time-varying, situation-dependent subsidy that guarantees that a supplier/consumer profits by switching from a fixed-price contract to the real-time pricing contract. Although we assume that suppliers and consumers decide supply and demand quantities in a fully distributed manner to maximize their own profit, the proposed mechanism guarantees under moderate conditions that the market converges through an iterative process to a Nash equilibrium that maximizes social welfare. Furthermore, in order to guarantee safe operation of an electrical grid, our pricing mechanism increases stability of load frequency control, and at the same time, achieves supply-demand equilibrium by explicitly taking into account an equality constraint through dual decomposition method. We empirically demonstrate by simulations the individual rationality of the proposed mechanism as well as the convergence to supply-demand equilibrium.

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Formation Control with Collision Avoidance for a Multi-UAV System Using Decentralized MPC and Consensus-Based Control

Yasuhiro KURIKI and, Toru NAMERIKAWA

SICE Journal of Control, Measurement, and System Integration, （IEEE） 8 （ 4 ） 285 - 294 2015年07月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 1882-4889

In this paper, the authors propose a cooperative formation control strategy with collision-avoidance capability
for a multi-unmanned aerial vehicle (UAV) system using decentralized model predictive control (MPC) and consensus-
based control. Consensus-based control algorithms are applied for formation flying in three-dimensional space. However,
UAVs where these formation control algorithms are applied have not the ability to avoid collisions. Decentralized model
predictive control (MPC) is applied to generate control inputs for formation flying with collision-avoidance capability.
Using decentralized MPC, each UAV plans only its own action to track the trajectory specified by the formation control
algorithm within the feasible regions satisfying collision-avoidance. The authors show how the optimization problems
with coupled constraints such as collision-avoidance can be solved by each decoupled UAV in parallel with the other
UAVs so that the decisions independently taken by each UAV can ensure consistency in coupled constraints of collision-
avoidance. The computation time is also taken into account because it is a crucial factor to apply MPC to actual UAVs.
Finally, the proposed approach is validated by some simulations.

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Decentralized Fault Detection of Multiple Cyber Attacks in Power Network via Kalman Filter

Takashi Irita, Toru Namerikawa

2015 EUROPEAN CONTROL CONFERENCE (ECC) （IEEE） 3180 - 3185 2015年07月

研究論文（国際会議プロシーディングス）, 最終著者, 査読有り

This paper discusses faults diagnosis method of multiple cyber attacks in networked electrical power systems. We deal with a power network of a centralized system, and then, some parameters are estimated by Kalman filter. Using a sensor network system, each of sensor nodes can exchange information by wireless communication. A fault diagnosis method is proposed by using both fault detection diagnosis matrix and fault distinction matrix. The former is composed of estimated values and observed values. On the other hand, the latter is composed of observed values and calculated values via the senor network. Finally, the effectiveness of the proposed approach is validated by a simulation experiment.

Power System Stabilization by Direct Load Control Based on Strategy-Proofness and Individual Rationality

Ryutaro Sato, Toru Namerikawa

2015 AMERICAN CONTROL CONFERENCE (ACC) （IEEE） 5913 - 5918 2015年07月

研究論文（国際会議プロシーディングス）, 共著, 最終著者, 査読有り, ISSN 0743-1619

This paper proposes a novel direct load control method to stabilize the system frequency. The proposed method utilizes the consumers' controllable loads for load frequency control. By solving an optimization problem to maximize the social welfare function, the input required for the frequency control is allocated among the controllable loads and the load frequency control generator in an economically rational manner. To introduce the direct control program for smooth operation of the power system, preventing consumers from cheating and guaranteeing their benefits are required. Thus, strategy-proofness and individual rationality based on the Groves and Clarke mechanism were used to design the electricity charge. Each consumer bids on the utility functions truthfully to the independent system operator and gains from participating in the proposed direct load control program. The effectiveness of the proposed method was demonstrated through numerical simulations.

Dynamic Electricity Pricing via the H-infinity Control Considering Uncertainties in Market Participants' Behavior

Yoshihiro Okawa, Toru Namerikawa

2015 EUROPEAN CONTROL CONFERENCE (ECC) （IEEE） 1064 - 1069 2015年07月

研究論文（国際会議プロシーディングス）, 最終著者, 査読有り

This paper deals with a dynamic pricing via the H-infinity control considering uncertainties in market participants' behavior. The dynamic pricing is a decision procedure of an electricity price based on power demand and supply information from selfish power consumers and generators. However, since market participants have uncertainties in their behavior, the price decision procedure is required to have robustness against these uncertainties for stable operation of power systems. Then, in this paper, we propose a novel price decision procedure via the H-infinity control and also show the effectiveness of our proposed price decision method in simulation results.

Distributed Dynamic Pricing with Alternating Decision Making of Market Players

Yoshihiro Okawa, Toru Namerikawa

2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) （IEEE） 888 - 893 2015年07月

研究論文（国際会議プロシーディングス）, 最終著者, 査読有り

This paper deals with a distributed decision procedure for determining the electricity price for a future smart grid. In order to derive the optimal regional prices and improve the convergence speed of the algorithm without private information of market players, we propose a price decision algorithm with an alternating decision making of market players. In this paper, we show that the optimal regional prices derived by using our proposed algorithm maximize the social welfare of power networks which includes profits of power consumers and power suppliers with renewable energy generators. Also, we discuss the convergence property of the proposed price decision algorithm. Finally, the feasibility of our proposed dynamic pricing methodology is shown with numerical simulation results.

Distributed dynamic pricing based on demand-supply balance and voltage phase difference in power grid

Okawa Yoshihiro, Namerikawa Toru

Control Theory and Technology （South China University of Technology） 13 （ 2 ） 90 - 100 2015年05月

研究論文（学術雑誌）, 査読有り, ISSN 2095-6983

This paper discusses a distributed decision procedure for determining the electricity price for a real-time electricity marketin an energy management system. The price decision algorithm proposed in this paper derives the optimal electricity pricewhile considering the constraints of a linearized AC power grid model. The algorithm is based on the power demand-supplybalance and voltage phase differences in a power grid. In order to determine the optimal price that maximizes the social welfare distributively and to improve the convergence speed of the algorithm, the proposed algorithm updates the price through the alternating decision making of market participants. In this paper, we show the convergence of the price derived from our proposed algorithm. Furthermore, numerical simulation results show that the proposed dynamic pricing methodology is effective and that there is an improvement in the convergence speed, as compared with the conventional method.

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