研究者詳細 - 滑川　徹

論文 - 滑川　徹

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Multiple Cooperative Bilateral Teleoperation with Time-Varying Delay

Nam Duc Do, Yusuke Yamashina, and, Toru Namerikawa

SICE Journal of Control, Measurement, and System Integration （The Society of Instrument and Control Engineers） 4 （ 2 ） 89-96 - 96 2011年05月

研究論文（学術雑誌）, 単著, 査読有り, ISSN 1882-4889

10911940390420110430155646PDF1.pdf

Robotic Mapping and Localization Considering Unknown Noise Statistics

Hamzah Ahmad and, Toru Namerikawa

Journal of System Design and Dynamics （The Japan Society of Mechanical Engineers） 5 （ 1 ） 70-82 - 82 2011年01月

研究論文（学術雑誌）, 単著, 査読有り, ISSN 1881-3046

This paper presents an analysis of H∞ Filter(HF) for Robotics Mapping and Localization with unknown noise statistics. HF which is also known as the minimax filter is proposed in this paper to estimate the robot and landmarks location while robot moves through an unknown environment. Some of the conditions are proposed to ensure that the state covariance in HF is converging to a steady state value. Furthermore, the analysis of HF convergence for a robot observing landmarks are presented to examine its behavior through the observations. From the experimental results, HF gives a sufficient estimation about the environment. Subsequently, such a result can provide other available estimation methods with the capability to ensure and improved estimation in robotic mapping and localization problem.

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Intermittent measurement in robotic localization and mapping with FIM statistical bounds

Ahmad Hamzah, Namerikawa Toru

IEEJ Transactions on Electronics, Information and Systems 131 （ 6 ） 1223 - 1232 2011年

研究論文（学術雑誌）, 共著, 査読有り, ISSN 0385-4221

The focus of study is to review the FIM statistical behavior in each EKF update and determine its potential in providing sufficient information about Robotic Localization and Mapping problem with intermittent measurements. We provide theoretical analysis and prove that the FIM can successfully describe both upper and lower bounds for the state covariance matrix whenever measurement data is not arrived during robot observations. This approach can give a better picture on how information are processed in EKF when measurement data is partially unavailable. Some simulation evaluations are also included to verify our results and consistently demonstrate the expected outcome. © 2011 The Institute of Electrical Engineers of Japan.

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Cooperative Control Based on Force-Reflection with Four-channel Teleoperation System

Nam Duc Do, Toru Namerikawa

2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) （IEEE） 4879 - 4884 2011年

査読有り

This paper focuses on a new Force-Reflection (FR) algorithm based on input-to-state stability (ISS) small gain theorem in cooperative work of Single Master-Multiple Slave (SMMS) teleoperation system with time varying communication delay. In this work, we propose a new position tracking control for object grasping and a new FR algorithm based on a PD control to transfer the positions, velocities and force information between both sides of teleoperation. The goals of these methods are to achieve the secure grasping by multiple slave robots and improve the tracking performance of the cooperation SMMS teleoperation system. To analyze stability of the system, the ISS small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable. Several experimental results show the effectiveness of our proposed method.

Distributed Load Frequency Control of Electrical Power Networks via Iterative Gradient Methods

Toru Namerikawa, Taichiro Kato

2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) （IEEE） 7723 - 7728 2011年

査読有り

This paper discusses a distributed control for load frequency of electrical power networks based on iterative gradient methods. The control objective is to minimize the quadratic cost function of load frequency control problem, and we apply the distributed control methodology by using iterative gradient methods to complicated large scale electrical power networks. Iterative gradient methods have good flexibility and they are effective for complicated and time-varying distributed power networks. Several numerical simulation results of distributed power network systems including distributed generations, batteries, and renewable energies in order to show the effectiveness of the load frequency control compared with conventional decentralized control and centralized control.

Predictive Control and Estimation for Systems with Information Structured Constraints

Toru Namerikawa, Takeshi Hatanaka, Masayuki Fujita

2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) （IEEE） Vol. 4 （ No. 6 ） 538 - 543 2011年

査読有り

This paper deals with a predictive control and estimation problem with information structured constraints in a constrained finite-time optimal control framework. A large-scale system with information structures is defined as a system in which each subsystem collects spatio-temporally different information, and in general it is necessary to collect and process information in a distributed fashion. We propose a novel predictive control scheme and an estimation law with local information that each distributed subsystem obtains. The effectiveness of the proposed control and estimation law is evaluated through numerical simulations of a simplified micro grid.

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制御理論とエネルギー環境問題（招待講演）

滑川徹

2010 IEEE Multi-conference on Systems and Control （The Institute of Electrical and Electronics Engineers (IEEE)） 2010年09月

Four-channel force-reflecting teleoperation with impedance control

Do Nam Duc, Namerikawa Toru

International Journal of Advanced Mechatronic Systems 2 （ 5-6 ） 318 - 329 2010年

研究論文（学術雑誌）, 共著, ISSN 1756-8412

This paper focuses on a bilateral control of teleoperation system with four-channel force-reflection (FR) algorithm and communication time delays. In this method, we propose a new system input of impedance control that relates to FR scheme of teleoperation. The goal of this paper is to improve the tracking performance and transparency, the control-based force-reflecting teleoperation uses a force feed forward channel in comparison with a conventional method to transfer the position, velocity and human force information from the master side to the slave side. Hence, we receive a four-channel architecture of the teleoperation system. Using variable damping values, the contact stability is achieved at the time when the slave robot contacts with the environment. To analyse stability of the system, one method based on Lyapunov technique is concerned, the input-to-state stability (ISS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable. Several experimental results show the effectiveness of our proposed algorithm. © 2010 Inderscience Enterprises Ltd.

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Bilateral Teleoperation of Multiple Cooperative Robots with Time-Varying Delay

Nam Duc Do, Yusuke Yamashina, Toru Namerikawa

2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS （IEEE） 2053 - 2058 2010年

査読有り, ISSN 1085-1992

This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots under time varying delay in the communication line. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics: the Shape-System describing dynamics of the cooperative works, and the Locked-System representing overall behavior of the multiple slave robots. Second, we propose a PD control method for bilateral teleoperation to guarantee the asymptotical stability of the system for time varying delay. Finally, experimental results show the effectiveness of our proposed teleoperation.

Bilateral Teleoperation of Wheeled Mobile Robot with Time Delay using Virtual Image Robot.

Yasunori Kawai, Toru Namerikawa, Masayuki Fujita

Proceedings of the IEEE International Conference on Control Applications, CCA 2010, Yokohama, Japan, September 8-10, 2010 （IEEE） 77 - 82 2010年

査読有り

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Robot Localization and Mapping Problem with Unknown Noise Characteristics

Hamzah Ahmad, Toru Namerikawa

2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS （IEEE） 1275 - 1280 2010年

査読有り, ISSN 1085-1992

In this paper, we examine the H-infinity Filter-based SLAM especially about its convergence properties. In contrast to Kalman Filter approach that considers zero mean gaussian noise, H-infinity Filter is more robust and may provide sufficient solutions for SLAM in an environment with unknown statistical behavior. Due to this advantage, H-infinity Filter is proposed in this paper, to efficiently estimate the robot and landmarks location under worst case situations. H-infinity Filter requires the designer to appropriately choose the noise's covariance with respect to gamma to obtain a desired outcome. We show some of the conditions to be satisfy in order to achieve better estimation results than Kalman Filter. From the experimental results, H-infinity Filter performs better than Kalman Filter for a case of bigger robot initial uncertainties. Subsequently, this proved that H-infinity Filter can provide another available estimation method for especially in SLAM.

Sensor Network Scheduling Algorithm Considering Estimation Error Variance and Communication Energy

Takashi Takeda, Toru Namerikawa

2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS （IEEE） 434 - 439 2010年

査読有り, ISSN 1085-1992

This paper deals with a sensor scheduling algrithm considering estimation error variance and communication energy in sensor networked feedback systems. We propose a novel decentralized estimation algorithm with unknown inputs in each sensor node. Most existing works deal with the sensor network systems as sensing systems and it is difficult to apply them to the real physical feedback control systems Then some local estimates are merged and the merged estimates can be optimized in the proposed method and the estimation error covariance has a unique positive definite solution under some assumptions. Next, we propose a novel sensor scheduling algorithm in which each sensor node transmits information. A sensor node uses energy by communication between other sensor node or the plant. The proposed algorithm achieves a sub-optimal network topology with minimum energy and a desired variance. Experimental results show an effectiveness of the proposed method.

ビークル群によるネットワークの変化に依存しない協調取り囲み行動

川上裕樹, 滑川徹

計測自動制御学会論文集（計測自動制御学会） 45 （ 12 ） 688-695 2009年12月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

本論文では，ビークル群によって移動対象物を取り囲む制御問題に対して，合意アルゴリズムに基づく制御則を提案する．この制御則は，ビークル間のネットワーク構造が連結であり，ビークル群の中で少なくとも1台のビークルが対象物を認識できる範囲内で動的に変化する場合に協調取り囲みを漸近的に達成できる．
　さらに，ビークルが対象物周りに収束する速度はネットワーク構造に依存せず，制御則に含まれる設計パラメータであるゲインにのみ依存することを示す．本手法では，対象物が一般的な非線形モデルとして表現される場合にも取り囲みが達成される．
　具体的には，はじめに問題設定としてビークルと対象物のモデル，動的ネットワーク構造，制御目的を述べる．つぎに，合意アルゴリズムを基にした制御則を導入し，動的ネットワーク下で取り囲みが漸近的に達成されることを示す．最後に，数値シミュレーションと制御実験によって提案手法の有効性を検証する．その際に，対象物がエージェント情報を用いた戦略によって逃げる場合の取り囲みについても取り扱う．

マルチエージェントシステムの合意問題と協調取り囲み (解説)

滑川徹

システム/制御/情報（システム制御情報学会） 53 （ 10 ） 443-448 - 448 2009年10月

研究論文（学術雑誌）, 単著

複数の対象が協調して作業を行うマルチエージェントに関しては，これまでにも議論されているが，近年グラフ理論とシステム制御理論の融合からのアプローチが注目を集めています．
本稿では，マルチエージェントの合意問題に対し，意制御則の設計法と情報結合構造について解説し，更にビークルフォーメーションとビークル群による協調取り囲み行動などの応用について紹介する．

Delay-Independent Stabilization of Teleoperation Systems with Time-Varying Delay

Hiroyuki FUJITAand, Toru Namerikawa

SICE Journal of Control, Measurement, and System Integration （The Society of Instrument and Control Engineers） 2 （ 3 ） 177–183 - 183 2009年05月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り, ISSN 1882-4889

本稿では, 時変の通信遅延を有するテレオペレーションシステムに対して, 安定性が遅延の大きさや粘性摩擦に依存しない制御則を提案する. 提案する制御則は遅延の変化率に依存した時変ゲインを用いており，これにより, 安定条件が遅延の大きさに依存しないテレオペレーションを実現し,予期しない急激な遅延の増加に対しても安定性が保証される. 提案制御手法によってテレオペレーションシステム全体が安定となることをリアプノフの安定定理に基づく安定性解析により示す.
最後に, 2 台の平面2 自由度ダイレクトドライブロボットを用いた検証実験を行い, 提案法の有効性を検証する.

Robust stabilization of running self-sustaining two-wheeled vehicle with varying speed and mass variations

Satoh Hiroshi, Namerikawa Toru

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C （Japan Society of Mechanical Engineers） 75 （ 752 ） 882 - 889 2009年04月

研究論文（学術雑誌）, 査読有り, ISSN 0387-5024

This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle with varying running speed and mass variations. Recently, there have been a lot of research results about stabilization of two-wheeled vehicle. These researches have achieved the stable running only by the steering control. However, an actual two-wheeled vehicle is stabilized by not only the steering control, but the control of a vehicle's center of gravity. We have proposed the stabilization control method of two-wheeled vehicle in the state of stillness, and have shown the effectiveness of proposed approach. In this research, we construct the control system for the running stabilization of two-wheeled vehicle. H^∞ control problem is used to design the controller to achieve running stability even if the running speed and the mass of two-wheeled vehicle would change. The experimental results show effectiveness of proposed approach for robustness.

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速度と質量の変動に対する自立走行二輪車のロバスト安定化

佐藤拓史, 滑川　徹

日本機械学会論文集, C編（日本機械学会） 75 （ 752 ） 882-889 2009年04月

研究論文（学術雑誌）, 共著

本研究では静止状態において安定化させる目的で開発した自立走行二輪車に対して，走行安定化を目的とした制御系を構成する．走行を考慮したモデリングを行い，導出した数学モデルが静止時の場合の拡張となっていることを確認した．二輪車の走行速度と質量の変動を考慮した制御系をH∞制御系設計問題を用いて設計し，実際に走行速度を変動した場合と，付加質量を搭載した場合においても安定化が実現できた．これにより，速度変動や質量変動に対して提案するロバスト姿勢制御系の有効性が確認された．

時変の通信遅延を有する非線形テレオペレーションのバイラテラル制御

河田久之輔, 滑川徹

計測自動制御学会論文集（計測自動制御学会） 45 （ 1 ） 18-26 2009年01月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

本論文では，時変の通信遅延を有する非線形テレオペレーションに対して安定性を保証した2種類の制御則を提案する．提案する制御則はどちらも通信遅延の変化率に依存した速度制御と最大遅延に依存した位置制御で構成されるPD型制御則である．Lyapunov-Krasovskii関数を用いた安定性解析をおこなうことで，システムが漸近安定となるための遅延に依存したゲイン条件を導出する．さらに提案制御則は明確な位置制御機能を有していることから，マスタとスレーブの位置誤差が零に収束することと，スレーブの静的な接触力が操縦者に伝達されることが示される．
　最後にシミュレーションと制御実験により提案法の有効性を実証する．
　本稿の貢献は，比較的単純な制御則を用いて，時変の通信遅延を有するバイラテラルテレオペレーションを安定に制御できることを示した点にある．

10911937617020100411175258PDF1.pdf

GIMC structure based Anti-Windup control considering L2 performance

Nakashima Yusuke, Namerikawa Toru

Proceedings of the IEEE International Conference on Control Applications （IEEE = Institute of Electrical and Electronics Engineers）（ 5281047 ） 956 - 961 2009年01月

ISSN 1085-1992

This paper deals with GIMC (Generalized Internal Model Control) structure based Anti-Windup (AW) control system design. First, we setup a L2 performance criterion based on GIMC structure for Anti-Windup control problems. The design problem is formulated as an optimization problem with a parameter Q. Then we calculate the optimization problem and find an optimal Q. Finally, the effectiveness of proposed method is shown by experimental results for a magnetic suspension system. © 2009 IEEE.

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2008 American Control Conference -ACC 2008-

滑川徹

システム/制御/情報 53 （ 1 ） 48 2009年01月

本稿は国際会議報告であり，2008 American Control Conference(ACC2008)に関する詳細を記載している．ACCはAmerican Automatic Control Council(AACC)の主催で毎年1回開催されており，制御工学に関する質，量ともに世界的に最高水準の会議の一つである．主な本報告の主な内容は会議の組織，特徴，Plenary Lecturesの紹介，主な会議トピックスの紹介，Awards受賞者の紹介等である．

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