| HIRATA Kentaro |  |
| Faculty of Science and Engineering Department of Electrical Engineering | |
| Professor |
Last Updated :2025/04/26
Researcher Profile and Settings
researchmap
Research funding number
00293902Research Interests
Research Areas
- Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Control and systems engineering
Research Experience
- Doshisha University, Faculty of Science and Engineering Department of Electrical Engineering, Professor, 2024/04 - Today
- 岡山大学 学術研究院, 環境生命自然科学学域, 教授, 2023/04 - 2024/03
- 岡山大学 学術研究院, 自然科学学域, 教授, 2021/04 - 2023/03
- 岡山大学 大学院, 自然科学研究科 産業創成工学専攻, 教授, 2014/04 - 2021/03
- Nara Institute of Science and Technology, 情報科学研究科, 准教授, 2005/10 - 2014/03
- 大阪府立大学 大学院, 工学研究科 電気情報システム工学専攻, 講師, 1998/04 - 2005/09
- 京都大学 大学院, 工学研究科 応用システム科学専攻, 助手, 1996/12 - 1998/03
- Kyoto University, Faculty of Engineering, 研究生, 1993/10 - 1994/03
- 住友金属工業（株）, システムエンジニアリング事業本部 制御システム部, 研究員, 1990/04 - 1993/09
Education
- 京都大学 博士（工学）, 1997/05 -
- 京都大学 大学院, 工学研究科, 数理工学専攻 博士後期課程（中退）, 1994/04 - 1996/11
- 京都大学 大学院, 工学研究科, 数理工学専攻 修士課程, 1988/04 - 1990/03
- Kyoto University, Faculty of Engineering, 数理工学科, 1984/04 - 1988/03
- 愛知県立千種高等学校, 1981/04 - 1984/03
Published Papers
- A Consideration on Anomaly Detection of Mobile Robots by One Class Support Vector Machine and Its Performance Evaluation
Yukinori Nakamura; Daichi Kiyoto; Hisashi Matsuzaki; Kentaro Hirata; Kunihisa Okano
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan (IEE Japan), 145(3) 348 - 357, 01 Mar. 2025, Scientific journal - Performance Improvement of a Calibration-Free Visual Feedback Controller using Lens Distortion Parameters
Kazuyoshi Hatada, Masayuki Sato, Kentaro Hirata
Proc. of IEEE IECON (accepted), Oct. 2023, International conference proceedings - Stability Remarks on Discretized Multi-dimensional Diffusion Process Models and its Application to Model Reduction
Zhang Weiqi; Kentaro Hirata; Yukinori Nakamura; Kunihisa Okano
Transactions of the ISCIE, 36(8) 279 - 285, Aug. 2023, Scientific journal - Power Assisting Control System for Electric Bicycles Based on Simple Adaptive Control
Kazuyoshi Hatada; Kentaro Hirata
Proc. of IEEE CoDIT 2023, Jul. 2023, International conference proceedings - Modified State Predictive Control Aiming at Improving Robust Stability
Tomomichi Hagiwara; Shotaro Yanase; Yoichiro Masui; Kentaro Hirata
Transactions of the ISCIE, 36(7) 220 - 228, Jul. 2023, Scientific journal - Numerical Investigation on Reduction of Power Consumption and Improvement of Success Rate for Consensus in Multi-Agent Systems over a Wireless Network Considering the Number of Agents
Yukinori Nakamura; Hisashi Matsuzaki; Kentaro Hirata; Kunihisa Okano
IEEJ Transactions on Electrical and Electronic Engineering, 18(4) 583 - 596, Apr. 2023, Scientific journal - H∞ Control of the Furuta Pendulum with Backlash and Analysis of the Effect of Bounded-Disturbance
Muneue Suwa; Kentaro HIrata; Yukinori Nakamura
Proc. of IEEE ICM 2023, Mar. 2023, International conference proceedings - Data-Driven Generalized Minimum Variance Control with Autoencoder based Dimensionality Reduction of Input Signals
Nakamura Yukinori; Yamashita Tsuyoshi; Wakitani Shin; Hirata Kentaro
IEEJ Transactions on Electronics, Information and Systems, The Institute of Electrical Engineers of Japan, 143(3) 305 - 311, Mar. 2023, Scientific journal - 有限データレート信号と通信時刻情報を用いた離散時間線形システムの安定化
諏訪棟植; 岡野訓尚; 平田健太郎; 中村幸紀
システム制御情報学会論文誌, 36(2) 40 - 47, Feb. 2023, Scientific journal - Synthesis of a calibration-free visual feedback controller for an inverted pendulum using a fisheye lens
Kazuyoshi Hatada; Masayuki Sato; Kentaro Hirata; Yoichiro Masui
IEEE Transactions on Industrial Electronics, Institute of Electrical and Electronics Engineers (IEEE), 69(12) 13348 - 13358, Nov. 2021, Scientific journal - PCA-Based Model Reduction of Diffusion Process and Its Application to MPC Problem
Weiqi Zhang; Kentaro Hirata; Yukinori Nakamura; Kunihisa Okan
Proc. of SICE ISCS2022, Mar. 2021, International conference proceedings - Modeling of Flow Rate Variation of Tube Pumps
Jinhui Yang; Kentaro Hirata; Yukinori Nakamura; Kunihisa Okano; Kenichi Kato
Proc. of SICE ISCS2021, Mar. 2021, International conference proceedings - Development of Pneumatically Driven Hand Capable of Grasping Flexible Objects
Kotaro Nishikawa; Kentaro Hirata; Masahiro Takaiwa
Journal of Robotics and Mechatronics, 32(5) 923 - 930, May 2020 - Temperature Control for Fusing Process of Laser Printers with Preview Action
Kentaro Hirata; Ryo Murakawa; Kunihisa Okano; Masahiro Samei; Tomoya Adachi; Ryohhei Sugiyama
2020 IEEE International Conference on Industrial Technology (ICIT), IEEE, Feb. 2020, International conference proceedings - State Predictive Control with Multiple Modification Terms and Robust Stability Analysis Based on Complementary Sensitivity Functions
Shotaro Yanase; Yoichiro Masui; Kentaro Hirata; Tomomichi Hagiwara
Proceedings of IFAC World Congress 2020, 2020, International conference proceedings - Synthesis of a Visual Feedback Stabilizing Controller for an Inverted Pendulum Using a Fisheye Lens
Kazuyoshi Hatada; Kentaro Hirata; Yoichiro Masui
Proceedings of IEEE CoDIT 2020, IEEE, 593 - 598, 2020, International conference proceedings - Sensor placement minimizing the state estimation mean square error: Performance guarantees of greedy solutions
Akira Kohara; Kunihisa Okano; Kentaro Hirata; Yukinori Nakamura
Proceedings of the 59th IEEE Conference on Decision and Control, 2020, International conference proceedings - Swing-phase detection from the ankle joint angle using recurrent neural networks
Sho Tokuda; Kunihisa Okano; Yukinori Nakamura; Kentaro Hirata
Proceedings of the 3rd IFAC Conference on Cyber-Physical & Human-Systems, 2020, International conference proceedings - Development of Pneumatic Hand Enabling Grasp of Deformable Objects
K. Nishikawa; K. Hirata; M. Takaiwa
Journal of Robotics and Mechatronics, 32(6), 2020, Scientific journal - Experimental verification of visual feedback control for a pendubot with varying moment of inertia
Kazuyoshi Hatada; Kentaro Hirata
Proceedings of the IEEE International Conference on Industrial Technology, Institute of Electrical and Electronics Engineers Inc., 2019- 114 - 119, 01 Feb. 2019, International conference proceedings - A particle filter-based estimation method considering communication delay
Yukinori Nakamura; Kazushi Higashiyama; Kentaro Hirata; Kunihisa Okano
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan, 139(4) 454 - 459, 2019, Scientific journal - Ideal operation model and experimental verification for non-pulsating flow tube pumps
Kenichi Katoh; Hideto Senoh; Kentaro Hirata
Proceedings of IEEE ICIT 2016, 2126 - 2131, 2019, International conference proceedings - Energy-Efficient Power Assist Control with Periodic Disturbance Observer and Frequency Estimator
Kazuyohi Hatada; Kentaro Hirata; Takuma Sato
Proceedings of IEEE the 14th International Workshop on Advanced Motion Control (AMC2016), 384 - 389, 2019, International conference proceedings - Energy-Efficient Bicycling with Passive Mechanical Network
Makoto Shinpou; Kentaro Hirata; Yukinori Nakamura; Kunihisa Okano and Kazuyoshi Hatada
Proceedings of IEEE CoDIT 2019, 2019, International conference proceedings - A Method of Timing Decision for Dorsiflexion Assistance with Estimation of Gait
Yoshiki Kitani; Yukinori Nakamura; Kentaro Hirata; Kunihisa Okano
Proceedings of the SICE Annual Conference 2019, 1549 - 1552, 2019, International conference proceedings - A setting method of output-end frequency-shaped sliding mode hyperplane for a pneumatic vibration isolator
Yukinori Nakamura; Yutaro Tetsuno; Kentaro Hirata; Kunihisa Okano
Proceedings of International Conference on Mechanical, Electrical and Medical Intelligent System, 2019, International conference proceedings - 通信遅延時間を考慮した粒子フィルタによる一推定法
中村幸紀; 東山和司; 平田健太郎; 岡野訓尚
電気学会論文誌C, 139(4) 454 - 459, 2019, Scientific journal - Consideration on timing decision of walking assistance based on phase of oscillator
Yukinori Nakamura; Yuki Manabe; Kentaro Hirata; Kunihisa Okano
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan, 138(7) 908 - 909, 2018, Scientific journal - n Analysis of State Estimation Errors with Respect to the Dimension of Observation
Akira Kohara; Kunihisa Okano; Kentaro Hirata; Yukinori Nakamura
Proceedings of 2018 SICE Annual Conference, 2018, International conference proceedings - 非円形歯車と繰返し制御を用いたチューブポンプにおける低脈動流化の実現
加藤健一; 三澤遥介; 妹尾秀人; 梶井伸之介; 遠藤大生; 平田健太郎
日本機械学会論文集, 64(864), 2018, Scientific journal - 振動子の位相情報を用いた歩行支援動作のタイミング決定に関する検討
中村幸紀; 真鍋友希; 平田健太郎; 岡野訓尚
電気学会論文誌C, 138(7) 908 - 909, 2018, Scientific journal - Development of Self-Powered Pneumatic Prosthetic Hand with Tactile Feedback
西川弘太郎; 西川弘太郎; 平田健太郎; 高岩昌弘
日本フルードパワーシステム学会論文集(Web), 一般社団法人 日本フルードパワーシステム学会, 49(2) 56‐63(J‐STAGE) - 63, 2018 - Modified State Predictive Control of Continuous-Time Systems with Input Delay
oichiro Masui; Kentaro Hirata; Tomomichi Hagiwara
Proceedings of IEEE ICIT2017, 843 - 847, 2017, International conference proceedings - State Estimation over a Network Using Particle Filter
Yukinori Nakamura; Kazushi Higashiyama; Kentaro Hirata; Kunihisa Okano
Proceedings of ICMEMIS 2017, 2017, International conference proceedings - Automatic Generation of Optimal Standing-up Motion using Nonlinear Receding Horizon Control
Kazuma Kobayashi; Kentaro Hirata; Yukinori Nakamura; Kunihisa Okano
Proceedings of IEEE/SICE SII 2017, 2017, International conference proceedings - Visual Feedback Control of a Pendubot with Varying Moment of Inertia
Kazuyoshi Hatada; Kentaro Hirata
Proceedings of ASCC 2017, 2017, International conference proceedings - Energy-Efficient Power Assist Control with Periodic Disturbance Observer and its Experimental Verification Using an Electric Bicycle
K. Hatada; K. Hirata; T. Sato
SICE Journal of Control, Measurement, and System Integration, The Society of Instrument and Control Engineers, 10(5) 410 - 417, 2017, Scientific journal - Development of pneumatic bellows myoelectric hand with tactile feedback
Kotaro Nishikawa; Masayuki Shakutsui; Kentaro Hirata; Masahiro Takaiwa
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan, 137(1) 127 - 135, 2017, International conference proceedings - State Estimation of Thermal Systems with Multiple Operation Modes
Shota Sasaki; Kentaro Hirata; Yoichiro Masui; Masahiro Samei; Akihiro Kawasaki; Yasuharu Kawarasaki
Proceedings of the 7th IEEE international conference on intelligent systems, modeling and simulation, IEEE, 213 - 217, 2016, International conference proceedings - Development of Pneumatic Myoelectric Hand with Simple Motion Selection
Kotaro Nishikawa; Masayuki Shakutsui; Kentaro Hirata; Masahiro Takaiwa
Proceedings of the 9th International Conference on Intelligent Robotics and Applications, 2016, International conference proceedings - Model Predictive Control of Hot-Rolled Strip Cooling Process using Variable-Resolution Model
Kentaro Hirata; Daijiro Udagawa Yoichiro Masui; Yukinori Nakamura
Proceedings of IEEE IECON 2016, IEEE, 215 - 222, 2016, International conference proceedings - Flow Disturbance Suppression Using Cascade-Type PIS Control for a Pneumatic Vibration Isolator
Yukinori Nakamura; Hirotaka Akagawa; Shinji Wakui; Kentaro Hirata
Proceedings of IEEE IECON 2016, 2016, International conference proceedings - State Estimation of Thermal Systems with Multiple Operation Modes
S. Sasaki; K. Hirata; Y. Masui; M. Samei; A. Kawasaki; Y. Kawarasaki
International Journal of Simulation: Systems, Science and Technology, UK Simulation Society, 17(35), 2016, Scientific journal - On Numerical Computation of the Spectrum of Monodromy Operators Based on Higher-Order Hold Approximation
増井詠一郎; 平田健太郎; 萩原朋道
システム制御情報学会論文誌, システム制御情報学会, 29(7) 324 - 335, 2016, Scientific journal - Power assisting control for almost-periodic motions with adaptive filters (Verification of energy efficiency using an electric power assisted bicycle)
HATADA Kazuyoshi; HIRATA Kentaro; SATO Takuma
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A, The Japan Society of Mechanical Engineers, 82(833) 15 - 00233-15-00233, 2016, Scientific journal - Power Assisting Method for Almost-Periodic Motions Based on Motion Prediction
Kazuyohi Hatada; Kentaro Hirata; Takuma Sato
Proceedings of IEEE ICIT 2015, 417 - 422, 2015, International conference proceedings - Spectrum of Monodromy Operator for a Time-Delay System with Application to Stability Analysis
J. H. Kim; T. Hagiwara; K. Hirata
IEEE Transactions on Automatic Control, 60(12) 3385 - 3390, 2015, Scientific journal - Fast-lifting approach to the computation of the spectrum of retarded time-delay systems
Tomomichi Hagiwara; Kentaro Hirata
2009 European Control Conference, ECC 2009, Institute of Electrical and Electronics Engineers Inc., 3575 - 3580, 26 Mar. 2014, International conference proceedings - Eigenvalue Structure of the Predictor Feedback for Discrete-time LTI Systems
Lolynn Asuncion Mateo; Kentaro Hirata
Proceedings of IEEE ICIT 2014, 67 - 72, 2014, International conference proceedings - Power Assisting Control for Electric Bicycles Using an Adaptive Filter
Kazuyoshi Hatada; Kentaro Hirata
Proceedings of IEEE ICIT 2014, 51 - 54, 2014, International conference proceedings - On Numerical Computation of the Spectrum of Monodromy Operators via Higher-Order Hold Discretization
Yoichiro Masui; Kentaro Hirata; Tomomichi Hagiwara
Proceedings of MTNS 2014, 861 - 866, 2014, International conference proceedings - Modeling of Pressurized Rice Cooking Process
K. Hirata; K. Nishida
International Journal of Modelling and Simulation, 34(4), 2014, Scientific journal - State Estimation of State-Dependent Delay Systems Based on Discretized Switching Model
Kenichi Kato; Akiyuki Kawaguchi; Kentaro Hirata
Proceedings of IEEE International Conference on Industrial Technology, 199 - 203, 2013, International conference proceedings - A Study on the Spectrum of Monodromy Operator for a Time-Delay System
Jung Hoon Kim; Tomomichi Hagiwara; Kentaro Hirata
Proceedings of ASCC 2013, 2013, International conference proceedings - Modeling of Pressurized Rice Cooking Process
Kentaro Hirata; Keisuke Nishida
Proceedings of International Conference on Modelling and Simulation, 162 - 168, 2013, International conference proceedings - Robust Controller Synthesis for a class of Uncertain Systems and Application to Visual Feedback Control
Kentaro Hirata; Masayuki Sato; Kazuyoshi Hatada; Yoichiro Masui
Proceedings of the 39th Annual Conference of the IEEE Industrial Electronics Society, IEEE, 3738 - 3743, 2013, International conference proceedings - 遷移沸騰領域における鋼板冷却制御系の設計
中川繁政; 平田健太郎; 畑田和良; 杉本謙二
計測自動制御学会論文集, 49(12) 1179 - 1185, 2013, Scientific journal - ある種の切り替え系に対する繰返し制御の局所安定解析
平田健太郎; 高橋健太郎
計測自動制御学会論文集, 49(6) 619 - 624, 2013, Scientific journal - Numerical Methods for Spectrum Computation of Monodromy Operators via Non-Causal Hold Discretization
K. Hirata; T. Hagiwara; A. Itokazu
SICE Journal of Control, Measurement, and System Integration, 6(1) 45 - 53, 2013, Scientific journal - 規則向波中を航行する船舶における低燃費フィードバックエンジン回転数制御
畑田和良; 平田健太郎
計測自動制御学会論文集, 49(2) 313 - 315, 2013, Scientific journal - Energy-Efficient Power Assisting Methods for Periodic Motions and its Experimental Verification
Kazuyoshi Hatada; Kentaro Hirata
Proceedings of 2012 IEEE International Conference on Industrial Technology, 869 - 874, 2012, International conference proceedings - 加圧炊飯プロセスの数理モデル化に関する検討
平田健太郎; 久保田靖之
システム制御情報学会論文誌, 25(6) 152 - 161, 2012, Scientific journal - 遷移沸騰領域における冷却制御のモデリングと安定性解析
中川繁政; 平田健太郎; 杉本謙二
計測自動制御学会論文集, 48(4) 207 - 213, 2012, Scientific journal - Energy-Efficient Power Assist Control Methods for Periodic Motions
Hatada Kazuyoshi; Hirata Kentaro; Yamada Kohei; Otani Shinji
Transactions of the Institute of Systems, Control and Information Engineers, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 25(2) 28 - 38, 2012, Scientific journal - カメラ設置誤差を許容するバランスタスクの視覚フィードバック安定化
平田健太郎; 水野貴志
システム制御情報学会論文誌, 25(1) 10 - 18, 2012, Scientific journal - Gain Scheduling Control Experiment of Balancing Transformer Robot using LEGO Mindstorms
Kentaro Hirata; Mayumi Tomida; Kazuyoshi Hatada
Proceedings of IIIS DeMset 2011, 2011, International conference proceedings - A Proposed Topology Design and Admission Control for Improving Network Robustness in Network Virtualization
Mika Mori; Takuji Tachibana; Kentaro Hirata; Kenji Sugimoto
Proceedings of IEEE Global Communications Conference, 1 - 5, 2011, International conference proceedings - 入力むだ時間系に対するオブザーバ併合型状態予測制御の安定解析
平田健太郎; 西田将人
システム制御情報学会論文誌, 24(12) 296 - 298, 2011, Scientific journal - Fast-Lifting Approach to the Computation of the Spectrum of Retarded Time-Delay Systems
T. Hagiwara; K. Hirata
European Journal of Control, 17(2) 162 - 171, 2011, Scientific journal - On Internal Stabilizing Mechanism of Passive Dynamical Walking
K. Hirata
SICE Journal of Control, Measurement, and System Integration, 4(1) 29 - 36, 2011, Scientific journal - SOS Analysis of Cooling Control of Hot Strips in Transition Boiling Region
Shigemasa Nakagawa; Kentaro Hirata; Kenji Sugimoto
Proceedings of SICE Annual Conference 2010, 127 - 130, 2010, International conference proceedings - Energy-Efficient Power Assist Control for Periodic Motions
Kazuyoshi Hatada; Kentaro Hirata
Proceedings of SICE Annual Conference 2010, 2004 - 2009, 2010, International conference proceedings - 3D Position Measurement System for Moving Objects Based on Active Vision
Kentaro Hirata; Masashi Nakazawa; Naoki Kida
Proceedings of AsiaMIC 2010, 114 - 120, 2010, International conference proceedings - ネットワーク化制御に関連した安定化問題の漸近的性質についての考察
平田健太郎
システム制御情報学会論文誌, 23(10) 243 - 245, 2010, Scientific journal - Fast-Lifting Approach to the Computation of the Spectrum of Retarded Time-Delay Systems
T. Hagiwara; K. Hirata
Proceedings of ECC2009, 3573 - 3580, 2009, International conference proceedings - On Numerical Computation of the Spectrum of a Class of Integral Operators via Non-Causal Hold Discretization
K. Hirata; A. Itokazu; T. Hagiwara
Proceedings of IFAC TDS 2009, 2009, International conference proceedings - H-infinity Synthesis of Visual Feedback Systems under Camera Misalignment
K. Hirata; T. Mizuno
Proceedings of IEEE IECON 2009, 1563 - 1569, 2009, International conference proceedings - Development of Street Performance Robot SOMENOSUKE
Kenichi Katoh; Kentaro Hirata; Takashi Mizuno; Kouhei Yamada
Proceedings of IEEE IECON 2009, 2231 - 2237, 2009, International conference proceedings - 視覚フィードバックとロバスト制御による大道芸「くわえ撥」の実現
加藤健一; 平田健太郎; 水野貴志; 山田公平
計測自動制御学会論文集, 45(10) 530 - 537, 2009, Scientific journal - Model-based temperature control of cooking appliance using soft sensor
Yu Kawamura; Kentaro Hirata; Arata Suzuki; Kenji Sugimoto
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan, 128(7) 14 - 1116, 2008, Scientific journal - Robust Visual Feedback Control of Inverted Pendulum System against Camera Misalignment
K. Hirata; T. Mizuno
Proceedings of IEEE AMC 2008, 153 - 158, 2008, International conference proceedings - Can A Two Link Manipulator Learn How To Write?
Basel Al-Ali; K. Hirata; K. Sugimoto
Proceedings of IFAC World Congress 2008, 4084 - 4089, 2008, International conference proceedings - Synchronization of Multiple Plants over Networks via Switching Observer with Time-stamp Information
Y. Nakamura; K. Hirata; K. Sugimoto
Proceedings of SICE Annual Conference 2008, 2859 - 2864, 2008, International conference proceedings - Feedback Error Learning with Insufficient Excitation
Kenji Sugimoto; Basel Alali; Kentaro Hirata
Proceedings of the 47th IEEE Conference on Decision and Control, 714 - 719, 2008, International conference proceedings - Feedback Error Learning with Insufficient Excitation
B. Alali; K. Hirata; K. Sugimoto
IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E91-A(10) 3071 - 3075, 2008, Scientific journal - ソフトセンサを用いた調理家電のモデルベース温度制御
川村雄; 平田健太郎; 鈴木新; 杉本謙二
電気学会論文誌, 128-C(7) 1110 - 1116, 2008, Scientific journal - タイムスタンプを用いた切替え型オブザーバによるネットワーク上の複数機器の連動
中村幸紀; 平田健太郎; 杉本謙二
システム制御情報学会論文誌, 21(7) 211 - 218, 2008, Scientific journal - 状態依存むだ時間系の非線形モデル表現とSOS解析
加藤健一; 平田健太郎; 杉本謙二
システム制御情報学会論文誌, 21(4) 103 - 111, 2008, Scientific journal - 時間遅れシステムに関連したある種のたたみ込み積分作用素のスペクトルの数値計算について
平田健太郎
システム制御情報学会論文誌, 21(3) 82 - 88, 2008, Scientific journal - On a Design Method of H∞ Delayed Feedback Controllers
HIRATA Kentaro
Transactions of the Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 44(2) 164 - 173, 2008, Scientific journal - Visual Feedback Control of Cart-Pendulum Systems with Webcam
K. Hirata; Y. Kimura; K. Sugimoto
Proceedings of IEEE International Conference on Mechatronics, 2007, International conference proceedings - Closed-loop Identification Based on MIMO Feedback Error Learning
Basel Al-Ali; K. Hirata; K. Sugimoto
Proceedings of the 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007, International conference proceedings - Feedback Error Learning for Writing One Stroke Characters by Two-Link Manipulator
Basel Alali; 平田健太郎; 杉本謙二
システム制御情報学会論文誌, 20(12) 475 - 481, 2007, Scientific journal - 補間を用いたサンプル値遅延フィードバック制御器の一設計法
平田健太郎
システム制御情報学会論文誌, 20(9) 376 - 383, 2007, Scientific journal - Generalization of Feedback Error Learning (FEL) to MIMO Systems
Basel Alali; 平田健太郎; 杉本謙二
American Control Conference, Minneapolis, Minnesota USA, 14-16 Jun., 2006, 43(4) 293 - 302, 2007, Scientific journal - Stability Theory of Delay Systems Revisited : -From Classics to DFC of Passive Walker- Part I
HIRATA Kentaro; KOKAME Hideki
Journal of The Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 45(3) 260 - 266, 10 Mar. 2006 - :From Classics to DFC of Passive Walker-Part II
HIRATA Kentaro; OSUKA Koichi; SUGIMOTO Yasuhiro
Journal of The Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 45(4) 376 - 380, 2006 - Generalization of Feedback Error Learning (FEL) to Strictly Proper MIMO Systems
Al-Ali Basel; K. Hirata; K. Sugimoto
Proceedings of ACC 2006, 5451 - 5456, 2006, International conference proceedings - A Design of Sampled-Data H-Infinity Delayed Feedback Controller
Kentaro Hirata
Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, 723 - 729, 2006, International conference proceedings - MIMO Feedback Error Learning Control with Stability Proof: Generalization to Non-square Case
Basel Al-Ali; K. Hirata; K. Sugimoto
Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, 1156 - 1160, 2006, International conference proceedings - State Space Design of H infinity Delayed Feedback Controllers
K. Hirata; T. Ogasahara; K. Sugimoto
Proceedings of SICE-ICCAS International Joint Conference, 3200 - 3205, 2006, International conference proceedings - On A Design Method of Sampled-Data Delayed Feedback Controller
K. Hirata
Proceedings of the 16th IFAC World Congress, 2005, International conference proceedings - Dynamic Controllers which Use Difference Approximates of Output Derivatives and their Practical Stability
H. Kokame; K. Hirata; T. Mori
Proceedings of the 16th IFAC World Congress, 2005, International conference proceedings - Delayed Feedback Control of Linear Systems with State Jump
HIRATA Kentaro; KOKAME Hideki
Transactions of the Institute of Systems, Control and Information Engineers, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 18(3) 118 - 125, 2005, Scientific journal - On Numerical Computation of the Spectrum of a Class of Convolution Operators Related to Delay Systems
K. Hirata; H. Kokame
Proceedings of MTNS 2004, 2004, International conference proceedings - On Periodic Motion of Linear Systems with State Jump : Modelling, Stability Analysis and Feedback Control of Compass Walking
HIRATA Kentaro; KOKAME Hideki
Transactions of the Institute of Systems, Control and Information Engineers, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 17(12) 553 - 560, 2004, Scientific journal - A New Approach to Finite Minimax Receding Horizon Control Problem with Constrained Conditions
KAWABE Tohru; HIRATA Kentaro
Transactions of the Japan Society of Mechanical Engineers. Series C., The Japan Society of Mechanical Engineers, 70(695) 1992 - 1998, 2004, Scientific journal - A new approach to finite RHC of constrained systems with disturbances
T. Kawabe; K. Hirata
Proceedings of IASTED International Conference on Modeling, Identification, and Control, 591 - 594, 2003, International conference proceedings - Stability Analysis of Linear Systems with State Jump - Motivated by Periodic Motion Control of Passive Walker
K. Hirata; H. Kokame
Proceedings of IEEE Conference on Control Applications, 949 - 953, 2003, International conference proceedings - Delayed Feedback Control of Linear Systems with State Jump
K. Hirata; H. Kokame
Proceedings of IFAC Workshop on Time-Delay Systems, 2003, International conference proceedings - Stability Analysis of Retarded Systems via Lifting Technique
K. Hirata; H. Kokame
Proceedings of IEEE Conference on Decision and Control, 5595 - 5596, 2003, International conference proceedings - On Stability of Simplified Passive Walker Model and Effect of Feedback Control
K. Hirata; H. Kokame; K. Konishi
Proceedings of the 4th Asian Control Conference, 1444 - 1449, 2002, International conference proceedings - An Experimental Suppression of Spatial Instability in One-way Open Coupled Chua's Circuits
T. Imai; K. Konishi; H. Kokame; K. Hirata
International Journal of Bifurcations and Chaos, 12(12) 2897 - 2905, 2002, Scientific journal - Experimental Evidence for Spatiotemporal Stability and Control of a One-way Open CML
T. Imai; K. Konishi; H. Kokame; K. Hirata
International Journal of Bifurcations and Chaos, 12(12) 2937 - 2944, 2002, Scientific journal - Observer-based Delayed Feedback Control of Continuous-time systems
K. Hirata; H. Kokame; K. Konishi; H. Fujita
Proceedings of American Control Conference, 2514 - 2515, 2001, International conference proceedings - Spatial Instability in One-way Open Coupled Double-scroll Circuits
K. Konishi; H. Kokame; K. Hirata
Proceedings of IEEE International Symposium on Circuits and Systems, 257 - 260, 2001, International conference proceedings - Spatiotemporal Stability and Control of One-way Open Coupled Lorenz Systems
K. Konishi; H. Kokame; K. Hirata
Proceedings of the first Asia-Pacific Workshop on Chaos Control and Synchronization, 24 - 25, 2001, International conference proceedings - Stabilization by Output Difference Feedback for Continuous-Time Systems
H. Kokame; K. Hirata; K. Konishi; T. Mori
Proceedings of SICE/ICASE Workshop -Control Theory and Applications, 55 - 60, 2001, International conference proceedings - Suppression of Spatial Instability in the One-way Open Double-scroll Circuits
T. Imai; K. Konishi; H. Kokame; K. Hirata
Proceedings of International Symposium on Nonlinear Theory and its Applications, 437 - 440, 2001, International conference proceedings - Experimental Evidence for Spatiotemporal Stability in One-way Open Coupled Double-scroll Circuits
K. Konishi; H. Kokame; K. Hirata
IEEE Transactions on Circuits and Systems-I, 48(10) 1234 - 1237, 2001, Scientific journal - An Experimental Study on Delayed-feedback Control of Three-coupled One-way Ring Map Lattices
K. Konishi; H. Oyama; H. Kokame; K. Hirata
International Journal of Bifurcations and Chaos, 11(8) 2271 - 2276, 2001, Scientific journal - Difference Feedback Can Stabilize Uncertain Steady States
H. Kokame; K. Hirata; K. Konishi; T. Mori
IEEE Transactions on Automatic Control, 46(12) 1908 - 1913, 2001, Scientific journal - State Difference Feedback for Stabilizing Uncertain Steady States of Nonlinear Systems
H. Kokame; K. Hirata; K. Konishi; T. Mori
International Journal of Control, 74(6) 537 - 546, 2001, Scientific journal - Controller Design via Local H2 Optimization of Affine Parameter-Dependent Systems
K. Hirata
Proceedings of International Symposium on Nonlinear Theory and Its Application, 51 - 54, 2000, International conference proceedings - Delayed-feedback Control of an Optimal Velocity Traffic Model
K. Konishi; H. Kokame; K. Hirata
Proceedings of the 2nd International Conference Control of Oscillations and Chaos, 221 - 224, 2000, International conference proceedings - Delayed-feedback Control of One-way Ring Coupled Map Lattices
K. Konishi; H. Kokame; K. Hirata
Proceedings of the 4th Asian Fuzzy Systems Symposium, 357 - 362, 2000, International conference proceedings - Suppressing Spatial Bifurcations and Chaos in One-way Open Coupled Map Lattices
K. Konishi; H. Kokame; K. Hirata
Proceedings of IEEE International Conference on Industrial Electronics, Control and Instrumentation, 2042 - 2047, 2000, International conference proceedings - Spatial Bifurcation of One-way Coupled Nonlinear Systems: H infinity-norm Approach
K. Konishi; H. Kokame; K. Hirata
Proceedings of International Symposium on Nonlinear Theory and its Applications, 35" - 38, 2000, International conference proceedings - Experimental Evidence of Spatial Bifurcation in a One-way Open Coupled Map Lattice
T. Imai; K. Konishi; H. Kokame; K. Hirata
Proceedings of International Symposium on Nonlinear Theory and its Applications, 39 - 42, 2000, International conference proceedings - State Difference Feedback can Stabilize Uncertain Steady States
H. Kokame; K. Hirata; K. Konishi
Proceedings of American Control Conference, 1370 - 1371, 2000, International conference proceedings - Stabilization via the Delayed Feedback with a Large Delay
H. Kokame; K. Hirata; K. Konishi; T. Mori
Proceedings of the 2nd IFAC Workshop on Linear Time Delay Systems, 15 - 20, 2000, International conference proceedings - Spatiotemporal Stability of One-way Open Coupled Nonlinear Systems
K. Konishi; H. Kokame; K. Hirata
Physical Review E, 62(5) 6383 - 6387, 2000, Scientific journal - Decentralized Delayed-feedback Control of an Optimal Velocity Traffic Model
K. Konishi; H. Kokame; K. Hirata
The European Physical Journal B, 15 715 - 722, 2000, Scientific journal - Delayed-feedback Control of Spatial Bifurcations and Chaos in Open Flow Models
K. Konishi; H. Kokame; K. Hirata
Physical Review E, 62(1) 384 - 388, 2000, Scientific journal - Decentralized Delayed-feedback Control of a Coupled Ring Map Lattice
K. Konishi; H. Kokame; K. Hirata
IEEE Transactions on Circuits and Systems - I, 47(7) 1100 - 1102, 2000, Scientific journal - A Hamiltonian-based solution to the two-block H∞ problem for general plants in H∞ and rational weights
K. Hirata; Y. Yamamoto; A. Tannenbaum
System and Control Letters, 40 83 - 95, 2000, Scientific journal - A Minimax Design of Robust I-PD Controller for Time-Delay Systems with Parametric Uncertainty
K. Hirata; Y. Yanase; T. Kawabe; T. Katayama
Proceedings of the 14th IFAC World Congress, 259 - 264, 1999, International conference proceedings - Decentralized Delayed-feedback Control of a Coupled Ring Map Lattice
K. Konishi; H. Sugiyama; H. Kokame; K. Hirata
Proceedings of IEEE International Symposium on Circuits and Systems, 327 - 330, 1999, International conference proceedings - Delayed-feedback Control of Discrete-time Coupled Map Traffic Models
K. Konishi; H. Kokame; K. Hirata
Proceedings of International Symposium on Nonlinear Theory and its Applications, 471 - 474, 1999, International conference proceedings - Experimental Delayed-feedback Control of Three-coupled One-way Map Lattices
K. Konishi; H. Oyama; H. Kokame; K. Hirata
Proceedings of International Symposium on Nonlinear Theory and its Applications, 467 - 470, 1999, International conference proceedings - Stability of Steady State in One-way Open Coupled Map Lattice
K. Konishi; H. Kokame; K. Hirata
Physics Letters A, 263(4) 307 - 314, 1999, Scientific journal - Coupled Map Car-following Model and its Delayed-feedback Control
K. Konishi; H. Kokame; K. Hirata
Physical Review E, 60(4) 4000 - 4007, 1999, Scientific journal - Computation of the singular values of Toeplitz operators and the gap metric
K. Hirata; Y. Yamamoto A. Tannenbaum
System and Control Letters, 36 327 - 338, 1999, Scientific journal - State space solution to the singular value problem of Toeplitz operators related to the gap computation
K. Hirata; Y. Yamamoto; A. Tannenbaum
Proceedings of MTNS98, 547 - 550, 1998, International conference proceedings - Skew Toeplitz Solution to The H∞ Problem for Infinite-Dimensional Unstable Plants
HIRATA Kentaro; YAMAMOTO Yutaka; TANNENBAUM Allen; KATAYAMA Tohru
Transactions of the Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 33(11) 1066 - 1071, 1997, Scientific journal - New Solution to The Two Block Ｈ∞ Problem for Infinite-Dimensional Stable Plants
K. Hirata; Y. Yamamoto; A. Tannenbaum
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 32(10) 173 - 178, 1996, Scientific journal - State space formulae for the gap computation
K. Hirata; Y. Yamamoto; A. Tannenbaum
Proceedings of the 35th IEEE Conference on Decision and Control, 4584 - 4586, 1996, International conference proceedings - Some remarks on Hamiltonians and the infinite-dimensional one block Ｈ∞ problem
Y. Yamamoto; K. Hirata; A. Tannenbaum
System and Control Letters, 29 111 - 117, 1996, Scientific journal - New Solution to The Two Block H∞ Problem for Infinite-Dimensional Stable Plants
HIRATA Kentaro; YAMAMOTO Yutaka; TANNENBAUM Allen; KATAYAMA Tohru
Transactions of the Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 32(10) 1416 - 1429, 1996, Scientific journal - Sensitivity and Gain Margin Optimization Problems for Strictly Proper Plant
T. Katayama; K. Hirata
Proceedings of the 29th IEEE Conference on Decision and Control, 1024 - 1025, 1995, International conference proceedings - Optimal Sensitivity Computation for Pseudorational Transfer Functions
Y. Yamamoto; K. Hirata; A. Tannenbaum
Proceedings of the 3rd European Control Conference, 201 - 206, 1995, International conference proceedings - The Equivalence among the Solutions of the H∞ Optimal Sensitivity Computation Problem
HIRATA Kentaro; YAMAMOTO Yutaka; KATAYAMA Tohru; TANNENBAUM Allen
Transactions of the Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 31(12) 1954 - 1961, 1995, Scientific journal
MISC
- オートエンコーダによる次元圧縮を用いたデータ駆動型一般化最小分散制御系の設計—Synthesis of a Data-Driven Generalized Minimum Variance Control System with Auto-Encoder based Dimensionality Reduction
山下 剛史; 中村 幸紀; 脇谷 伸; 平田 健太郎
システム制御情報学会研究発表講演会講演論文集, 66 926 - 929, May 2022 - Autoencoderを用いた多変数一般化最小分散制御系設計に関する一考察—Study on MIMO-GMV Controller Design with Autoencoder—制御研究会 制御理論・機械学習技術一般
脇谷 伸; 山本 透; 長島 慶樹; 中村 幸紀; 平田 健太郎
電気学会研究会資料. CT / 制御研究会 [編], 電気学会, 2021(67-69) 11 - 15, 13 Sep. 2021 - Calibration-free Visual Feedback Control Demonstration of an Inverted Pendulum Using a Fisheye Lens
畑田和良; 佐藤昌之; 平田健太郎; 増井詠一郎
自動制御連合講演会(CD-ROM), 64th, 2021 - Synthesis of a Visual Feedback Stabilizing Controller for an Inverted Pendulum Using a Fisheye Camera
畑田和良; 平田健太郎; 増井詠一郎
電気学会全国大会講演論文集(CD-ROM), 2020, 2020 - 粒子フィルタを用いた筋骨格パラメータの同定—Parameter Identification of a Musculoskeletal System Using Particle Filter
オ ハンビッ; 中村 幸紀; 平田 健太郎; 岡野 訓尚
システム制御情報学会研究発表講演会講演論文集, 京都 : システム制御情報学会, 63 1061 - 1066, May 2019 - Consideration on Positioning of a Pneumatic Cylinder Using MPC
中村 幸紀; 林 祐矢; 平田 健太郎; 岡野 訓尚
電気学会研究会資料. CT, 電気学会, 2017(66) 45 - 47, 26 Aug. 2017 - Leader-Follower Type Formation Control of Multi-Agent Systems in the Presence of Drop Out
新田 侑亮; 中村 幸紀; 平田 健太郎; 岡野 訓尚
システム制御情報学会研究発表講演会講演論文集, システム制御情報学会, 61 4p , 23 May 2017 - Study on Effects of Sliding Mode Control for a Pneumatic Cylinder under Pressure Variation
中村 幸紀; 林田 拓也; 平田 健太郎; 岡野 訓尚
電気学会研究会資料. CT, 電気学会, 2017(5) 59 - 61, 19 Mar. 2017 - ベローズアクチュエータを用いた空気式義手の開発
西川弘太郎; 赤対真行; 平田健太郎; 高岩昌弘
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 16th ROMBUNNO.1B2‐5 , 14 Dec. 2015 - ベローズアクチュエータを用いた空気式ロボットハンドの開発
赤対真行; 西川弘太郎; 平田健太郎; 高岩昌弘
計測自動制御学会中国支部学術講演会論文集, 24th 94‐95 , 28 Nov. 2015 - Dear Students : Interesting Job Offer!
HIRATA Kentaro
システム/制御/情報 : システム制御情報学会誌 = Systems, control and information, 52(12) 476 - 476, 15 Dec. 2008 - H2/H∞ Optimization of Digital Filter via Generalized Hold Functions.
石井秀明; 山本裕; 平田健太郎
制御理論シンポジウム資料, 26th, 1997
Research Projects
- Comprehensive Control Method Considering Mechanism of Disturbance Generation
中村 幸紀; 高岩 昌弘; 橋本 誠司; 平田 健太郎
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, 2023/04 -2026/03, Grant-in-Aid for Scientific Research (C), Okayama University - 動的ダメージコントロール (DDS) 技術の確立
平田 健太郎
ビークル制御について, ドリフト状態を含む幅広い動作領域を表現可能なモデルの作成をおこなった. 従来では車速一定の条件下でモデル化が行われることが一般的であったが, 加減速・荷重移動も考慮したモデルを構築することによって, ナチュラルな車両の動作をシミュレートできるようになった. また, 車両のサスペンションなどの受動メカニズムの最適設計に関する研究の一環として, エネルギー効率に優れた自転車の駆動系メカニズムの設計についての結果をまとめ, 国際会議IEEE CoDIT2019に投稿, 採択された. 計測系（カメラシステム）については, 視野角の広い魚眼レンズの歪みモデルについての検討を進めている. 一方, 制御系設計については, まず非線形最適制御問題を数値的に解く方法についての考察を進めた. 具体的には, 閉リンク系の最適動作軌道設計問題に対して, 動的計画法, 階層勾配法, 微分動的計画法, 逐次二次計画法を適用し, 実用可能性についての検討をおこなった. これはアシスト技術の福祉応用にもつながる研究であるが, この結果について国際会議 IEEE ICM2019 にて発表をおこなった. さらにモデル予測制御系の実装に関する検討も進めており, 台車振子系を用いた実機実験の準備中である. L0制御系設計については, 近年注目されているスパース制御系設計の視点から古典的な月面軟着陸問題を捉え直し, ボール&ビーム系に対する適用を検討した. L1制御系設計に関する基礎検討にも着手しており, プリンタ定着器温度制御系に対するヒータ予熱制御への適用を検討中である., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2018/04 -2022/03, Grant-in-Aid for Scientific Research (C), Okayama University - Variable Resolution Theory for Distributed Systems - Modeling and Total Cost Optimal Control -
Hirata Kentaro
Based on the investigation of the modeling issue of delay systems and distributed parameter systems, stability analysis (spectrum computation of Monodromy operators) and controller synthesis (extension of finite spectrum assignment) is done. On a multi-resolution viewpoint, power assist control for almost periodic motions using frequency decomposition is studied. Variable structure strategy includes MPC of the heat process with variable resolution model and LPV control for visual feedback systems. Computational complexity of MPC is approached from the aspects of nonlinear optimization and parallel computation. Also some control applications on distributed parameter systems (e.g., thermal and fluid system) are studied., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2015/04 -2018/03, Grant-in-Aid for Scientific Research (C), Okayama University - Topology Design and Traffic Engineering in Robust Optical and Wireless Integrated Networks
Takuji Tachibana; Kentaro Hirata
In this research project, for next-generation optical and wireless networks, we propose a robust topology design and traffic engineering based on network robustness. In the proposed topology design, we derive the number of wavelengths at each link and the position of each wireless node to improve the robustness. Moreover, in the proposed traffic engineering, the route of packet forwarding is utilized aggressively to maintain the network robustness. From our results, we show that the topology design of optical and wireless networks can be performed based on network robustness. Moreover, by using the traffic engineering based on network robustness, the robustness in those networks are improved. It is expected that the next-generation optical and wireless networks can be designed and used based on robustness by using the proposed methods., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2012/04 -2016/03, Grant-in-Aid for Scientific Research (C), University of Fukui - Study of the control method for next-generation electric vehicle development to realize high performance, safety and electric energy saving
KAWABE Tohru; KUNO Takahito; MORIKAWA Koichi; HIRATA Kentaro; MANFRED Morari; NAKAMURA Kou; LI Shaobo; HAGIWARA Yuji; IHARA Masao
The spread of electric vehicle (EV) is indispensable for the realization of the smart city with a little environmental load, and the development of EV becomes the key by energy saving in the next generation when we overcome problem of current EV. Therefore, by this research, I developed the practical EV control methods in the next generation to realize high kinetics, safety and electric power saving. It is a precision well control method by integrating the regenerative brake equipment, a slip rate control, vehicle posture control and so on by utilizing characteristics of EV enough. The method has robustness property against the various changing road conditions. Specifically, 2DOF (degree of freedom) PID control method by designing the MPC algorithm and the method combination expansion and improved sliding mode control wand MPC. And then, these methods are verified the effectiveness of safety, electric power saving characteristics and motion performance by experiments., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2012/04 -2015/03, Grant-in-Aid for Scientific Research (C), University of Tsukuba - Development of Control Theory for Almost-Periodic Motions - Aimed at Practical Human Assist Technology
HIRATA Kentaro
Repetitive control with varying time delay length is investigated first. Then, feed forward strategies based on adaptive estimation of almost-periodic signals are examined. Unknown input observer for the generator of almost-periodic signals, periodic disturbance observer based on LPV systems theory and Time-Varying Seasonal Auto Regressive Model (TVSAR model) are studied. Adaptive controller design based on adaptive notch filters is also considered., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2012/04 -2015/03, Grant-in-Aid for Scientific Research (C) - Analysis and Synthesis for Periodic Motions including Passive Walking
HIRATA Kentaro
In this research project, we investigated the connection between control theory and physics mainly from an operator theoretic viewpoint under the keyword "periodic motion" to widen the border and increase the possibility of the control engineering. Other than the assist control, which was our original motivation, achievements over various application areas e. g. marine vehicle, visual feedback, distributed parameter systems are obtained., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2009 -2011, Grant-in-Aid for Scientific Research (C), Nara Institute of Science and Technology - State estimation of vehicles via asynchronous ICA filtering and sensor networks
SUGIMOTO Kenji; HIRATA Kentaro; TACHIBANA Takuji; KOGISO Kiminao; NAKAMURA Yukinori; SUZUKI Arata
This work proposes a design method￡or state estimation where many sensors collaborate via networks but some of them indicate outliers from time to time. In this method, we propose a mechanism called switching observer that continues correct state estimation by complimentary use of other sensor signals. We have examined its effectiveness by means of both simulation and experiment. A robust estimation is achieved by setting a common Lyapunov function and switched Lyapunov functions for designing the switching observer. Furthermore, we have also made a progress in heat capacity estimation by making full use of multivariate analysis techniques from a practical point of view., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2008 -2010, Grant-in-Aid for Scientific Research (C), Nara Institute of Science and Technology - Research of unified control theory for periodic motions-Delayed Feedback and Repetitive Control-
HIRATA Kentaro; SUGIMOTO Kenji; KOGISO Kiminao; TACHIBANA Takuji
安定化制御器の既約分解表現に基づき, 自由パラメータの補間によって特定の極零点構造を制御器に後天的に埋め込む方法を確立し, Lagrange型補間, およびH∞型補間に対応する手法を得た. 遅延フィードバックの応用としてネットワーク制御系の機能分散実験, 繰り返し制御の応用として電動自転車の高効率パワーアシスト制御実験をおこなった. さらに, 周期現象と関連の深いむだ時間系のモデリングと制御, 視覚フィードバックへの応用, 受動歩行現象の理論解析等に関しても, 各種の成果が得られた., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2006 -2008, Grant-in-Aid for Scientific Research (C), Nara Institute of Science and Technology - Robot Arm Touch Detection by Signal Separation with Higher Order Statistics and Compliance Control
SUGIMOTO Kenji; HIRATA Kentaro; KOGISO Kiminao; TACHIBANA Takuji
The objectives of this research are two-folds: 1) To complete an analysis method for control systems by means of signal separation with higher order statistics. A novel method in statistical learning, named independent component analysis, enables us to analyze signals based on higher order statistics such as Kurtosis. Thereby we can separate independent components from the mixture of signals and recover the source signal. In this research, we modify this method and develop a method for analysis and synthesis of control systems. 2) To derive a mechanism for touch detection of a robot arm to some obstacle. By real-time detection we can stop or relax the arm motion. Furthermore, we aim at developing a compliance control technique. Concerning 1),we have completed the method and applied it to some problems in control. Then, by reversing the idea of separation with inverse operation of observed signals, we have developed multivariable version of what is called Feedback Error Learning (FEL), where a feedforward controller for command inputs is adjusted by some learning law to obtain higher accuracy of the motion. For the former result, we have obtained a best paper award from SICE (our main academic society), and for the latter result, we have obtained a best presentation award from SI division of SICE. On the other hand, we have not yet succeeded in the item2), partly because we have concentrated on the above topics. But we have succeeded in writing one-stroke characters by a robot arm, which is a side-effect from 2). We are continuing efforts on this issue., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2006 -2007, Grant-in-Aid for Scientific Research (C), Nara Institute of Science and Technology - Design of Delayed Feedback for Multi-input Multi-output systems and Its Application
KOKAME Hideki; HIRATA Kentaro
We have studied the theoretical treatment of the so-called delayed feedback control method, which was invented for the purpose of controlling chaos, with a view to applying it in order to stabilize unstable systems such as the inverted pendulum. Delayed feedback control gives an output which takes the form of difference between the present output and the past output. As such, for stability analysis of feedback systems, it is necessary to cope with resulting differential-difference systems. To stabilize unstable systems by this approach, it seems promising to get a stabilizing derivative feedback and approximate it by a difference counterpart. This prospect is always valid for single input systems. We have pointed out, however, that such is not true for multi-input systems. Thus out task is to provide a useful means to reach a stabilizing difference feedback in the case of multi-input systems. Supposing that a stabilizing dynamic controller which is fed the derivative of output measurements, we have studied the condition under which the closed-loop stability is preserved by an approximate controller which uses difference of output measurements. Applying the obtained result to observer based controller, we have a simple condition for stability preservation, which is written in terms of the observer gain and the state feedback gain. A disadvantage with this approach is that how large delay time in the control input is allowed is not clear. With this point in mind, we have studied a sufficient condition which employs both bounded real lemma and positive real lemma for associated complementary sensitivity transfer matrix. The obtained criterion is useful in that it allows an immediate evaluation of the admissible delay time., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2004 -2005, Grant-in-Aid for Scientific Research (C), Osaka Prefecture University - 周期運動の制御-軌道の埋込みと遅延フィードバックによる安定化-
平田 健太郎
・状態ジャンプを伴う線形システムの遅延フィードバック制御について,状態遷移作用素のスペクトルの数値計算に関する結果を国際会議(MTNS2004,Leuven, Belgium)にて発表した. ・「状態にジャンプを有する線形システムの周期運動-Compass Walkingのモデリング,安定解析,フィードバック制御-」,「状態にジャンプを有する線形システムの遅延フィードバック制御」をシステム制御情報学会論文誌に投稿,掲載された. ・これまでは連続時間遅延フィードバック系の安定解析が主なテーマであったが,サンプル値制御の視点をとることによって微分差分系としての取り扱いを要しない設計方法について検討した.基本的なアイデアは安定化補償器のパラメータ表示をもとに,DFCとして機能するための零点を持つように自由パラメータをラグランジェ補間により構成すると言うものである.同結果を国際会議(IFAC World Congress 2005,プラハ,チェコ)に投稿,acceptされた.またLFT表現された制御器であれば同様の考え方が適用できることから,同結果を発展させて,Nevanlinna-Pick補間によるサンプル値H∞設計との融合を検討中. ・Passive Walker以外の状態にジャンプを有する線形システムの例として,ブラキエーションロボットのダイナミクスを取り上げ,モデル化と安定性の基礎検討に着手した.遅延フィードバックによる安定化等を検討していく予定. ・2足歩行ロボットの歩容生成に関して,Central Pattern Generatorとある意味で遅延フィードバックのanalogである離散的フィードバックを併用した手法について検討した., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B), 2002 -2004, Grant-in-Aid for Young Scientists (B), Osaka Prefecture University - Robust Stabilization Design via Delayed Feedback Control and Its Applications
KOKAME Hideki; HIRATA Kentaro
The purpose of the present research is to disclose the ability of the delayed feedback control cited in the area of chaos control, and to establish the design method with a view to applying it to various engineering problems. The delayed feedback has some merit in robustness, but its applicability has been long unclear. We have shown that it can really stabilize if the associated unstable poles are of even number, and if it is allowed to use a compensator, first-order compensator with an unstable pole is sufficient for stabilizing a system with an odd number of unstable poles. In this project, we have shown under a mild condition that approximating a stabilizing derivative controller by a difference can yield a stabilizing delayed feedback controller. However, it has been also shown that such replacement does not work for a special class of multi-input multi-output systems. Further we have obtained criteria which determine if such a difference approximation is successful to preserve the closed-loop stability. It is also clarified that the difference approximation is superior in the closed-loop stability to other alternate means such as realization by a sampled-data system and the derivative feedback with a small delay. As an application, we have adopted a cart-pendulum system moving on a curving surface. A guide of design is to firstly design a stabilizing derivative feedback and secondly replace it by a difference counterpart and adjust the delay involved to obtain a good overall performance where an LMI approach is effective. While simulation is favorable, in the experiment we have faced with some oscillations of cart motion, and still the cause is undetermined., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2001 -2002, Grant-in-Aid for Scientific Research (C), Osaka Prefecture University - 解析的手法と知能的手法の融合によるプロセス制御系設計における複雑さへの挑戦
平田 健太郎
本年度の研究実績は以下のとおり. ・遺伝アルゴリズムを用いたMini-Max最適化によるロバストPID制御系設計の検証のため,温度制御プロセス実験装置を作成し,理論の有効性を検証した.実際の装置ではヒーター電流の制限があるために非線形な飽和特性を考慮しなければならず,アフィンパラメータ依存型の線形システムとしての取り扱いはできなかったが,本設計法では数値シミュレーションによって評価関数値さえ計算可能であれば様々なシステムに柔軟に対応できるため,非線形特性を考慮した設計をおこなうことができた. ・プロセス制御においてはそのモデリングが非常に重要であるが,平衡点近傍での線形近似モデルによらずとも未知なる平衡点への安定化が可能である遅延フィードバック制御の実プロセスへの適用可能性について検討した.同結果をまとめた論文を国際会議(ACC2001)にて発表した.また関連する結果を学術雑誌にて発表した.さらに同制御法をメカニカルシステムの周期運動のモーションコントロールに適用する際の安定性に関する基礎的検討をおこなった.同制御法を実用化するにあたり必要となる過渡特性の評価のために,特性方程式のむだ時間に関する根軌跡の効率的な数値計算方法を導いた.また差分ダイナミクスの有限次元近似の観点から設計する際に現れる,微分フィードバックH∞問題のLMIを用いた可解条件についてディスクリプタ表現を基にしたアプローチを示した. ・プロセス制御においては制御器の実装を含めた幅広い検討が要求される.有限語長で制御器を実装した際の丸め誤差等に対する閉ループ特性の劣化度合い,いわゆるfragilityの尺度としてのギャップ距離およびH∞ループ整形法の有効性を検討し,ロバスト特性を考慮した制御器の低次元化に関して考察した., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Encouragement of Young Scientists (A), 2000 -2001, Grant-in-Aid for Encouragement of Young Scientists (A), Osaka Prefecture University - ギャップ距離を用いた新しい制御系の解析・設計手法の研究
平田 健太郎
本年度の研究実績は以下のとおり. ・ギャップ距離を用いた解析のひとつとして,双一次変換による連続時間ベースのサンプル値制御系設計のロバスト安定解析をおこなった.結果を国内シンポジウムにて発表した.サンプル値系に対して直接H^∞ループ整形設計をおこなうCantoni,Gloverらの正規化規約作用素分解に基づく手法との比較をおこなった. ・ギャップ距離と関連した最適ロバスト余裕の観点から構造系・制御系の同時設計をおこなう方法を検討した.これは原らによる安定機械システムの同相性と最小位相性をギャップ距離の意味での安定余裕を介して関連づける研究を,不安定系に拡張したものである.その実験的検証を目的として,二重倒立振子の実験システムを構築し,制御実験を進めている.現在までに比較用の予備的実験としてのH^2制御による設計を終えており,オブザーバ使用時のループ伝達特性の劣化等について検証した. ・本研究とも関連深いskew Toeplitz作用素論に基づく無限次元2ブロックH^∞問題の状態空間解法に関する論文をSystem and Control Lettersに投稿し,採録が決定した. ・いわゆるskew Toeplitz作用素の特異値計算法を発展させた,Toeplitz作用素の特異値計算によるギャップ距離計算法について,System and Control Lettersに論文が掲載された., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Encouragement of Young Scientists (A), 1998 -1999, Grant-in-Aid for Encouragement of Young Scientists (A), Osaka Prefecture University - Sampled-Data Control & Digital Signal Processing
YAMAMOTO Yutaka; WAKASA Yuji; FUJIOKA Hisaya
The present research project intends to advance and apply the modern function theoretic approach, developed by the principal investigator, to sampled-data control systems and apply it to digital signal processing. The emphasis here is upon the built-in intersample behavior in the design model based on the new notion called lifting, thereby differing greatly from the classical treatment. In particular, it gives a comfortable platform for dealing with continuous-time behavior of digital filters in contrast to the conventional discrete-time domain techniques in digital signal processing. It aims at advancing 1. frequency domain analysis/synthesis methods, 2. approximate methods for computing the frequency response 3. framework for filter synthesis with sampled-data control 4. extension to multirate filter banks 5. application to various concrete situations. During the research term, we have successfully obtained the following results : 1. Convergence proof of approximate frequency responses to that of the original sampled-data system 2. Reduction formula for single-rate signal reconstruction problem 3. Its extension to multirate filter banks 4. Application to the design of optimal DA converters 5. Application to the repetitive control scheme 6. implementation as a CAD package. A promising sign of connection with wavelets has also been obtained. The interplay of the present research with this theme is undoubtedly the most interesting and fruitful target for the future., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), 1996 -1998, Grant-in-Aid for Scientific Research (B), KYOTO UNIVERSITY