Updated on 2025/02/27

写真a

 
SAMPEI MITSUJI
 
Organization
School of Engineering Professor
Title
Professor
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Degree

  • Doctor of Engineering ( Tokyo Institute of Technology )

Research Interests

  • Control Theory and its Application

  • System and control engineering in general

  • System and control theory

  • システム・制御工学一般

  • システム・制御理論

Research Areas

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

Education

  • Tokyo Institute of Technology   Graduate School, Division of Science and Engineering   Department of Control Engineering

    - 1987

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  • 東京工業大学大学院   理工学研究科   制御工学専攻

    - 1987

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    Country： Japan

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  • Tokyo Institute of Technology   School of Engineering

    - 1983

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    Country： Japan

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  • Tokyo Institute of Technology   Faculty of Engineering   Department of Control Engineering

    - 1983

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Research History

  • Tokyo Institute of Technology   Professor

    2000.4

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  • Tokyo Institute of Technology   Associate Professor

    1993.5 - 2000.3

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  • Chiba University   Associate Professor

    1991.4 - 1993.4

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  • Chiba University   Research Associate

    1987.4 - 1991.3

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Professional Memberships

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Books

  • 非線形システム論

    計測自動制御学会  1993 

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  • Nonlinear System Theory

    Society of Instrument and Control Engineers Japan  1993 

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MISC

  • Suppression of vertical bending and rigid-body-mode vibration in railway vehicle car body by primary and secondary suspension control: results of simulations and running tests using Shinkansen vehicle

    Y. Sugahara, A. Kazato, R. Koganei, M. Sampei, S. Nakaura

    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART F-JOURNAL OF RAIL AND RAPID TRANSIT   223 ( 6 )   517 - 531   2009.11

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    Language：English   Publisher：PROFESSIONAL ENGINEERING PUBLISHING LTD  

    To improve ride comfort in railway vehicles, the suppression of vertical bending vibration and rigid-body-mode vibration in the car body is essential. In this paper, a system is proposed that aims to reduce bending and rigid-body-mode vibration simultaneously by introducing damping control devices in the primary and secondary suspensions. The technique involves a control system of primary vertical dampers and air springs; the former are used to suppress the first bending mode vibration; the latter, to suppress the rigid-body-mode vibration. The results of both Simulations and vehicle running tests on the Sanyo-Shinkansen line demonstrate that this system reduced vertical vibrations in the bogies and the car body using the sky-hook control theory In the running tests in particular, the system reduced the vertical vibration acceleration PSD peak value in the first bending mode to almost 20 per cent and in the rigid body mode to almost 50 per cent compared with the case when the system was not used. As a result, the ride quality level LT (a widely used index of ride comfort in Japan) decreased by at least 3 dB, indicating greater ride comfort.

    DOI： 10.1243/09544097JRRT265

    Web of Science

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  • Design of Free Parameters of State-Dependent Coefficient Form Based on the Relation between State-Dependent Riccati Inequality and Hamilton Jacobi Inequality

    Yoshihiro Sayanagi, Shigeki Nakaura, Mitsuji Sampei

    SICE Journal of Control, Measurement, and System Integration   2 ( 3 )   131 - 138   2009

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    Language：English   Publisher：The Society of Instrument and Control Engineers  

    The solvable condition of nonlinear H∞ control problems is given by the Hamilton Jacobi inequality (HJI). The state-dependent Riccati inequality (SDRI) is one of the approaches used to solve the HJI. The SDRI contains the state-dependent coefficient (SDC) form of a nonlinear system. The SDC form is not unique. If a poor SDC form is chosen, then there is no solution for the SDRI. In other words, there exist free parameters of the SDC form that affect the solvability of the SDRI. This study focuses on the free parameters of the SDC form. First, a representation of the free parameters of the SDC form is introduced. The solvability of an SDRI is a sufficient condition for that of the related HJI, and the free parameters affect the conservativeness of the SDRI approach. In addition, a new method for designing the free parameters that reduces the conservativeness of the SDRI approach is introduced. Finally, numerical examples to verify the effect of this method are presented.

    DOI： 10.9746/jcmsi.2.131

    CiNii Books

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  • Design of Free Parameters of State-Dependent Coefficient Form Based on the Relation between State-Dependent Riccati Inequality and Hamilton Jacobi Inequality

    SAKAYANAGI Yoshihiro, NAKAURA Shigeki, SAMPEI Mitsuji

    SICE Journal of Control, Measurement, and System Integration   2 ( 3 )   131 - 138   2009

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    Language：English   Publisher：The Society of Instrument and Control Engineers  

    The solvable condition of nonlinear H∞ control problems is given by the Hamilton Jacobi inequality (HJI). The state-dependent Riccati inequality (SDRI) is one of the approaches used to solve the HJI. The SDRI contains the state-dependent coefficient (SDC) form of a nonlinear system. The SDC form is not unique. If a poor SDC form is chosen, then there is no solution for the SDRI. In other words, there exist free parameters of the SDC form that affect the solvability of the SDRI. This study focuses on the free parameters of the SDC form. First, a representation of the free parameters of the SDC form is introduced. The solvability of an SDRI is a sufficient condition for that of the related HJI, and the free parameters affect the conservativeness of the SDRI approach. In addition, a new method for designing the free parameters that reduces the conservativeness of the SDRI approach is introduced. Finally, numerical examples to verify the effect of this method are presented.

    DOI： 10.9746/jcmsi.2.131

    CiNii Books

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  • Vertical Vibration Suppression of Railway Vehicle by Primary Suspension Damping Force Control : Results of Running Tests Using Shinkansen Vehicle

    SUGAHARA Yoshiki, KAZATO Akihito, TOMIOKA Takahiro, SAMPEI Mitsuji

    Transactions of the Japan Society of Mechanical Engineers C   74 ( 741 )   1222 - 1230   2008

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    Suppression of the vertical bending vibration of carbodies has recently become an essential issue to improve the ride comfort of railway vehicles. For suppressing this vibration, the primary suspension damping force control system with variable axle damper is being developed, which can control its damping force continuously by command current to the damping force control valve. This paper reports the results of numerical simulations for running test applying this system to Shinkansen vehicle, and the results of the running test on Sanyo-Shinkansen line using an actual Shinkansen vehicle fitted with newly-developed variable axle dampers. The control algorithm which controls axle dampers is based on skyhook control theory in one case and LQG control theory in another case. The results of both the simulations and the running tests demonstrate that the vertical vibration of the trucks and the carbody decreased. In the running tests in particular, the system reduced the vertical vibration acceleration PSD peak value due to the natural vibration in the first bending mode by almost 20% compared with the case of using conventional passive axle dampers. As the result, the value of ride quality level (L_T) was reduced by about 3 dB or more.

    DOI： 10.1299/kikaic.74.1222

    CiNii Books

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  • Discontinuous Control of the Chained System Using Time Scale Transformation : Control under Constrained Input and an Application to the SOA Analysis

    SAGAMI Tsuyoshi, ITO Norikazu, NAKAURA Shigeki, SAMPEI Mitsuji

    44 ( 9 )   743 - 750   2008

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  • Academic Roadmap in the Field of Systems, Management and Control

    SAMPEI Mitsuji

    Oukan (Journal of Transdisciplinary Federation of Science and Technology)   2 ( 2 )   70 - 76   2008

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    Language：Japanese   Publisher：Transdisciplinary Federation of Science and Technology  

    In this report, we will show our attempt to draw an academic roadmap in the fields ofsystems, management and control. In our Phase 1, we used C-Plan, which is proposed by METI,to draw a roadmap. We found that C-Plan is useful for the communication among different fieldsof science and technologies, but it is difficult to draw a time-scaled roadmap for trans-disciplinaryfields. Thus, as our Phase 2, we drew a roadmap based on the specified time-scaled key factors intrans-disciplinary fields: "Increasing Complexity" and "Measurements and Visualization."

    DOI： 10.11487/trafst.2.2_70

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  • Vertical Vibration Suppression of Railway Vehicle by Damping Force Control of Primary Suspension Using an LQG Controller

    Yoshiki Sugahara, Tadao Takigami, Akihito Kazato, Reiko Koganei, Mitsuji Sampei

    Journal of System Design and Dynamics   2 ( 1 )   251 - 262   2008

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    Language：English   Publisher：The Japan Society of Mechanical Engineers  

    Suppression of the vertical bending vibration of carbodies has recently become essential in improving the ride comfort of railway vehicles. In this paper, we propose a method of controlling vibration in the primary suspension of rolling stock to reduce carbody vibration. Systems conceivable for this purpose include a semi-active suspension system with variable axle dampers that can control damping force continuously by command current to the damping force control valve. Based on LQG control theory, we carried out numerical simulations and performed excitation testing with a carbody equivalent to an actual Shinkansen vehicle fitted with variable axle dampers to selectively suppress the first mode bending vibration of the carbody. The results show that this LQG control method reduces the power spectral density (PSD) of acceleration on the floor more effectively than the sky-hook control method, which does not consider the vibration modes of the carbody.

    DOI： 10.1299/jsdd.2.251

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  • Discontinuous Control of the Chained System Using Time Scale Transformation -Control under Constrained Input and an Application to the SOA Analysis-

    Tsuyoshi Sagami, Norikazu Ito, Shigeki Nakaura, Mitsuji Sampei

    Transactions of the Society of Instrument and Control Engineers   44 ( 9 )   743 - 750   2008

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  • Academic Roadmap in the Fields of Systems, Management and Control

    Mitsuji Sampei

    Journal of Transdisciplinary Federation of Science and Technology   2 ( 2 )   70 - 76   2008

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  • Suppression of Vertical Vibration in Railway Vehicles by Damping Force Control of Primary Suspension Using an LQG Controller

    SUGAHARA Yoshiki, TAKIGAMI Tadao, KAZATO Akihito, KOGANEI Reiko, SAMPEI Mitsuji

    JSDD   2 ( 1 )   251 - 262   2008

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    Language：English   Publisher：The Japan Society of Mechanical Engineers  

    Suppression of the vertical bending vibration of carbodies has recently become essential in improving the ride comfort of railway vehicles. In this paper, we propose a method of controlling vibration in the primary suspension of rolling stock to reduce carbody vibration. Systems conceivable for this purpose include a semi-active suspension system with variable axle dampers that can control damping force continuously by command current to the damping force control valve. Based on LQG control theory, we carried out numerical simulations and performed excitation testing with a carbody equivalent to an actual Shinkansen vehicle fitted with variable axle dampers to selectively suppress the first mode bending vibration of the carbody. The results show that this LQG control method reduces the power spectral density (PSD) of acceleration on the floor more effectively than the sky-hook control method, which does not consider the vibration modes of the carbody.

    DOI： 10.1299/jsdd.2.251

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  • :Stabilizing Inverted Pendulum Utilizing MATLAB and LabVIEW

    NAKAURA Shigeki, SAMPEI Mitsuji

    Journal of The Society of Instrument and Control Engineers   46 ( 9 )   705 - 708   2007

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    Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

    DOI： 10.11499/sicejl1962.46.705

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  • Control of 1generator High-order Nonholonomic System through Input-dependent Coordinate Transform

    SAGAMI Tsuyoshi, NAKAURA Shigeki, SAMPEI Mitsuji

    Transactions of the Society of Instrument and Control Engineers   43 ( 12 )   1144 - 1150   2007

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    Publisher：The Society of Instrument and Control Engineers  

    In this paper, a new control method for a class of 1-generator nonholonomic system with drift is introduced. Proposed method is based on a special coordinate transformation which depends on the control input. The original nonholonomic system is transformed into two linear subsystems by the proposed coordinate transformation; one is a linear time invariant system governing the generator dynamics, and the other is a time varying subsystems representing the remaining dynamics. Control problem of the original nonholonomic system can be reduced to linear control problem under a certain constraints.

    DOI： 10.9746/ve.sicetr1965.43.1144

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  • Control Experiment Enhancing Students' Motivation -Stabilizing Inverted Pendulum Utilizing MATLAB and LabVIEW-

    Shigeki Nakaura, MITSUJI SAMPEI

    Journal of the Society of Instrument and Control Engineers   46 ( 9 )   705 - 708   2007

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  • Control of 1generator High-order Nonholonomic System through Input-dependent Coordinate Transform

    Tsuyoshi Sagami, Shigeki Nakaura, Mitsuji Sampei

    Transactions of the Society of Instrument and Control Engineers   43 ( 12 )   1144 - 1150   2007

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    Publisher：The Society of Instrument and Control Engineers  

    In this paper, a new control method for a class of 1-generator nonholonomic system with drift is introduced. Proposed method is based on a special coordinate transformation which depends on the control input. The original nonholonomic system is transformed into two linear subsystems by the proposed coordinate transformation; one is a linear time invariant system governing the generator dynamics, and the other is a time varying subsystems representing the remaining dynamics. Control problem of the original nonholonomic system can be reduced to linear control problem under a certain constraints.

    DOI： 10.9746/ve.sicetr1965.43.1144

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  • Suppressing Vertical Vibration in Railway Vehicles through Primary Suspension Damping Force Control

    SUGAHARA Yoshiki, TAKIGAMI Tadao, SAMPEI Mitsuji

    JSDD   1 ( 2 )   224 - 235   2007

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    Language：English   Publisher：The Japan Society of Mechanical Engineers  

    Suppression of the vertical bending vibration of carbodies has recently become essential in improving the riding comfort of railway vehicles. In many cases, the resonant frequency of the system (consisting of a bogie frame and axle springs) is close to that of the first mode bending vibration of the carbody, so suppressing the vibration of bogie frames near their resonant frequency effectively reduces carbody vibration. In this paper, we propose a method of suppressing such vibration by controlling the damping force of axle dampers installed between bogie frames and wheel sets. The design of the semi-active controller applied to determine the optimal damping force is based on the sky hook control theory. Numerical simulations using a vehicle model with 16 degrees of freedom as well as excitation tests using a carbody with variable axle dampers at a rolling stock test plant were carried out. The results show that this control method effectively reduces the power spectral density (PSD) of acceleration on the floor and that the riding comfort level (LT) can be improved by about 3 dB.

    DOI： 10.1299/jsdd.1.224

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  • 制御理論・応用

    三平満司

    日本機械学会誌   110 ( 1065 )   617 - 618   2007

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  • Some Comments on Control Education

    SAMPEI Mitsuji

    Journal of The Society of Instrument and Control Engineers   46 ( 9 )   681 - 682   2007

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    Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

    DOI： 10.11499/sicejl1962.46.681

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  • Suppressing Vertical Vibration in Railway Vehicles through Primary Suspension Damping Force Control

    Yoshiki Sugahara, Tadao Takigami, Mitsuji Sampei

    Journal of System Design and Dynamics   1 ( 2 )   224 - 235   2007

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    Language：English   Publisher：The Japan Society of Mechanical Engineers  

    Suppression of the vertical bending vibration of carbodies has recently become essential in improving the riding comfort of railway vehicles. In many cases, the resonant frequency of the system (consisting of a bogie frame and axle springs) is close to that of the first mode bending vibration of the carbody, so suppressing the vibration of bogie frames near their resonant frequency effectively reduces carbody vibration. In this paper, we propose a method of suppressing such vibration by controlling the damping force of axle dampers installed between bogie frames and wheel sets. The design of the semi-active controller applied to determine the optimal damping force is based on the sky hook control theory. Numerical simulations using a vehicle model with 16 degrees of freedom as well as excitation tests using a carbody with variable axle dampers at a rolling stock test plant were carried out. The results show that this control method effectively reduces the power spectral density (PSD) of acceleration on the floor and that the riding comfort level (LT) can be improved by about 3 dB.

    DOI： 10.1299/jsdd.1.224

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  • Some Comments on Control Education

    MITSUJI SAMPEI

    Journal of the Society of Instrument and Control Engineers   46 ( 9 )   681 - 682   2007

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  • Vertical Vibration Suppression of Railway Vehicle by Using Variable Coefficient Axle Dampers

    SUGAHARA Yoshiki, TAKIGAMI Tadao, SAMPEI Mitsuji

    Transactions of the Japan Society of Mechanical Engineers C   72 ( 721 )   2770 - 2778   2006

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    In order to improve vertical ride comfort aboard railway vehicles, it has recently become essential to suppress vertical bending vibration of carbody. In many cases, the resonant frequency of the system which consists of bogie frame and axle springs is close to the one of the first mode bending vibration of carbody. Therefore, suppressing the vibration of bogie frames near their resonant frequency effectively reduces the vibration of carbody. In this paper, we propose a method to suppress this vibration by controlling damping force of axle dampers, which are installed between bogie frames and wheel sets. The semi-active controller that is applied to determine the optimal damping force is designed based on the sky-hook control theory. Both numerical simulations using a vehicle model with 16 degrees of freedom and excitation tests using a carbody,with variable coefficient axle dampers on rolling stock testing plant are carried out. In results, we show that the control method effectively reduces the power spectral density (PSD) of acceleration on the floor and the ride comfort level (L_T) can be improved by about 3dB.

    DOI： 10.1299/kikaic.72.2770

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  • Vertical Vibration Suppression of Railway Vehicle by Using Variable Coefficient Axle Dampers

    Yoshiki Sugahara, Tadao Takigami, Mitsuji Sampei

    Transactions of the Japan Society of Mechanical Engineers (C)   72 ( 721 )   2770 - 2778   2006

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  • Simultaneous control of position and orientation for ball-plate manipulation problem based on time-state control form

    H Date, M Sampei, M Ishikawa, M Koga

    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION   20 ( 3 )   465 - 479   2004.6

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    Language：English   Publisher：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    This paper deals with the ball-plate manipulation problem considered as a typical but complicated model of a driftless nonholonomic system. Due to a strong nonlinearity of the ball-plate system, a state equation of the kinematic model cannot be transformed into a chained form, which is known to be effective in constructing a feedback control law for some driftless nonholonomic systems. To address this problem, we utilize a time-state control form, a kind of canonical form which covers a broader class of systems than the chained form. This form is first applied to two separate subproblems, position control, in which the planar position of the ball is controlled but not the orientation, and orientation control, in which the orientation is controlled without changing,the positional relation between the ball and the plates. It turns out that there exists a linearly uncontrollable subspace in the transformed subsystem, which turns into controllable by a change of coordinates. This implies that the system has the structure of a system with two generators. We propose a control strategy using iterative changes of coordinates, ensuring convergence in the neighborhood of the origin. Finally, we unify the subproblems into simultaneous control of position and orientation, i.e., the whole configuration of the system. The important idea in the simultaneous control is the coordinate transformation, which enables us to avoid a singular point. Results of simulations show that the proposed method achieve robustness to a measurement noise and perturbation of radius of the ball.

    DOI： 10.1109/TRA.2004.825267

    Web of Science

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  • Performance Limitation on ZMP Feedback Control of Humanoid Robot

    Napoleon, Shigeki Nakaura, Mitsuji Sampei

    Journal of the Robotics Society of Japan   22 ( 5 )   656 - 665   2004

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    This paper presents balance control analysis of humanoid robot based on Zero Moment Point (ZMP) feedback control. The ZMP is often used as a standard evaluation of the stability of humanoid robot. Balance control is performed by controlling ZMP position so that it is always located in convex hull of the foot-support area. To simplify the design of controller, one-mass model which represents lower body part of the humanoid robot model has been commonly applied. However, the one-mass model causes the system becomes non-minimum phase, so that performance limitation is occurred. These disadvantages are attributed to the Waterbed effect in frequency domain and unavoidable undershoot in time domain. Therefore, this paper proposes the ZMP feedback control based on two-mass model, representing lower and upper body part of the humanoid robot. The proposed model results in minimum phase system. Finally, a design of controller based on the proposed model using Linear Quadratic Optimal Control by evaluating output of the system is described and confirmed using simulation.

    DOI： 10.7210/jrsj.22.656

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00241418299?from=CiNii

  • Performance Limitation on ZMP Feedback Control of Humanoid Robot

    NAZIR Napoleon, NAKAURA Shigeki, SAMPEI Mitsuji

    JRSJ   22 ( 5 )   656 - 665   2004

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    This paper presents balance control analysis of humanoid robot based on Zero Moment Point (ZMP) feedback control. The ZMP is often used as a standard evaluation of the stability of humanoid robot. Balance control is performed by controlling ZMP position so that it is always located in convex hull of the foot-support area. To simplify the design of controller, one-mass model which represents lower body part of the humanoid robot model has been commonly applied. However, the one-mass model causes the system becomes non-minimum phase, so that performance limitation is occurred. These disadvantages are attributed to the Waterbed effect in frequency domain and unavoidable undershoot in time domain. Therefore, this paper proposes the ZMP feedback control based on two-mass model, representing lower and upper body part of the humanoid robot. The proposed model results in minimum phase system. Finally, a design of controller based on the proposed model using Linear Quadratic Optimal Control by evaluating output of the system is described and confirmed using simulation.

    DOI： 10.7210/jrsj.22.656

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00241418299?from=CiNii

  • A one linear actuator hopping robot: modeling and control

    S Kuswadi, A Ohnishi, A Takahashi, M Sampei, S Nakaura

    ADVANCED ROBOTICS   17 ( 8 )   709 - 737   2003

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    Language：English   Publisher：TAYLOR & FRANCIS LTD  

    This paper addresses the modeling and control design of a one linear actuator hopping robot. The robot consists of a body and a leg, which are in contact with a sufficiently wide horizontal ground surface; both are fixed rigidly. Force actuation affects the angle of the body by a force couple that arises due to the mass of the body, as well as the length of the leg; hence both the angular velocity of the body and height of a jump can be controlled by only one actuator. Since the aim of this study is to achieve continuous hopping motion while keeping the system as simple as possible, an ON-OFF actuator is employed. Hence, we consider utilizing the thrust timing of the actuator - when robot is in the stance phase - to control the gait. For better stability of the hopping motion, optimization of mechanical parameters was made possible by evaluating the numerically obtained transition map, which contains a transition from one standard position to the next. The system is considered as a discrete system, in which one cycle of motion is regarded as one sampling interval. Finally, a control system was designed in which, by simulation, the continuous hopping gait was realized.

    DOI： 10.1163/156855303322395172

    Web of Science

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  • Adaptive Fuzzy Control of One Linear Actuator Hopping Robot

    Son Kuswadi, Mitsuji Sampei, Shigeki Nakaura

    Journal of Advanced Computational Intelligence   7 ( 2 )   92 - 100   2003

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  • A one linear actuator hopping robot: Modeling and control

    Son Kuswadi, Aki Ohnishi, Akiko Takahashi, Mitsuji Sampei, Shigeki Nakaura

    Advanced Robotics   17 ( 8 )   709 - 737   2003

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    Language：English  

    This paper addresses the modeling and control design of a one linear actuator hopping robot. The robot consists of a body and a leg, which are in contact with a sufficiently wide horizontal ground surface
    both are fixed rigidly. Force actuation affects the angle of the body by a force couple that arises due to the mass of the body, as well as the length of the leg
    hence both the angular velocity of the body and height of a jump can be controlled by only one actuator. Since the aim of this study is to achieve continuous hopping motion while keeping the system as simple as possible, an ON-OFF actuator is employed. Hence, we consider utilizing the thrust timing of the actuator - when robot is in the stance phase - to control the gait. For better stability of the hopping motion, optimization of mechanical parameters was made possible by evaluating the numerically obtained transition map, which contains a transition from one standard position to the next. The system is considered as a discrete system, in which one cycle of motion is regarded as one sampling interval. Finally, a control system was designed in which, by simulation, the continuous hopping gait was realized.

    DOI： 10.1163/156855303322395172

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  • Adaptive Fuzzy Control of One Linear Actuator Hopping Robot

    Son Kuswadi, Mitsuji Sampei, Shigeki Nakaura

    Journal of Advanced Computational Intelligence   7 ( 2 )   92 - 100   2003

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  • Some Remarks on Nonlinear Control Theory

    SAMPEI Mitsuji

    Journal of The Society of Instrument and Control Engineers   42 ( 10 )   786 - 788   2003

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    Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

    DOI： 10.11499/sicejl1962.42.786

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  • A Method for Numerical Computation of Jordan Canonical Form of Matrix

    Go Ohtake, Masanobu Koga, Mitsuji Sampei

    Transactions of the Institute of Systems, Control and Information Engineers   15 ( 7 )   320 - 326   2002

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    Language：Japanese   Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

    The Jordan canonical form of a matrix plays an important role in control system theory. But the numerically stable computation method has not been established. In this paper, we propose a numerical algorithm for the computation of Jordan canonical form of matrix. The transformation matrix consists of principal vectors obtained by the intersection of the kernel of the eigen-vector spaces. And we define the numerical Jordan canonical form of matrix and propose a more stable numerical method. The numerical example shows that the proposed method is more reliable than the well-known commercially available software.

    DOI： 10.5687/iscie.15.320

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00384761320?from=CiNii

  • A Method for Numerical Computation of Jordan Canonical Form of Matrix

    OHTAKE Go, KOGA Masanobu, SAMPEI Mitsuji

    Transactions of the Institute of Systems, Control and Information Engineers   15 ( 7 )   320 - 326   2002

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    Language：Japanese   Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

    The Jordan canonical form of a matrix plays an important role in control system theory. But the numerically stable computation method has not been established. In this paper, we propose a numerical algorithm for the computation of Jordan canonical form of matrix. The transformation matrix consists of principal vectors obtained by the intersection of the kernel of the eigen-vector spaces. And we define the numerical Jordan canonical form of matrix and propose a more stable numerical method. The numerical example shows that the proposed method is more reliable than the well-known commercially available software.

    DOI： 10.5687/iscie.15.320

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00384761320?from=CiNii

  • An Attitude Control of Underactuated Flying Objects with Initial Angular Momentum

    Mitsuji Sampei, Takeshi Honda, Masanobu Koga

    Journal of the Robotics Society of Japan   19 ( 4 )   461 - 467   2001

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    Many researchers are working on nonholonomic systems modeled as driftless nonlinear state equations, such as vehicles and flying robots with zero initial angular momentum. Flying robots with nonzero initial angular momentum, however, are no longer modeled as driftless state equations and do not attract much attentions so far. Although they have drift terms, they are still tough systems for feedback control. In this paper, we will propose an attitude controller for flying robots with nonzero initial angular momentum. We will show that, by introducing time varying state coordinate transformation and feedback, the state equation of the flying robot can be transformed into a time invariant nonlinear state equation whose linear approximation is controllable. This state equation enables us to control the landing posture of the flying robot. An adaptive controller is also proposed to eliminate the posture error caused by parameter uncertainties.

    DOI： 10.7210/jrsj.19.461

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00074022243?from=CiNii

  • An Attitude Control of Underactuated Flying Objects with Initial Angular Momentum

    SAMPEI Mitsuji, HONDA Takeshi, KOGA Masanobu

    JRSJ   19 ( 4 )   461 - 467   2001

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    Many researchers are working on nonholonomic systems modeled as driftless nonlinear state equations, such as vehicles and flying robots with zero initial angular momentum. Flying robots with nonzero initial angular momentum, however, are no longer modeled as driftless state equations and do not attract much attentions so far. Although they have drift terms, they are still tough systems for feedback control. In this paper, we will propose an attitude controller for flying robots with nonzero initial angular momentum. We will show that, by introducing time varying state coordinate transformation and feedback, the state equation of the flying robot can be transformed into a time invariant nonlinear state equation whose linear approximation is controllable. This state equation enables us to control the landing posture of the flying robot. An adaptive controller is also proposed to eliminate the posture error caused by parameter uncertainties.

    DOI： 10.7210/jrsj.19.461

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  • Control of the motion of an acrobot approaching a horizontal bar

    M Miyazaki, M Sampei, M Koga

    ADVANCED ROBOTICS   15 ( 4 )   467 - 480   2001

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    In this paper, we consider the motion of a gymnast approaching a horizontal bar and focus on the acrobot. In the stance phase, we set the jump with a desired speed direction and a desirable angular momentum as the control objective, and achieve it by introducing an output feedback control with a suitably chosen output function. In the flight phase, a suitable desired trajectory enables us to control the posture when the acrobot approaches it. Finally, numerical simulations are shown to demonstrate this motion.

    DOI： 10.1163/156855301750398365

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  • Robust Nonlinear Control. Nonlinear H.INF. Control for Semi-Active Controlled Suspension.

    OHSAKU Satoru, SAMPEI Mitsuji, SHIMIZU Etsuro, TOMIDA Koichi

    Journal of The Society of Instrument and Control Engineers   39 ( 2 )   126 - 129   2000

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    Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

    DOI： 10.11499/sicejl1962.39.126

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  • Seate Estimation and Output Feedback Control of Nonholonomic Mobile Systems Using Time-Scale Transfomation

    ISHIKAWA Masato, SAMPEI Mitsuji

    Transactions of the Institute of Systems, Control and Information Engineers   13 ( 3 )   124 - 133   2000

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    Language：Japanese   Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

    In this paper, we propose an optical measurement system for a nonholonomic wheeled robot, and develop a state estimation method and a measurement-output feedback controller. Since the kinematic model of such a wheeled mobile robot is expressed as a driftless nonlinear state equation, there arises a difficulty in observer design that the observability depends on control inputs. This matter is settled by transforming the time-scale of the state equation to a new one, which represents the trajectory of the mobile robot. Then we construct a nonlinear observer which achieves local exponential estimation-error convergence and allows us to specify its rate, where the design method is based on "the extended Luenberger observer (Zeitz)". Finally, we apply a control strategy for a class of driftless systems based on "time-state control form (Sampei et al.)" to the position control problem by combining it with the observer to form an output feedback controller. Some results of numerical simulations are also presented.

    DOI： 10.5687/iscie.13.3_124

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  • An Autonomous Locomotion Control of a Multi-Joint Snake-Like Robot with Consideration of the Dynamic Manipulability

    HOSHI Yoshikatsu, SAMPEI Mitsuji, KOGA Masanobu

    JRSJ   18 ( 8 )   1133 - 1140   2000

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    In this paper, we discuss an autonomous locomotion control of a snake-like robot which is modeled by some links with passive wheels. When the robot locomotes windingly, it should always keep the high locomotable shape, because its locomotability depends on its own shape. Then, we utilized a notion of manipulability to evaluate the locomotability, and proposed a controller to make it autonomously locomote in a desired direction without decreasing the manipulability. In this method, the robot spontaneously generates its gait, so we don't need to design any gaits. Moreover, by some simulations, it was proved that the method realizes the autonomous locomotion without taking singular postures.

    DOI： 10.7210/jrsj.18.1133

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  • Generalized Design of Mixed H^∞/Deadbeat Controllers for SISO Continuous-Time Servo Systems

    TANAKA Satoru, FURUTA Katsuhisa, SAMPEI Mitsuji

    Transactions of the Society of Instrument and Control Engineers   36 ( 12 )   1125 - 1131   2000

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    Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

    This paper is concerned with a mixed H∞/deadbeat suboptimal control problem for SISO continuous servo systems. By considering a deadbeat tracking, time domain performance may improve. Simultaneously, to improve frequency domain performance of the closed loop system, H∞ norm constraint is introduced. This problem gives the deadbeat tracking control with H∞ norm constraint and has been studied by Nobuyama et al. and Tsumura et al. individually. There is a structural difference between their designs. This paper proposes a new controller design of this problem. The design is more general since the structure of the controller covers those of the previous two designs.

    DOI： 10.9746/sicetr1965.36.1125

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  • State Estimation and Output Feedback Control of Nonholonomic Mobile Systems using Time-Scale Transformation

    Masato Ishikawa, Mitsuji Sampei

    Transactions of the Institute of Systems, Control and Information Engineers   13 ( 3 )   124 - 133   2000

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  • An Autonomous Locomotion Control of a Multi-Joint Snake-Like Robot with Consideration of the Dynamic Manipulability

    Yoshikatsu Hoshi, Mitsuji Sampei, Masanobu Koga

    Journal of the Robotics Society of Japan   18 ( 8 )   1133 - 1140   2000

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    In this paper, we discuss an autonomous locomotion control of a snake-like robot which is modeled by some links with passive wheels. When the robot locomotes windingly, it should always keep the high locomotable shape, because its locomotability depends on its own shape. Then, we utilized a notion of manipulability to evaluate the locomotability, and proposed a controller to make it autonomously locomote in a desired direction without decreasing the manipulability. In this method, the robot spontaneously generates its gait, so we don't need to design any gaits. Moreover, by some simulations, it was proved that the method realizes the autonomous locomotion without taking singular postures.

    DOI： 10.7210/jrsj.18.1133

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  • Generalized Design of Mixed H-infty/Deadbeat Controllers for SISO Continuous-Time Servo Systems

    Satoru Tanaka, Katsuhisa Furuta, Mitsuji Sampei

    Transactions of the Society of Instrument and Control Engineers   36 ( 12 )   1125 - 1131   2000

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    Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

    This paper is concerned with a mixed H∞/deadbeat suboptimal control problem for SISO continuous servo systems. By considering a deadbeat tracking, time domain performance may improve. Simultaneously, to improve frequency domain performance of the closed loop system, H∞ norm constraint is introduced. This problem gives the deadbeat tracking control with H∞ norm constraint and has been studied by Nobuyama et al. and Tsumura et al. individually. There is a structural difference between their designs. This paper proposes a new controller design of this problem. The design is more general since the structure of the controller covers those of the previous two designs.

    DOI： 10.9746/sicetr1965.36.1125

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  • 時間軸状態制御形によるドリフト項をもたない非ホロノミックシステムの安定化

    清田洋光, 三平満司

    システム制御情報学会論文集   12 ( 11 )   647 - 654   1999

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  • 行列方程式e^x^ - A = 0の一般解を用いた離散時間系から連続時間系への変換

    古賀雅伸, 内山温子, 三平満司

    電気学会論文誌C   119-C ( 12 )   1561 - 1566   1999

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  • 非線形 H∞ 状態フィードバックをもちいた線形システムに 対する非線形制御則の一設計法

    清水悦郎, 久保田健太, 三平満司, 古賀雅伸

    計測自動制御学会論文   35 ( 3 )   333 - 339   1999

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  • 非線形 H∞ 出力フィードバックをもちいた線形システムに 対する非線形制御則の一設計法

    清水悦郎, 三平満司, 古賀雅伸

    計測自動制御学会論文   35 ( 6 )   762 - 771   1999

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  • A Design of a Nonlinear H∞ State Feedback Controller for Bilinear Systems

    SHIMIZU Etsuro, KUBOTA Kenta, SAMPEI Mitsuji, KOGA Masanobu

    Transactions of the Society of Instrument and Control Engineers   35 ( 9 )   1155 - 1161   1999

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    Generally, it is difficult to design a controller for bilinear systems. In this paper, we consider the nonlinear H∞ control problem, and derive a nonlinear H∞ state feedback controller. In order to design a nonlinear H∞ controller, we have to solve, so called, the Hamilton Jacobi Equality or Inequality (HJE). But HJE, which is partial differential inequality (equation), is very difficult to solve. In this paper, we derive the condition to reduce the HJE to the algebraic Riccati Inequality.

    DOI： 10.9746/sicetr1965.35.1155

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  • On Equilibria Set and Feedback Stabilizability of Nonlinear Control Systems

    ISHIKAWA Masato, SAMPEI Mitsuji

    Transactions of the Society of Instrument and Control Engineers   35 ( 6 )   772 - 781   1999

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    This paper investigates necessary conditions for feedback stabilizability of nonlinear control systems, which was originally proposed by Coron (1992). The purpose is to provide some detailed and practical descriptions of the conditions, through assuming that equilibria sets of systems form a regular submanifold of their state space. At first, as a special version of the stabilizability condition, it will be shown that a system is not feedback stabilizable if the number of inputs differs from the dimension of the equilibria submanifold. Secondary, we will show that the stabilizability condition can be reduced in a sense if the equilibria set satisfies a certain intersection condition. As a major application of this result, we will show that the stabilizability condition for affine control systems is independent of the input vectorfields.

    DOI： 10.9746/sicetr1965.35.772

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  • 非線形 H∞ 制御理論の限界と可能性 -- セミアクティブサスペンションへの応用

    三平満司, 大作覚, 上村一整

    システム制御情報学会誌   43 ( 10 )   544 - 552   1999

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  • On Equilibria Set and Feedback Stabilizability of Nonlinear Control Systems

    Masato Ishikawa, Mitsuji Sampei

    Transactions of the Society of Instrument and Control Engineers   35 ( 6 )   772 - 781   1999

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  • Stabilization of a Class of Nonholonomic Systems without Drift Using Time-State Control Form

    Hiromitsu Kiyota, Mitsuji Sampei

    Transactions of the Institute of Systems, Control and Information Engineers   12 ( 11 )   647 - 654   1999

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  • A Transformation of Discrete-Time Systems into Continuous-Time Systems using the General Solution of a Matrix Equation e^x^ - A = 0

    Masanobu Koga, Atsuko Uchiyama, Mitsuji Sampei

    Transactions of the Institute of Electrical Engineers of Japan   119-C ( 12 )   1561 - 1566   1999

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  • A Design of a Nonlinear Controller for Linear Systems Using Nonlinear H-infty State Feedback

    Etsuro Shimizu Kenta Kubota, Mitsuji Sampei, Masanobu Koga

    Transactions of the Society of Instrument and Control Engineers   35 ( 3 )   333 - 339   1999

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  • A Design of a Nonlinear Controller for Linear Systems Using Nonlinear H-infty Output Feedback

    Etsuro Shimizu, Mitsuji Sampei, Masanobu Koga

    Transactions of the Society of Instrument and Control Engineers   35 ( 6 )   762 - 771   1999

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    Publisher：The Society of Instrument and Control Engineers  

    This paper gives a design method of a nonlinear H∞ output feedback controller for linear systems. In order to derive a nonlinear controller, nonlinear weighting functions are used. These nonlinear weights are defined as functions of the observer variable. Under some constraints on nonlinear weights, it is shown that a nonlinear output feedback controller is obtained by solving the algebraic Riccati inequality. This paper also shows one of nonlinear weights which satisfy the constraints.

    DOI： 10.9746/sicetr1965.35.762

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  • A Design of a Nonlinear H-infty State Feedback Controller for Bilinear Systems

    Etsuro Shimizu Kenta Kubota, Mitsuji Sampei, Masanobu Koga

    Transactions of the Society of Instrument and Control Engineers   35 ( 9 )   1155 - 1161   1999

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    Publisher：The Society of Instrument and Control Engineers  

    Generally, it is difficult to design a controller for bilinear systems. In this paper, we consider the nonlinear H∞ control problem, and derive a nonlinear H∞ state feedback controller. In order to design a nonlinear H∞ controller, we have to solve, so called, the Hamilton Jacobi Equality or Inequality (HJE). But HJE, which is partial differential inequality (equation), is very difficult to solve. In this paper, we derive the condition to reduce the HJE to the algebraic Riccati Inequality.

    DOI： 10.9746/sicetr1965.35.1155

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  • Maripulation of a Sphere throngh Rolling

    Shintaro Mizuno, Mitsuji Sampei, Masanobu Koga, Masato Ishikawa

    Journal of the Robotics Society of Japan   16 ( 1 )   118 - 123   1998

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  • Manipulation of a Sphere Through Rolling

    MIZUNO Shintaro, SAMPEI Mitsuji, KOGA Masanobu, ISHIKAWA Masato

    JRSJ   16 ( 1 )   118 - 123   1998

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    In this paper, we consider dexterous manipulation through rolling motion. This problem is to steer an object by robot fingers using rolling motion and achieve the desired configuration inside the hand. The kinematic constraint of rolling is nonholonomic constraint, and it is known that designing a controller or path planning for such system is difficult. We consider a simple model of this problem which is a sphere held between two parallel plates and propose a method to design a feedback controller to achieve the desired orientation of the sphere. First step is to apply state and input transformation to the system and transform it into the form called 'the time-state control form'. Then by approximately linearizing it, we design a feedback controller using ordinary linear control theory. One state appeared to be uncontrollable, but by taking new coordinate system, we could make all the states to the desired point. Through numerical simulation, we will show that it is possible to manipulate a sphere to the desired configuration using this method.

    DOI： 10.7210/jrsj.16.118

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  • Control of Nonholonomic Systems. Feedback Control of Nonholonomic Systems.

    SAMPEI Mitsuji

    Journal of The Society of Instrument and Control Engineers   36 ( 6 )   396 - 403   1997

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    Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

    DOI： 10.11499/sicejl1962.36.396

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  • Feedback Control of Non-Holonomic Systems

    Mitsuji Sampei

    Journal of the Society of Instrument and Control Engineers   36 ( 6 )   396 - 403   1997

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  • Position Control of a Rigid Ball between Two Parallel Plates

    Mitsuji Sampei, Shintaro Mizuno, Masato Ishikawa, Masanobu Koga

    Journal of the Robotics Society of Japan   14 ( 8 )   1237 - 1242   1996

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    In this paper, we consider a position control of a rigid ball which is held between two parallel plates. The kinematic constraint of the system is rolling constraint which is a nonholonomic constraint. Thus, the system becomes drift-less nonlinear system. As Brockett showed, the equilibrium of such systems can not be stabilized with any continuous static state feedbacks even though the system is controllable in the sense of nonlinear. We applied a control strategy which is transforming this system into time-state control form by coordinate transformation and input transformation. By the simulation, we will show that we can stabilize both ball and the plate at the goal point.

    DOI： 10.7210/jrsj.14.1237

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  • Position Control of a Rigid Ball between Two Parallel Plates

    SAMPEI Mitsuji, MIZUNO Shintaro, ISHIKAWA Masato, KOGA Masanobu

    JRSJ   14 ( 8 )   1237 - 1242   1996

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    In this paper, we consider a position control of a rigid ball which is held between two parallel plates. The kinematic constraint of the system is rolling constraint which is a nonholonomic constraint. Thus, the system becomes drift-less nonlinear system. As Brockett showed, the equilibrium of such systems can not be stabilized with any continuous static state feedbacks even though the system is controllable in the sense of nonlinear. We applied a control strategy which is transforming this system into time-state control form by coordinate transformation and input transformation. By the simulation, we will show that we can stabilize both ball and the plate at the goal point.

    DOI： 10.7210/jrsj.14.1237

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  • ARBITRARY PATH TRACKING CONTROL OF ARTICULATED VEHICLES USING NONLINEAR CONTROL-THEORY

    M SAMPEI, T TAMURA, T KOBAYASHI, N SHIBUI

    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY   3 ( 1 )   125 - 131   1995.3

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    Language：English   Publisher：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    In this paper, we will design a path tracking controller for an articulated vehicle (a semitrailer-like vehicle) using time scale transformation and exact linearization. The proposed controller allows articulated vehicles to follow arbitrary paths consisting of arcs and lines, while they are moving forward and/or backward. The experimental result of the 8-shaped path tracking control of the articulated vehicle moving backward is also presented.

    DOI： 10.1109/87.370718

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  • 非線形制御理論を用いた自動車型けん引車両の経路追従制御

    三平満司, 小林忠晴

    計測自動制御学会論文集   30 ( 4 )   427 - 434   1994

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  • Path Tracking Control of Car-Caravan Type Articulated Vehicles Using Nonlinear Control Theory

    Mitsuji Sampei, Tadaharu Kobayashi

    Transactions of Society of Instrument and Control Engineers Japan   30 ( 4 )   427 - 434   1994

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  • 非線形制御理論を用いた車両の経路追従制御と移動計画--切り返しを用いた車庫入れ制御

    三平満司, 伊藤

    システム制御情報学会論文誌   6 ( 1 )   37 - 47   1993

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  • Path Tracking Control of Articulated Vehicles with Multi Trailers Using Nonlinear Control Theory

    Mitsuji Sampei, Tadaharu Kobayashi

    Journal of the Robotics Society of Japan   11 ( 4 )   587 - 592   1993

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    In this paper, we will design path tracking controller for an articulated vehicle with double trailers using time scale transformation and exact linearization technique, which are developed in nonlinear control theory. The controller will be designed in the following way. Firstly, we will describe the dynamics of the vehicle in a state equation whose time scale is the distance along the desired path (not the actual time t) . Then, we will exactly linearize this state equation using coordinate transformation and nonlinear feedback, and design a linear stabilizing controller for the linearized state equation.<BR>We will show, in the simulation, that the proposed controller works satisfactorily, and the articulated vehicle with double trailers follows the desired path even when it is moving backward.<BR>We can design path tracking controller for an articulated vehicle with multi trailers using the same strategy.

    DOI： 10.7210/jrsj.11.587

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  • Path Planning and Path Tracking Control of wheeled Vehicles Using Nonlinear System Theory-Paking Control Using Forward and Backward Movement-

    Mitsuji Sampei, Takeshi Itoh

    Transactions of the Institute of Systems, Control and Information Engineers   6 ( 1 )   37 - 47   1993

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  • 非線形制御理論を用いた多重トレーラーの直線経路追従制御

    三平満司, 小林忠晴

    日本ロボット学会誌   11 ( 4 )   587 - 592   1993

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  • Active Vibration Control of A Flexible Rotor by H_∞ Control Theory

    WANG Jan Wei, NONAMI Kenzo, SAMPEI Mitsuji, MITA Tsutomu

    Transactions of the Japan Society of Mechanical Engineers. Series C.   57 ( 533 )   196 - 202   1991

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    This paper investigates vibration control of a flexible rotor system which is a four-degree-of-freedom system. A H_∞ controller is derived such that unmodelled high-frequency dynamics are not excited, i.e., the spillover phenomenon is not caused to occur. Simulation results are presented to demonstrate control performance. In this paper, the four-degree-of-freedom system is reduced to a two-degree-of-freedom system. Although the control system is designed based on the reduced-order system, the 1st and 2nd modes are well-controlled and two ther higher modes are almost uncontrolled using the H_∞ control theory. As the result, the full-order system remains completely stable.

    DOI： 10.1299/kikaic.57.196

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  • Active Vibration of a Flexible Rotor by H-infinity Control Theory

    Jan Wei Wang, Kenzo Nonami, Mitsuji Sampei, Tsutomu Mita

    Transactions of the Japan Society of Mechanical Engineers   57 ( 533 )   196 - 202   1991

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  • AN ALGEBRAIC APPROACH TO H-INFINITY OUTPUT-FEEDBACK CONTROL-PROBLEMS

    M SAMPEI, T MITA, M NAKAMICHI

    SYSTEMS & CONTROL LETTERS   14 ( 1 )   13 - 24   1990.1

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    Language：English   Publisher：ELSEVIER SCIENCE BV  

    DOI： 10.1016/0167-6911(90)90075-6

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  • Automatic Diagnostic Rule Generation for Rule-Based Controllers Based on Qualitative Sensitivity Analysis

    Behrouz Homayoun Far, Matsuroh Nakamichi Mitsuji Sampei

    Transactions of the Institute of Electrical Engineers of Japan   110 ( 10 )   661 - 679   1990

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  • Automatic Diagnostic Rule Generation for Rule-Based Controllers Based on Qualitative Sensitivity Analysis

    Behrouz Homayoun Far, Matsuroh Nakamichi Mitsuji Sampei

    Transactions of the Institute of Electrical Engineers of Japan   110 ( 10 )   661 - 679   1990

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  • Equivalence of Nonlinear Systems in the Sense of Trajectory

    Mitsuji Sampei

    Transactions of Society of Instrument and Control Engineers Japan   25 ( 2 )   246 - 248   1989

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  • 状態方程式の軌道等価性

    三平満司

    計測自動制御学会論文集   25 ( 2 )   246 - 248   1989

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  • Direct Derivation of H∞ State Feedback Control Law Using Bounded Real Lemma

    CHIDA Yuichi, MITA Tsutomu, SANPEI Mitsuji, WANG Jing Wen

    Transactions of the Institute of Systems, Control and Information Engineers   2 ( 12 )   422 - 430   1989

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    Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

    Though the H∞ control has been studied vigorously, the existing H∞ control theory is somewhat complex so that comparison of its control effect with other conventional controls is difficult. Therefore, in this paper, we formulate some state feedback controls using H∞ norm criterion and give suboptimal solutions using only bounded real lemma. The results show that robust control has superior stability margin to the LQ optimal control, for example.

    DOI： 10.5687/iscie.2.422

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  • Approximate Input-Output Linearization of Discrete Time Nonlinear Systems

    SAMPEI Mitsuji, KAMEI Masatoshi, NAKAMICHI Matsuroh

    Transactions of the Society of Instrument and Control Engineers   25 ( 7 )   815 - 817   1989

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    In this paper, we will define an approximate input-output linearization problem for discrete time nonlinear systems. A modified structure algorithm will be proopsed to obtain the linearizing feedback.

    DOI： 10.9746/sicetr1965.25.815

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  • Direct Derivation of H-infinity State Feedback Control Law Using Bounded Real Lemma

    Yuichi Chida Tsutomu Mita, Mitsuji Sampei Jing Wen Wang

    Transactions of the Institute of Systems, Control and Information Engineers   2 ( 12 )   422 - 430   1989

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    Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

    Though the H∞ control has been studied vigorously, the existing H∞ control theory is somewhat complex so that comparison of its control effect with other conventional controls is difficult. Therefore, in this paper, we formulate some state feedback controls using H∞ norm criterion and give suboptimal solutions using only bounded real lemma. The results show that robust control has superior stability margin to the LQ optimal control, for example.

    DOI： 10.5687/iscie.2.422

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  • Approximate Input-Output Linearization of Discrete Time Nonlinear Systems

    Mitsuji Sampei, Masatoshi Kamei, Matsuroh Nakamichi

    Transactions of Society of Instrument and Control Engineers Japan   25 ( 7 )   815 - 817   1989

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    Publisher：The Society of Instrument and Control Engineers  

    In this paper, we will define an approximate input-output linearization problem for discrete time nonlinear systems. A modified structure algorithm will be proopsed to obtain the linearizing feedback.

    DOI： 10.9746/sicetr1965.25.815

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  • ROBOT CONTROL IN THE NEIGHBORHOOD OF SINGULAR POINTS

    M SAMPEI, K FURUTA

    IEEE JOURNAL OF ROBOTICS AND AUTOMATION   4 ( 3 )   303 - 309   1988.6

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    Language：English   Publisher：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    DOI： 10.1109/56.791

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  • Pash Control of a Three-Dimensional Linear Motional Mechanical System Using Laser

    Katsuhisa Furuta, Mitsuji Sampei

    IEEE Transactions on Industrial Electronics   35 ( 1 )   52 - 59   1988

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  • Approximate Input-Output Linearization of Nonlinear Systems

    Mitsuji Sampei, Eiji Kato, Katsuhisa Furuta

    Transactions of Society of Instrument and Control Engineers Japan   24 ( 8 )   809 - 816   1988

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  • Robot Control in the Neighborhood of Singular Points

    Mitsuji Sampei, Katsuhisa Furuta

    IEEE Journal of Robotics and Automation   4 ( 3 )   303 - 309   1988

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  • Pash Control of a Three-Dimensional Linear Motional Mechanical System Using Laser

    Katsuhisa Furuta, Mitsuji Sampei

    IEEE Transactions on Industrial Electronics   35 ( 1 )   52 - 59   1988

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  • 非線形システムの近似入出力線形化

    三平満司, 加藤英治, 古田勝久

    計測自動制御学会論文集   24 ( 8 )   809 - 816   1988

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  • ON TIME SCALING FOR NONLINEAR-SYSTEMS - APPLICATION TO LINEARIZATION

    M SAMPEI, K FURUTA

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   31 ( 5 )   459 - 462   1986.5

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    Language：English   Publishing type：Article, review, commentary, editorial, etc. (scientific journal)   Publisher：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    DOI： 10.1109/TAC.1986.1104290

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  • On Time Scaling for Nonlinear Systems-Application for Disturbance Decoupling Problem in the Sense of Trajectoty-

    Mitsuji Sampei, Katsuhisa Furuta

    Transactions of the Society of Instrument and Control Engineers Japan   22 ( 6 )   604 - 609   1986

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    Publisher：The Society of Instrument and Control Engineers  

    In this paper, we propose the method for analyzing the nonlinear system in the time scale which is different from actual one. New time scale is defined as dt/dτ=s(x), where 't' and 'τ' are actual time scale and that of defined one respectively, and s(x) is the function which we call 'time scaling function'. Analysis of the system in new time scale 'τ' enables us to investigate the intrinsic structure of the system, in fact disturbance decoupling problem can be reviewed and extended in the sense of trajectory.<br>'Wide-Sense Disturbance Decoupling Problem (WSDDP)' is defined to seek feedback law and time scaling function which make the output transition in time scale 'τ' independent of disturbance, i.e. to seek feedback law which makes the output trajectory independent of disturbance. WSDDP is solved using new concepts 'wide-sense (f, G) invariant distribution' and 'wide-sense locally (f, G) invariant distribution'.

    DOI： 10.9746/sicetr1965.22.604

    CiNii Books

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00211482701?from=CiNii

  • On Linearizatiopn with Transformation of the Time Scale -Linearizatino in a New Time Scale-

    Mitsuji Sampei, Katsuhisa Furuta

    Transactions of the Society of Instrument and Control Engineers   22 ( 10 )   1030 - 1036   1986

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  • On Time Scaling for Nonlinear Systems:Application for Disturbance Decoupling Problem in the Sense of Trajectory

    SAMPEI Mitsuji, FURUTA Katsuhisa

    Transactions of the Society of Instrument and Control Engineers   22 ( 6 )   604 - 609   1986

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    Publisher：The Society of Instrument and Control Engineers  

    In this paper, we propose the method for analyzing the nonlinear system in the time scale which is different from actual one. New time scale is defined as dt/dτ=s(x), where 't' and 'τ' are actual time scale and that of defined one respectively, and s(x) is the function which we call 'time scaling function'. Analysis of the system in new time scale 'τ' enables us to investigate the intrinsic structure of the system, in fact disturbance decoupling problem can be reviewed and extended in the sense of trajectory.<br>'Wide-Sense Disturbance Decoupling Problem (WSDDP)' is defined to seek feedback law and time scaling function which make the output transition in time scale 'τ' independent of disturbance, i.e. to seek feedback law which makes the output trajectory independent of disturbance. WSDDP is solved using new concepts 'wide-sense (f, G) invariant distribution' and 'wide-sense locally (f, G) invariant distribution'.

    DOI： 10.9746/sicetr1965.22.604

    CiNii Books

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00211482701?from=CiNii

  • On Time Scaling for Nonlinear Systems : Application to Linearization

    Mitsuji Sampei, Katsuhisa Furuta

    IEEE Transactions on Automatic Control   31 ( 5 )   459 - 462   1986

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  • 時間軸の変換を用いた非線形システムの線形化 -新時間軸での線形化-

    三平満司, 古田勝久

    計測自動制御学会論文集   22 ( 10 )   1030 - 1036   1986

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  • Digital Control of Three-Dimensional Linear Motion Mechanical System Using Laser

    SAMPEI Mitsuji, FURUTA Katsuhisa

    Transactions of the Society of Instrument and Control Engineers   20 ( 4 )   344 - 349   1984

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    Publisher：The Society of Instrument and Control Engineers  

    This paper is to propose a method to control a mechanical system to move along laser beam, which may be useful for the teaching of the movement to robots. The mathematical model of the controlled system is constructed so that one of the coordinate corresponds to the laser beam, and the control problem is divided into the control along the beam and that of the deviation from the beam. Two controllers to track ramp are designed and practically realized by a minicomputer for these controls. They work satisfactorily when they are used for the control of three-dimensional linear motion mechanical system.<br>The sensor to measure the direction of and the deviation from the laser beam is also experimentally constructed and used for the experiment.

    DOI： 10.9746/sicetr1965.20.344

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00201267011?from=CiNii

  • Digital Control of Three Dimensional Linear Motion Mechanical System Using Laser

    Mitsuji Sampei, Katsuhisa Furuta

    Transactions of the Society of Instrument and Control Engineers   20 ( 4 )   344 - 349   1984

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    Publisher：The Society of Instrument and Control Engineers  

    This paper is to propose a method to control a mechanical system to move along laser beam, which may be useful for the teaching of the movement to robots. The mathematical model of the controlled system is constructed so that one of the coordinate corresponds to the laser beam, and the control problem is divided into the control along the beam and that of the deviation from the beam. Two controllers to track ramp are designed and practically realized by a minicomputer for these controls. They work satisfactorily when they are used for the control of three-dimensional linear motion mechanical system.<br>The sensor to measure the direction of and the deviation from the laser beam is also experimentally constructed and used for the experiment.

    DOI： 10.9746/sicetr1965.20.344

    CiNii Books

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00201267011?from=CiNii

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Presentations

  • 可積分性を考慮した状態依存型リカッチ不等式に基づく ハミルトン・ヤコビ不等式の一数値解法

    第２２回 Dynamical System Theoryシンポジウム  1999 

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  • Clarification of Free Parameters of State-dependent Coefficient Form: Effect on Solving State-dependent Riccati Inequality

    2008 

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  • Feedback Control of Enduring Rotary Motion of Devil Stick

    42nd IEEE Conference on Decision and Control  2003 

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  • A Numerical Solution of the Hamilton Jacobi Inequality based on the State-Dependent Riccati Inequality considered Integrability Constraints

    1999 

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  • Nonlinear control of the air spindle testbed with constraints

    2003 American Control Conference  2003 

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  • A Method for Numerical Computation of Jordan Canonical Form of Matrix

    1999 

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  • しなりのある鉄棒におけるＡｃｒobotの加速車輪運動の制御実験

    第11回「運動と振動の制御」シンポジウム  2009 

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  • The Swing Up Control Using Compliance

    SICE Annual Conference 2003 in Fukui  2003 

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  • A Control Method of a Snakelike Mobile Robot with Consideration of its Dynamic Manipulability

    1999 

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  • Hybrid control of nonholonomic systems -Stability analysis of control strategy based on time-state control form-

    SICE 3rd Annual Conference on Control Systems  2003 

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  • Hopping Motion Analysis of `Superball'-like Spherical Robot Based on Feedback Control

    The 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems  2003 

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  • Feedback Error Learning Control Using Adaptive Fuzzy Network to Control One Linear Actuator Hopping Robot

    IEEE Asia Pasific Conference on Circuit and Systems 2002  2002 

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  • Discontinuous Controller Designs for Chained System by Considering Time Scale Transformation

    46th IEEE Conference on Decision and Control  2007 

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  • ZMP フィードバック制御による人間型ロボットの姿勢制御

    人間協調・共存型ロボットシステム(HRP)シンポジウム  2002 

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  • Position Control of Surface Vessel with unknown Disturbances

    46th IEEE Conference on Decision and Control  2007 

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    Presentation type：Poster presentation  

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  • 球体操りシステムのフィードバック制御

    計測自動制御学会 機械システム制御シンポジウム  2002 

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  • Swing Up Control for the Acrobot Considering Compliance of High Bar and Energy Interaction with Each Component

    46th IEEE Conference on Decision and Control  2007 

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    Presentation type：Poster presentation  

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  • Continuous Hopping Motion Control Experiment of One Linear Actuator Robot

    SICE Annual Conference 2002 in Osaka  2002 

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  • Improvement of Vertical Ride Comfort of Railway Vehicle by Primary Suspension Damping Force Control

    12th Asia-Pacific Vibration Conference  2007 

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  • Locomotion and Coiling Motion Control of Snakelike Robot using Pneumatic Actuators

    SICE Annual Conference 2002 in Osaka  2002 

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  • Classification and Control for Driftless System in View of Parameter Error in Coordinate Transformation

    7th IFAC Symposium on Nonlinear Control Systems  2007 

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  • Vertical Jumping Control of an Acrobat Robot with Consideration of Input Timing

    SICE Annual Conference 2002 in Osaka  2002 

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  • High Responce Engine Torque Control for Driving Force Control

    10th MOVIC  2007 

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  • Improvement of Manipulability for Locomotion of a Snake Robot by Mass Distribution

    SICE Annual Conference 2002 in Osaka  2002 

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  • Non-linear Contorl Experiment of an Inverted Pendulum Utilizing Vertical and Horizontal Inputs

    36th SICE Symposium on Control Theory  2007 

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  • Balance Control Analysis of Humanoid Robot based on ZMP Feedback Control

    The 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems  2002 

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  • Throwing Motion Control Experiment utilizing 2-Link Arm with Passive Joint

    SICE Annual Conference 2008  2008 

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  • Milling Operation as Following the Unknown Boundary using Cutting Force Information

    2002 American Control Conference  2002 

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  • Motion Control of a 3D Snake Robot on a Surface

    SICE 2nd Annual Conference on Control Systems  2002 

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  • An Attitude Control of the Space Robot with Two Arms of single Degree of Freedom

    SICE Annual Conference 2008  2008 

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  • Parameterization of Output Function for SISO Systems

    SICE Annual Conference 2008  2008 

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  • Guarantee of stabilization with hybrid control based on time-state control form

    SICE 2nd Annual Conference on Control Systems  2002 

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  • Enduring Rotary Motion Experiment of Devil Stick by General-Purpose Manipulator

    9th International Conference on Motion and Vibration Control (MOVIC2008)  2008 

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  • Experimental Study of Vertical Jumping Control for Acrobat Robot

    2002 

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  • Conservativeness of State-Dependent Riccati Inequality: Effect of Free Parameters of State-Dependent Coefficient Form

    47th IEEE Conference on Decision and Control  2008 

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  • Locomotion and Coiling Motion Control Experiments of a snakelike Robot with Pneumatic Actuators

    2002 

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  • Continuous Rolling Motion Control for the Acrobot Composed of Rounded Links

    47th IEEE Conference on Decision and Control  2008 

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  • Adaptive Fuzzy Control and Its Application to One Linear Actuator Hopping Robot Control

    International Conference on Soft-computing and Intelligent Systems  2002 

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  • Enduring Rotary Motion Experiment of Devil Stick by General-Purpose Manipulator

    Motion and Vibration Contorl: Selected Papers from MOVIC 2008  2008 

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  • Hopping Motion Analysis of `Superball'-like Spherical Robot Based on Feedback Control

    The 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems  2003 

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  • Clarification of Free Parameters of State-dependent Coefficient Form: Effect on Solving State-dependent Riccati Inequality

    17th IFAC World Congress  2008 

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  • Feedback Control of Enduring Rotary Motion of Devil Stick

    42nd IEEE Conference on Decision and Control  2003 

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  • The Running of Humanoid Robot on Uneven Terrain utilizing Output Zeroing

    SICE Annual Conference 2008  2008 

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  • Feddback Control of a Ball-Plate Manipulation System

    2002 

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  • A Rolling Motion Control for Acrobot Composed of Rounded Links

    SICE Annual Conference 2008  2008 

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  • One Linear Actuator Hopping Robot Control Using Adaptive Fuzzy Control

    2002 International Conference on Fuzzy Systems and Knowledge Discovery  2002 

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  • Experiment of Acrobot swinging on the horizontal bar with compliance

    SICE 6th Annual Conference on Control Systems  2006 

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  • A Control of Underactuated Hopping Gate Systems : Acrobot Example

    7th MOVIC  2001 

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  • The Control of a Bipedal Running Robot using Rotation of the Ankle Joint based on Output Zeroing

    SICE 6th Annual Conference on Control Systems  2006 

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  • Viscosity Solution of Hamilton-Jacobi Partial Differential Equation in Bilinear Systems

    7th MOVIC  2001 

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  • A Study on Parameter Error of Coordinate Transformation and Adaptive Control for a Class of Driftless Systems via Time State Control Form

    SICE 6th Annual Conference on Control Systems  2006 

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  • Stability of hybrid control systems based on time-state control forms

    SICE 1st Annual Conference on Control Systems  2001 

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  • On Existence of Limit Cycle and Robustness of ZMP Control

    6th Asian Control Conference  2006 

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  • Improvement of Manipulability for Locomotion of a Snake Robot by Mass Distribution

    SICE Annual Conference 2002 in Osaka  2002 

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  • Position Control of Surface Vessel with unknown Disturbances

    46th IEEE Conference on Decision and Control  2007 

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    Presentation type：Poster presentation  

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  • Balance Control Analysis of Humanoid Robot based on ZMP Feedback Control

    The 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems  2002 

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  • Swing Up Control for the Acrobot Considering Compliance of High Bar and Energy Interaction with Each Component

    46th IEEE Conference on Decision and Control  2007 

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    Presentation type：Poster presentation  

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  • COGとZMPの周波数分離による人間型ロボットのバランス安定化

    第２０回 日本ロボット学会学術講演会  2002 

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  • The Running Control of Humanoid Robot utilizing Q-learning and Output Zeroing

    46th IEEE Conference on Decision and Control  2007 

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  • One Linear Actuator Hopping Robot Control Using Adaptive Fuzzy Control

    20th Annual Conference of the Robotics Society of Japan  2002 

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  • １次および２次ばねの減衰制御を併用した鉄道車両の上下振動低減（現車走行試験結果）

    日本機械学会 交通・物流部門講演会  2007 

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  • Feedback Error Learning Control Using Adaptive Fuzzy Network to Control One Linear Actuator Hopping Robot

    IEEE Asia Pasific Conference on Circuit and Systems 2002  2002 

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  • Adaptive Control for a Class of Driftless System via Time State Control Form

    Proceedings of the 50th Annual Conference of the Institute of Systems, Control and Information Engineers  2006 

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  • Stability of Hybrid Control for Nonholonomic Systems

    7th MOVIC  2001 

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  • L1 gain analysis for chained form system

    Proceedings of the 50th Annual Conference of the Institute of Systems, Control and Information Engineers  2006 

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  • Motion Control Method of Snakelike Robot Considering Sideslip

    7th MOVIC  2001 

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  • 鉛直・水平方向の入力を持つ倒立振子系の非線形制御実験

    第３６回制御理論シンポジウム  2007 

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  • Adaptive Fuzzy Control and Its Application to One Linear Actuator Hopping Robot Control

    International Conference on Soft-computing and Intelligent Systems  2002 

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  • Swing up Control Experiment aimed at Energy Interaction between the Acrobot and Compliance

    SICE Annual Conference 2007  2007 

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  • 直動型１アクチュエータ歩行ロボットの連続跳躍制御実験

    2002 

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  • 鉄道車両の１次ばね系制御による上下振動低減（新幹線車両による高速走行試験結果）

    Dynamics and Design Conference 2007  2007 

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  • 回転型空気圧アクチュエータを用いた蛇型ロボットの推進巻付制御

    2002 

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  • Swing up Control for Acrobot with Compliance of High Bar Focused on Energy Interaction with Each Component

    2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  2007 

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  • アクロバットロボットの入力タイミングを考慮した垂直跳びに関する研究

    2002 

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  • Discontinuous Controller Designs for Chained System by Considering Time Scale Transformation

    46th IEEE Conference on Decision and Control  2007 

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  • One Linear Actuator Hopping Robot Control Using Adaptive Fuzzy Control

    2002 International Conference on Fuzzy Systems and Knowledge Discovery  2002 

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  • The Running Control of Humanoid Robot utilizing Q-learning and Output Zeroing

    46th IEEE Conference on Decision and Control  2007 

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  • Milling Operation as Following the Unknown Boundary using Cutting Force Information

    2002 American Control Conference  2002 

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  • Vertical Vibration Suppression of Railway Vehicle by Primary and Secondary Suspension Damping Force Control

    TRANSLOG 2007  2007 

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  • ３次元蛇型ロボットの曲面上の運動制御

    第２回 計測自動制御学会 制御部門大会  2002 

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  • Improvement of Vertical Ride Comfort of Railway Vehicle by Primary Suspension Damping Force Control

    12th Asia-Pacific Vibration Conference  2007 

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  • 時間軸状態制御形によるハイブリッド制御の安定化保証

    第２回 計測自動制御学会 制御部門大会  2002 

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  • Classification and Control for Driftless System in View of Parameter Error in Coordinate Transformation

    7th IFAC Symposium on Nonlinear Control Systems  2007 

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  • アクロバットロボットを用いた垂直跳びに関する研究

    日本機械学会 ロボティクス・メカトロニクス講演会 2002  2002 

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  • 駆動力制御システムのための高応答エンジントルク制御

    第１０回「運動と振動の制御」シンポジウム  2007 

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  • 空圧駆動蛇型ロボットの推進・巻付制御実験

    日本機械学会 ロボティクス・メカトロニクス講演会 2002  2002 

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  • 人間型ロボットの足裏コンプライアンスを考慮したZMP制御によるバランス安定化

    第４回 計測自動制御学会 制御部門大会  2004 

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  • 直動型１アクチュエータ跳躍歩行ロボットの制御

    第２３回 Dynamical System Theoryシンポジウム  2000 

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  • Dynamic Manipulability of a Snake-like Robot and its Effect for Sinus-lifting Motion

    SICE Annual Conference 2004 in Sapporo  2004 

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  • 連続的に切り替えるコントローラによる不安定物体の受け渡し制御

    第２３回 Dynamical System Theoryシンポジウム  2000 

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  • Stability Analysis of Hybrid Time-State Control for Chained Form Systems

    6th IFAC-Symposium on Nonlinear Control Systems  2004 

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  • 木構造倒立振子を用いた非線形二次現象の解析

    第２３回 Dynamical System Theoryシンポジウム  2000 

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  • Enduring Rotary Motion Control of Devil Stick

    6th IFAC-Symposium on Nonlinear Control Systems  2004 

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  • Classification of Nonholonomic Systems from Mechanical and Control-theoretical Viewpoints

    IEEE/RSJ International Conference on Intelligent Robots and Systems  2000 

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  • Analysis of Compliance Effect for Swing Up Control

    3rd IFAC-Symposium on Mechatronic Systems  2004 

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  • Control Strategies for Mechanical Systems with Various Constraints -- Control of Non-Holonomic Systems --

    1999 IEEE International Conference on Systems, Man and Cybernetics  1999 

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  • 体重分散を考慮した蛇型ロボットの可操作性に関する研究

    Dynamics and Design Conference 2004  2004 

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  • Manipulation Problem of a Ball between Two Parallel Plates Based on Time-State Control Form

    38th IEEE Conference on Decision and Control  1999 

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  • 直動型１アクチュエータロボットによる連続跳躍の検証実験

    第４７回 自動制御連合講演会  2004 

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  • Vibration Control of the Multi-degree-of-freedom Structure using a Nonlinear H∞ Output Feedback

    Mathematical Controller Theory of Networks and Systems  1999 

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  • Nonholonomic Control Experiments -What We Have Learned From Experiments-

    2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control  2003 

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  • A Feedback Solution to Ball-plate Problem based on Time-state Control Form

    1999 American Control Conference  1999 

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  • Dynamic Manipulability of a Snake-Like Robot with Consideration of Side Force and its Application to Locomotion Control

    International Symposium on Adaptive Motion of Animals and Machines  2000 

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  • 共通Lyapunov関数による時間軸状態制御形の安定性保証

    第４回 計測自動制御学会 制御部門大会  2004 

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  • Locomotion Control of A Snake-Like Robot based on Dynamic Manipulability

    IEEE/RSJ International Conference on Intelligent Robots and Systems  2000 

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  • Experimental Verification for Continuous Hopping Motion with One Linear Actuator Robot

    2004 

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  • 制御理論から見た未解決問題!? ―非線形制御理論から見たロボット―

    第３９回 計測自動制御学会 学術講演会  2000 

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  • 時間軸変換の概念を用いたAstolfiコントローラの改善に関する研究

    第４８回 システム制御情報学会研究発表講演会  2004 

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  • Improvement of Astolfi's discontinuous controller by considering time scale transformation

    Proceedings of the 48th Annual Conference of the Institute of Systems, Control and Information Engineers  2004 

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  • Classification of Nonholonomic Systems from Mechanical and Control-theoretical Viewpoints

    IEEE/RSJ International Conference on Intelligent Robots and Systems  2000 

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  • Stability of time-state control form based on common Lyapunov function

    SICE 4th Annual Conference on Control Systems  2004 

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  • Nonlinear Control Theories: When They are Needed and How They Work

    Industrial Electronics Seminar 2000  2000 

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  • Balance control of humanoid robot based on ZMP control considering compliance in sole of foot

    SICE 4th Annual Conference on Control Systems  2004 

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  • An Autonomous Locomotion Control of a Multi-Joint Snake-Like Robot with Consideration of the Dynamic Manipulability

    IFAC Workshop on Lagrangean and Hamiltonian Methods for Nonlinear Control  2000 

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  • Dynamic Manipulability of a Snake-like Robot and its Effect for Sinus-lifting Motion

    SICE Annual Conference 2004 in Sapporo  2004 

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  • 横拘束力を考慮したへび型ロボットの動的可操作性とその推進制御

    日本機械学会 ロボティクス・メカトロニクス講演会 2000  2000 

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  • Stability Analysis of Hybrid Time-State Control for Chained Form Systems

    6th IFAC-Symposium on Nonlinear Control Systems  2004 

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  • 切削力情報を利用した境界面なぞり切削加工

    第８回 計測自動制御学会 制御技術シンポジウム  2000 

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  • Enduring Rotary Motion Control of Devil Stick

    6th IFAC-Symposium on Nonlinear Control Systems  2004 

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  • Acrobot型劣駆動跳躍系の制御

    日本機械学会 ロボティクス・メカトロニクス講演会 2000  2000 

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  • Analysis of Compliance Effect for Swing Up Control

    3rd IFAC-Symposium on Mechatronic Systems  2004 

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  • １入力１出力連続時間サーボ系におけるＨ∞／Deadbeat混合問題の一般化

    第３９回 計測自動制御学会 学術講演会  2000 

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  • A study on Dynamic Manipulability of a Snakelike Robot with Mass Distribution

    Dynamics and Design Conference 2004  2004 

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  • 漸近可安定でないシステムのフィードバック制御問題における位相構造について

    第３９回 計測自動制御学会 学術講演会  2000 

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  • Analysis for Non-linear Quadratic Phenomenon using Tree Link Inverted Pendulum

    The 23rd SICE Symposium on Dynamical System Theory  2000 

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  • Control Design of a Hopping Robot with One Linear Actuator

    The 23rd SICE Symposium on Dynamical System Theory  2000 

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  • Hand Over Control of Unstable Object based on Continuously Switching of the Controllers

    The 23rd SICE Symposium on Dynamical System Theory  2000 

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  • Throwing Motion Control Experiment utilizing 2-Link Arm with Passive Joint

    SICE Annual Conference 2008  2008 

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  • The Swing Up Control Using Compliance

    SICE Annual Conference 2003 in Fukui  2003 

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  • An Attitude Control of the Space Robot with Two Arms of single Degree of Freedom

    SICE Annual Conference 2008  2008 

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  • Continuous Hopping Motion Experiment of One Linear Actuator Robot with Adaptive Fuzzy Control

    SICE Annual Conference 2003 in Fukui  2003 

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  • Parameterization of Output Function for SISO Systems

    SICE Annual Conference 2008  2008 

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  • Feedback Control Experiment of Enduring Rotary Motion of Devil Stick

    SICE Annual Conference 2003 in Fukui  2003 

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  • Enduring Rotary Motion Experiment of Devil Stick by General-Purpose Manipulator

    9th International Conference on Motion and Vibration Control (MOVIC2008)  2008 

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  • フィードバックによるスーパーボール型球体ロボットの跳躍移動

    第２１回 日本ロボット学会学術講演会  2003 

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  • Conservativeness of State-Dependent Riccati Inequality: Effect of Free Parameters of State-Dependent Coefficient Form

    47th IEEE Conference on Decision and Control  2008 

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  • しなりの効果を利用した振り上げ運動の制御

    第２１回 日本ロボット学会学術講演会  2003 

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  • Continuous Rolling Motion Control for the Acrobot Composed of Rounded Links

    47th IEEE Conference on Decision and Control  2008 

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  • 人間型ロボットにおけるZMP制御問題に関する解析

    第２１回 日本ロボット学会学術講演会  2003 

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  • Enduring Rotary Motion Experiment of Devil Stick by General-Purpose Manipulator

    Motion and Vibration Contorl: Selected Papers from MOVIC 2008  2008 

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  • デビルスティックの持続回転運動のフィードバック制御

    日本機械学会 第８回「運動と振動の制御」シンポジウム  2003 

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  • 状態依存型係数表現の自由度の明確化と状態依存型リカッチ不等式の解法に与える影響

    計測自動制御学会 第８回制御部門大会  2008 

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  • 行列のジョルダン標準形の数値計算法

    第３８回 計測自動制御学会 学術講演会  1999 

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  • Nonholonomic Control Experiments -What We Have Learned From Experiments-

    2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control  2003 

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  • 動的可操作性を考慮したへび型推進ロボットの制御

    第３８回 計測自動制御学会 学術講演会  1999 

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  • The Running of Humanoid Robot on Uneven Terrain utilizing Output Zeroing

    SICE Annual Conference 2008  2008 

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  • 非ホロノミックシステムのハイブリッド制御 -時間軸状態制御形に基づく制御方策の安定性解析-

    第３回 計測自動制御学会 制御部門大会  2003 

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  • ドリフト項を有するノンホロノミック拘束系の制御 －初期角運動量を有する劣駆動飛遊体の制御－

    第３８回 計測自動制御学会 学術講演会  1999 

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  • A Rolling Motion Control for Acrobot Composed of Rounded Links

    SICE Annual Conference 2008  2008 

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  • Nonlinear control of the air spindle testbed with constraints

    2003 American Control Conference  2003 

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  • Clarification of Free Parameters of State-dependent Coefficient Form: Effect on Solving State-dependent Riccati Inequality

    17th IFAC World Congress  2008 

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  • Denguribotの転がり運動の制御実験

    第11回「運動と振動の制御」シンポジウム  2009 

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  • Continuous Hopping Motion Experiment of One Linear Actuator Robot with Adaptive Fuzzy Control

    SICE Annual Conference 2003 in Fukui  2003 

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  • A Control of Nonholonomic Constraint Systems with Drift -A Control of Underactuated Flying Objects with Initial Angular Momentum-

    1999 

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  • 不安定なゼロダイナミクスを用いた運動の制御－投球運動への応用－

    第26回センシングフォーラム  2009 

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  • Feedback Control Experiment of Enduring Rotary Motion of Devil Stick

    SICE Annual Conference 2003 in Fukui  2003 

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  • Control Strategies for Mechanical Systems with Various Constraints -- Control of Non-Holonomic Systems --

    1999 IEEE International Conference on Systems, Man and Cybernetics  1999 

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  • Dynamic Extensionを用いた上下倒立振子の厳密な線形化 厳密な線形化を実現する入力変換の導出

    第38回制御理論シンポジウム  2009 

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  • Hopping Motion of 'Superball'-like Spherical Robot based on Feedback Control

    The 21st Annual Conference of the Robotics Society of Japan  2003 

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  • Manipulation Problem of a Ball between Two Parallel Plates Based on Time-State Control Form

    38th IEEE Conference on Decision and Control  1999 

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  • Inverted Pendulum with Horizontal and Vertical Motion: As a Benchmark of Bilinear System

    8th IFAC Symposium on Advances in Control Education  2009 

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  • The Swing Up Control Using Compliance Effect

    The 21st Annual Conference of the Robotics Society of Japan  2003 

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  • Vibration Control of the Multi-degree-of-freedom Structure using a Nonlinear H∞ Output Feedback

    Mathematical Controller Theory of Networks and Systems  1999 

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  • Inverse Optimal Control Problem for Bilinear Systems: Application to the Inverted Pendulum with Horizontal and Vertical Movement

    48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference  2009 

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  • An Analysis of ZMP Control Problem of Humanoid Robot

    The 21st Annual Conference of the Robotics Society of Japan  2003 

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  • A Feedback Solution to Ball-plate Problem based on Time-state Control Form

    1999 American Control Conference  1999 

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  • Modeling and Control of Hula-Hoop System

    48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference  2009 

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  • Feedback Control of Enduring Rotary Motion of Devil Stick

    8th MOVIC  2003 

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  • 離散時間系から連続時間系への変換のための数値計算法

    第２８回 計測自動制御学会 制御理論シンポジウム  1999 

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  • Casting Motion Controller for Multilinked Manipulator utilizing Output Zeroing

    48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference  2009 

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  • Swing up Control for Acrobot with Compliance of High Bar Focused on Energy Interaction with Each Component

    2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  2007 

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  • Inverted Pendulum with Horizontal and Vertical Motion: As a Benchmark of Bilinear System

    8th IFAC Symposium on Advances in Control Education  2009 

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  • Inverse Optimal Control Problem for Bilinear Systems: Application to the Inverted Pendulum with Horizontal and Vertical Movement

    48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference  2009 

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  • Modeling and Control of Hula-Hoop System

    48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference  2009 

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  • Casting Motion Controller for Multilinked Manipulator utilizing Output Zeroing

    48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference  2009 

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  • ゼロダイナミクス解析に基づくPendubot型劣駆動アームにおける技巧的投球運動の実現

    計測自動制御学会 第９回制御部門大会  2009 

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  • ゼロダイナミクスを利用したAcrobotの跳躍着地運動の制御

    計測自動制御学会 第９回制御部門大会  2009 

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  • Throwing Motion Control based on Output Zeroing utilizing 2-Link Underactuated Arm

    2009 American Control Conference  2009 

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  • Control Experiment of Rolling Motion for the Deguribot

    2009 

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  • Motion Control utilizing Unstable Zero Dynamics-Application for Throwing Motion-

    2009 

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  • Derivation of the Input Transformation for Exact Linearization of the Inverted Pendulum Utilizing Vertical and Horizontal Inputs via Dynamic Extension

    2009 

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  • 1入力非線形システムの相対次数構造に着目した時間軸変換による厳密な線形化

    第10回計測自動制御学会制御部門大会  2010 

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  • Control of Bipedal Running by the Angular-Momentum-Based Synchronization Structure

    2010 IEEE International Conference on Robotics and Automation  2010 

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  • 不安定なゼロダイナミクスを利用したPendubotの投球運動制御

    第54回システム制御情報学会研究発表講演会  2010 

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  • Linearization based on Relative Degree Structure

    SICE Annual Conference 2010  2010 

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  • Throwing Motion Control for an Underactuated Arm based on the Analysis of Zero Dynamics

    2009 

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  • Jumping and Landing Control for the Acrobot utilizing Zero Dynamics

    2009 

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  • Throwing Motion Control based on Output Zeroing utilizing 2-Link Underactuated Arm

    2009 American Control Conference  2009 

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  • Control Experiment of Accelerated Motion for the Acrobot on the Horixontal Bar with Compliance

    2009 

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  • Linearization based on Relative Degree Structure

    SICE Annual Conference 2010  2010 

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  • 相対次数構造に基づくシステムの系列表現を用いた近似線形化

    第10回計測自動制御学会制御部門大会  2010 

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  • 入力を含む座標変換による出力フィードバック制御

    第３５回 計測自動制御学会 制御理論シンポジウム  2006 

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  • 1入力による跳躍ロボットの機構最適化と制御

    日本機械学会 ロボティクス・メカトロニクス講演会 2001  2001 

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  • A Synthesis of Bipedal Runner by Output Zeroing

    2006 IEEE International Conference on Control Applications  2006 

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  • chained form systemに対する制御器のL1ゲインの考察

    第５０回 システム制御情報学会 研究発表講演会  2006 

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  • Control of a Snake Robot in Consideration of Constraint Force

    TITech COE/Super Mechano-Systems Symposium 2001  2001 

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  • 鉄棒のしなりとAcrobotのあふりを利用した振り上げ制御実験

    第６回 計測自動制御学会 制御部門大会  2006 

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  • ノンホロノミックシステムに対するハイブリッド制御の安定性解析

    日本機械学会 第７回「運動と振動の制御」シンポジウム  2001 

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  • 足首関節の効果を利用した出力零化制御による人間型ロボットの走行に関する研究

    第６回 計測自動制御学会 制御部門大会  2006 

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  • 横滑りを考慮した蛇型ロボットの運動制御

    日本機械学会 第７回「運動と振動の制御」シンポジウム  2001 

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  • 座標変換のパラメータ誤差に関する考察と時間軸状態制御形を用いたドリフトレスシステムの適応制御

    第６回 計測自動制御学会 制御部門大会  2006 

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  • Acrobot型劣駆動跳躍系の制御

    日本機械学会 第７回「運動と振動の制御」シンポジウム  2001 

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  • On Existence of Limit Cycle and Robustness of ZMP Control

    6th Asian Control Conference  2006 

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  • 双線形システムにおけるHamilton-Jacobi偏微分方程式の粘性解

    日本機械学会 第７回「運動と振動の制御」シンポジウム  2001 

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  • Control of a Class of 1-Generator Nonholonomic System with Drift through Input-Dependent Coordinate Transformation

    3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control  2006 

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  • 時間軸状態制御形に基づくハイブリッド制御系の安定化条件

    第１回 計測自動制御学会 制御部門大会  2001 

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  • Discontinuous Controller Design and Analysis for the Chained Form System via Time State Control Form

    8th International Conference on Motion and Vibration Control (MOVIC2006)  2006 

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  • 拘束力に着目した蛇型ロボットの推進制御

    第１回 計測自動制御学会 制御部門大会  2001 

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  • Adaptive Control for a Class of Driftless Systems via Time State Control Form

    8th International Conference on Motion and Vibration Control (MOVIC2006)  2006 

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  • スーパーメカノシステムとノンホロノミックシステム

    第４５回 システム制御情報学会研究発表講演会  2001 

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  • Control of one linear actuator running robot in the plane

    TITech COE/Super Mechano-System Symposium 2001  2001 

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  • Discontinuous Controller Design of the Chained Form System Via Time State Control Form

    45th IEEE Conference on Decision and Control  2006 

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  • Control of a Snake Robot in Consideration of Constraint Force

    2001 IEEE Conference on Control Applications  2001 

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  • The Control of a Bipedal Running Robot based on Output Zeroing considered Rotation of the Ankle Joint

    45th IEEE Conference on Decision and Control  2006 

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  • Stability of Hybrid Control Systems Based on Time-state Control Forms

    TITech COE/Super Mechano-System Symposium 2001  2001 

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  • 時間軸状態制御形を用いたドリフトレスシステムの適応制御

    第５０回 システム制御情報学会 研究発表講演会  2006 

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  • Locomotion Control of a Snake Robot Taking Account of Constraint Force

    SICE 1st Annual Conference on Control Systems  2001 

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  • Control of a Class of 1-Generator Nonholonomic System with Drift through Input-Dependent Coordinate Transformation

    3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control  2006 

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  • Super Mechano Systems and Nonholonomic Systems

    Proceedings of the 45th Annual Conference of the Institute of Systems, Control and Information Engineers  2001 

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  • Discontinuous Controller Design and Analysis for the Chained Form System via Time State Control Form

    8th International Conference on Motion and Vibration Control (MOVIC2006)  2006 

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  • Parameter Optimization and Control of a Hopping Robot with One Actuator

    2001 

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  • Adaptive Control for a Class of Driftless Systems via Time State Control Form

    8th International Conference on Motion and Vibration Control (MOVIC2006)  2006 

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  • Motion Control Method of Snakelike Robot Considering Sideslip

    2001 

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  • Output Feedback for the High-order Chained form via the Input-Dependent Coordinate Transformation

    35th SICE Symposium on Control Theory  2006 

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  • Locomotion Control of a Snake Robot with Constraint Force Attenuation

    2001 American Control Conference  2001 

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  • A Synthesis of Bipedal Runner by Output Zeroing

    2006 IEEE International Conference on Control Applications  2006 

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  • A Study on Vertical Jumping Control of Acrobat Robot

    SICE Annual Conference 2001  2001 

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  • A SISO Linear System with An Unstable Inner Loop and Its Application to Zero Moment Point (ZMP) Control

    2006 IEEE International Conference on Control Applications  2006 

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  • Control Method for Snake-like Robot using ON/OFF input

    SICE Annual Conference 2001  2001 

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  • Anti-windup Control for MIMO System Using Timescale Transform

    2006 IEEE International Conference on Control Applications  2006 

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  • Balance Control of Humanoid Robot considering Ankle Torque - In Case of Compliances in Sole of the Foot-

    The 19th Annual Conference of the Robotics Society of Japan  2001 

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  • Throwing Motion Control of the Pedubot via Unstable Zero Dynamics

    2010 

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  • 入力を陽に含む座標変換による1generator非ホロノミックシステムの制御

    第４８回 自動制御連合講演会  2005 

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  • 入力・状態に制限を持つChained Systemの時間軸状態制御系による制御・解析

    第３４回 計測自動制御学会 制御理論シンポジウム  2005 

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  • Experiment for Swing Up Control Using Compliance

    SICE Annual Conference 2005 in Okayama  2005 

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  • 時間軸変換を利用した多入出力系に対するアンチワインドアップ制御

    第５回 計測自動制御学会 制御部門大会  2005 

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  • 汎用マニピュレータによるデビルスティックの持続回転運動制御

    第５回 計測自動制御学会 制御部門大会  2005 

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  • Linear Approximation via Series Expression based on Relative Degree Structure

    2010 

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  • 出力零化制御による人間型ロボットの走行に関する研究

    第５回 計測自動制御学会 制御部門大会  2005 

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  • Exact linearization by time scale transformation based on relative degree structure of single-input nonlinear systems

    2010 

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  • 入力を陽に含む座標変換を用いた高階Chained Formシステムの制御

    第４９回 システム制御情報学会 研究発表講演会  2005 

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  • Control of Bipedal Running by the Angular-Momentum-Based Synchronization Structure

    2010 IEEE International Conference on Robotics and Automation  2010 

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  • An Analysis of ZMP Control Problem of Humanoid Robot with Compliances in Sole of the Foot

    16th IFAC World Congress  2005 

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  • Input-dependent Coordinate Transformation for High-order Chained System

    Proceedings of the 49th Annual Conference of the Institute of Systems, Control and Information Engineers  2005 

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  • An Analysis of ZMP Control Problem of Humanoid Robot with Compliances in Sole of the Foot

    16th IFAC World Congress  2005 

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  • A Study of Bipedal Runner by Output Zeroing

    SICE 5th Annual Conference on Control Systems  2005 

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  • Anti-windup Control for MIMO System Using Timescale Transform

    2006 IEEE International Conference on Control Applications  2006 

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  • Discontinuous Controller Design of the Chained Form System Via Time State Control Form

    45th IEEE Conference on Decision and Control  2006 

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  • The Control of a Bipedal Running Robot based on Output Zeroing considered Rotation of the Ankle Joint

    45th IEEE Conference on Decision and Control  2006 

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  • Control of 1-Generator Nonholonomic system through Input-dependent Coordinate Transformation

    2005 

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  • Time-State Control and Analysis of Chained System with Input and State Constraints

    34th SICE Symposium on Control Theory  2005 

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  • Experiment for Swing Up Control Using Compliance

    SICE Annual Conference 2005 in Okayama  2005 

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  • Anti-windup Control for MIMO System using Timescale Transformation

    SICE 5th Annual Conference on Control Systems  2005 

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  • Enduring Rotary Motion Control of Devil Stick by General-purpose Manipulator

    SICE 5th Annual Conference on Control Systems  2005 

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  • A SISO Linear System with An Unstable Inner Loop and Its Application to Zero Moment Point (ZMP) Control

    2006 IEEE International Conference on Control Applications  2006 

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  • An Autonomous Locomotion Control of a Multi-Joint Snake-Like Robot with Consideration of the Dynamic Manipulability

    IFAC Workshop on Lagrangean and Hamiltonian Methods for Nonlinear Control  2000 

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  • Dynamic Manipulability of a Snake-Like Robot with Consideration of Side Force and its Locomotion Control

    2000 

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  • Milling Operation as Following the Boundary using Cutting Force Information

    8th SICE Symposium on Control Engineering  2000 

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  • Generalized Design of Mixed H-infty/Deadbeat Controllers for SISO Continuous-Time Servo Systems

    SICE Annual Conference 2000  2000 

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  • Topological Structure of Feedback Control Problem for Asymptotically Non-stabilizable Systems

    SICE Annual Conference 2000  2000 

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  • Open Problems, from a View Point of Nonlinear Control Theory

    SICE Annual Conference 2000  2000 

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  • Dynamic Manipulability of a Snake-Like Robot with Consideration of Side Force and its Application to Locomotion Control

    International Symposium on Adaptive Motion of Animals and Machines  2000 

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  • Locomotion Control of A Snake-Like Robot based on Dynamic Manipulability

    IEEE/RSJ International Conference on Intelligent Robots and Systems  2000 

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  • Control of one linear actuator running robot in the plane

    TITech COE/Super Mechano-System Symposium 2001  2001 

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  • Control of a Snake Robot in Consideration of Constraint Force

    TITech COE/Super Mechano-Systems Symposium 2001  2001 

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  • Nonlinear Control Theories: When They are Needed and How They Work

    Industrial Electronics Seminar 2000  2000 

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  • 横滑りを考慮した蛇型ロボットの運動制御

    日本機械学会 ロボティクス・メカトロニクス講演会 2001  2001 

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  • Locomotion Control of a Snake Robot with Constraint Force Attenuation

    2001 American Control Conference  2001 

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  • アクロバットロボットを用いた跳びつきの制御

    第４０回 計測自動制御学会 学術講演会  2001 

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  • ON/OFF 入力を用いたヘビ型ロボットの制御

    第４０回 計測自動制御学会 学術講演会  2001 

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  • 足首トルクを考慮した人間型ロボットのバランス制御 -足底コンプライアンス付きモデルの場合-

    第１９回 日本ロボット学会学術講演会  2001 

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  • Control of a Snake Robot in Consideration of Constraint Force

    2001 IEEE Conference on Control Applications  2001 

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  • Stability of Hybrid Control Systems Based on Time-state Control Forms

    TITech COE/Super Mechano-System Symposium 2001  2001 

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  • Swing up Control Experiment aimed at Energy Interaction between the Acrobot and Compliance

    SICE Annual Conference 2007  2007 

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  • Balance Control of Humanoid Robot based on Frequency Separation of COG and ZMP

    The 20th Annual Conference of the Robotics Society of Japan  2002 

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  • Vertical Vibration Suppression of Railway Vehicle by Primary Suspension Damping Force Control

    Dynamics and Design Conference 2007  2007 

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  • One Linear Actuator Hopping Robot Control Using Adaptive Fuzzy Control

    20th Annual Conference of the Robotics Society of Japan  2002 

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Works

  • サーボモータ駆動制御の性能向上に関する研究

    2007 - 2009

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  • 車両の駆動力伝達系及びエンジンの非線形特性を考慮したエンジントルク制御法の検討

    2006 - 2008

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  • 非線形要素を含む車両の動力伝達系の振動抑制制御法の検討

    2005 - 2006

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  • 「人間協調・共存型ロボットシステム研究開発（エネルギー使用合理化技術開発」 人間型ロボットのバランス維持に関する制御理論的研究

    2000 - 2002

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  • A Research of Control Theory on Balance Control of Humanoid Robot

    2000 - 2002

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Awards

  • JSME Medal for Outstanding Paper

    2009  

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  • 論文顕彰

    2009   油空圧機器技術振興財団  

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    Country：Japan

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  • JSME Medal for Outstanding Paper

    2009   JSME  

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    Country：Japan

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  • Best Interactive Paper Award

    2006   45th IEEE Conference on Decision and Control  

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  • 学会賞論文賞、砂原賞

    2000   システム制御情報学会  

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    Country：Japan

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  • 3rd Symposium on Advances in Control Education, Video Competition Award

    1994   IFAC  

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  • 椹木記念賞論文賞

    1990   システム制御情報学会  

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    Country：Japan

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Research Projects

  • 非線形H∞制御理論とその応用

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    Grant type：Competitive

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  • 非線形制御理論とその応用

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    Grant type：Competitive

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  • Control of Non-Holonomic Systems

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    Grant type：Competitive

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  • ノンホロノミックシステムの制御

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    Grant type：Competitive

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  • Nonlinear H∞ Control Theory and its Application

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    Grant type：Competitive

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  • Nonlinear Control Theory and its Application

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    Grant type：Competitive

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