College of Information Science and Engineering
Department of Information Science and Engineering
03/2008 Ritsumeikan University College of Information Science and Engineering Department of Human and Computer Intelligence Graduated
03/2010 Nara Institute of Science and Technology Graduate School of Information Science Applied Informatics Major Doctoral course first term (Master's) Completed
03/2013 Nara Institute of Science and Technology Graduate School of Information Science Applied Informatics Major Doctoral course second term (Doctoral) Completed
M.E. (03/2010 Nara Institute of Science and Technology)
Ph.D. (Engineering) (03/2013 Nara Institute of Science and Technology)
04/01/2013-03/31/2014 立命館グローバル・イノベーション研究機構 専門研究員
■Academic society memberships
The Society of Instrument and Control Engineers
"The Institute of Systems, Control and Information Engineers"
■Licenses and qualifications
■Subject of research
Global Control of System on Non-contractible Manifold
Global control of systems on non-compactible manifold
There are many non-linear control system defined on non-compactible manifolds around us. Non-compactible manifolds (hereinafter, “manifolds”) are spaces that are not in-phase with Euclid space. For example, attitude angle S1 of vehicle robots, attitude angle SO(3) of space robots, or configuration space of robot arms with link mechanisms can be mentioned as typical examples. This being the case, the attitude angle control problem can be said to be a typical control problem of a non-linear system defined on a manifold.
Like this, systems on a manifold exist close by, however, it is known that global control is difficult than expected. In other words, in static continuous state feedback control, it is known that the target balance point defined on a manifold cannot be globally asymptotic stabilized, which equates to “discontinuous decision making must be designed, in order to avoid an obstruction by either avoiding the obstruction to the right or to the left”.
Study is being conducted for a discontinuous global state feedback control rule design method, taking the approach of designing a non-differentiable control Lyapunov function to solve this problem. Control Lyapunov function is a type of a potential function and the decision making of “whether to avoid it to the right or to the left” is achieved by designing a potential where the gradient is discontinuous, and global control is achieved without repeat calculation.
The significance of this study is to improve the basic performance for autonomous mobile control in robots. The handling of autonomous mobile control is completely different between the robotics field and non-linear control field, as indicated below:
Robotics field: Autonomous mobile control is the design of target path.
Non-linear control field: Autonomous mobile control is a non-differentiable control Lyapunov function.
In the robotics field, the decision making of “whether to avoid it to the right or to the left” is achieved by designing a target path but in this study, it is achieved by designing a non-differentiable control Lyapunov function. In many cases, repeat calculation will be required to design a target path, accompanied by large amount of calculation. On the other hand, the method proposed in this study has the merit of not requiring repeat calculation.
By completing this study, we target to propose a new concept of “autonomous mobile control that can be said to be the designing of non-differentiable control Lyapunov function” to the field of robotics to contribute in the achieving of dynamic obstacle evasion function with excellent real-time property.
Nonlinear control theory
■Research activities (Even top three results are displayed. In View details, all results for public presentation are displayed.)
Convergence Error Analysis of DSM with Dual-Decomposition for the Smart Grid Yoshiro Fukui, Shiro Yano and Tadahiro Taniguchi SICE Journal of Control, Measurement, and System Integration 9/ 3, 1-7 05/2016
多層最小射影法による局所半凹実用制御Lyapunov関数の設計 福井 善朗, 中村 文一 計測自動制御学会論文集 51/ 12, 803-813 12/2015
Convergent Double Auction Mechanism for a Prosumers' Decentralized Smart Grid Tadahiro Taniguchi, Tomohiro Takata, Yoshiro Fukui and Koki Kawasaki Energies 8/ 11, 12342-12361 10/2015
Time-varying control Lyapunov function design for nonlinear systems defined on manifolds 4th Multi-symposium on Control Systems: MSCS2017 03/09/2017
Adaptive Trajectory Tracking Control of Robot Manipulators with Finite-Time and Local Asymptotic Stability 4th Multi-symposium on Control Systems: MSCS2017 03/07/2017
ロボットの適応的重力補償付き有限時間整定位置決め制御の実験的検証 第59回自動制御連合講演会 11/11/2016
Grants-in-Aid for Scientific Research (KAKENHI)
Link to Grants-in-Aid for Scientific Research -KAKENHI-
■Teaching experience (Even top three results are displayed. In View details, all results for public presentation are displayed.)
2016 Programming Seminar 1 Seminar
2016 Programming Language Lecture
2016 Graduation Research 1 Seminar
2014年度高大連携企画 立命館守山高校 SSH授業「土曜講座：科学探求」後期第１週～第３週担当 08/2014-09/2014
■Research keywords(on a multiple-choice system)
Control engineering/System engineering