Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)

<p>The effectiveness of observer-based controllers using Luenberger observers is well recognized. As the estimated states can be used for possible fault detection, health monitoring, etc., the estimation of plant states is useful. Therefore, a conversion method of transforming <i>a priori</i> designed controllers to observer-based controllers has been proposed. This conversion method is attractive, but it is applicable only for the case that LTI plant systems are controlled by LTI controllers. To enhance the applicability, observer-structured controllers with a structural similarity to the Luenberger observer-based controllers have been proposed, and the conversion method to observer-structured controllers using state-transformation matrices has also been proposed. This method uses mathematical models instead of operational data, thus, observer-structured controllers inevitably suffer from plant state estimation degradation due to unforeseen uncertainties and disturbances in real environments. On this issue, under the condition that a few sets of the plant and controller states in real operating environments are available, a method for obtaining state-transformation matrices using the obtained operational data has been proposed with an illustrative example. However, there is a concern that the numerical complexity in designing state-transformation matrices increases as the amount of the data grows. To solve this concern, this paper proposes a remedy of numerical complexity reduction in obtaining state-transformation matrices using operational data with downsampling approach. The usefulness and the validity of our method are confirmed through a numerical example.</p>

DOI： 10.9746/sicetr.62.269

CiNii Research

Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)

<p>This note tackles visual-feedback controller design for a cart-driven inverted pendulum using non-calibrated images taken through a fisheye lens. The images have distortion, which can be modeled as an uncertainty in the output matrix for the measurement signals, due to the use of hemispherical lenses. This problem can be reduced to robust controller design for LTI parametrically dependent systems which belong to a subclass of Linear Parameter-Varying (LPV) systems. This research topic, i.e. robust controller design, is slightly obsolete; however, it is still a challenging problem since the well-established change-of-variables procedure for parametrically dependent plant systems produces not constant controllers but parametrically dependent controllers. On this issue, we first introduce a fictitious parameter vector in the change-of-variables procedure to obtain constant state-space matrices of the to-be-designed controllers in exchange for consequently introduced bilinear terms of decision matrices, and then apply overbounding approach based on Elimination lemma with an auxiliary decision matrix introduced for the bilinear terms to derive our proposed method. The method is still formulated in terms of bilinear matrix inequality, but has no structural constraints for the original decision matrices in the initial feasible solution search. We apply the proposed method to the stabilization problem of the cart-driven inverted pendulum. We successfully design a robust visual-feedback stabilizing controller, and lab-level experiments confirm that our controller stabilizes the system without any calibrations for the distorted images.</p>

DOI： 10.9746/sicetr.62.121

CiNii Research

Other Link： http://id.ndl.go.jp/bib/034638886

Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2025.11.244

Scopus

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)

<p>This note addresses the conversion problem of <i>a priori</i> designed unstructured controllers to <i>observer-structured controllers</i>. Observer-structured controllers have been proposed as a structural extension of Luenberger observer-based controllers to accommodate linear parametric plant systems with unspecified nominal state-space matrices, and the usefulness has been demonstrated in the literature. However, the conversion process in the literature uses only the mathematical models of the plant systems and the <i>a priori</i> designed unstructured controllers, which might degrade the plant state estimation performance of the converted observer-structured controllers due to the possibility of unexpected disturbances, unmodeled dynamics, etc. of the practical operating environment. Therefore, a conversion method which well reflects the practical operating environment has been desired. To this end, this note proposes a conversion method, which is based on the least square method, by using the data of the plant systems controlled by the <i>a priori</i> designed unstructured controllers under practical operating environment, and illustrates the effectiveness of our method.</p>

DOI： 10.5687/iscie.38.146

Kyutacar

CiNii Research

Other Link： http://id.ndl.go.jp/bib/034203036

Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2025.10.128

Scopus

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2025.10.122

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2025.10.107

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1109/TAES.2025.3538823

Scopus

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Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1080/18824889.2025.2497612

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.23919/SICEFES67750.2025.11236579

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1049/cth2.70058

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.23919/SICEFES67750.2025.11236598

Scopus

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Authorship：Lead author,　Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)

<p>This note proposes a design method of quasi Sliding Mode Control (SMC) for Linear Parameter-Varying (LPV) systems as the combination of Linear State-Feedback Control (LSFC) and additional internal saturation by extending an LSFC gain parametrization for LTI systems in the literature. A numerical example well illustrates the advantage of our controller.</p>

DOI： 10.9746/sicetr.61.405

CiNii Research

Other Link： http://id.ndl.go.jp/bib/034329219

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1002/rnc.7088

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/CCTA60707.2024.10666510

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/ICARCV63323.2024.10821582

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/ICECCME62383.2024.10797124

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)

<p>The purpose of the present research is to develop and to demonstrate the design architecture of the AFTS (Automatic Flight and Transition System) for “Lift/Cruise Thrust” type VTOL (Vertical Takeoff and Landing) aircraft such as tilt-wing, tilt-propeller, tilt-duct aircraft, etc. VTOL aircraft of this type, characterized by propulsor installations that reorient the thrust relative to the aircraft, offer advantages of a wide flight envelope. However, flight and stability characteristics significantly change depending on airspeed and configurations such as wing tilt angles or propulsor orientations. These make it difficult to operate VTOL aircraft safely and the AFTS, which comprises both autopilot and auto-transition algorithm, should be developed to provide the safe and effective means to control the aircraft over its entire flight envelope. In this research, the autopilot was designed to provide control commands that change control strategies and gains according to the configurations. Additionally, the auto-transition algorithm, which should be coordinated with the autopilot, was designed to select and change configurations for accelerated and decelerated flight. The proposed AFTS was installed to a “Lift/Cruise Thrust” type, QTW (Quad Tilt Wing) VTOL UAS (Unmanned Aircraft System), and fully automated operation capability was demonstrated through flight test both in calm and windy conditions.</p>

DOI： 10.2322/tjsass.67.285

Scopus

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Language：Japanese   Publishing type：Research paper (bulletin of university, research institution)

DOI： 10.11511/jacc.67.0_596

CiNii Research

Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

DOI： 10.11511/jacc.67.0_1663

CiNii Research

Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

DOI： 10.11511/jacc.67.0_657

CiNii Research

Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1016/j.isatra.2023.08.029

Scopus

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Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1002/rnc.6307

Scopus

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Language：English   Publishing type：Article, review, commentary, editorial, etc. (scientific journal)

<p>This paper describes the Industrial Benchmark jointly proposed by Airbus and Stellenbosch University for the 22nd IFAC World Congress, and supported by Kumamoto and Tohoku Universities as part of the World Congress Aerospace Technology Industry Group Organizers. The benchmark was used for an Aerospace competition, as one of the World Congress Technology competitions. This paper details the industrial context, describes the technical problem that was provided to be solved, and shows the significance of the problem from the perspective of the aerospace industry. Among all of the contributions that were received, five were selected based on the academic quality and on the industrial relevance and feasibility. A brief description of each selected paper is provided.</p>

DOI： 10.11499/sicejl.62.564

CiNii Research

Other Link： http://id.ndl.go.jp/bib/033073755

Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2023.10.074

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2023.10.454

Scopus

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

DOI： 10.11511/jacc.66.0_1066

CiNii Research

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/IECON51785.2023.10311677

Scopus

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

DOI： 10.11511/jacc.66.0_531

CiNii Research

Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1109/TIE.2021.3127034

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1109/TCST.2021.3096946

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85112618957&origin=inward

Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)

<p>This paper considers the conversion problem from strictly proper non-structured Linear Time-Invariant (LTI) controllers, which are designed <i>a priori</i>, to strictly proper “observer-structured LTI controllers”, whose structure is similar to but not exactly the same as the so-called “Luenberger observer-based LTI controllers”, for LTI Parameter-Dependent (LTIPD) plant systems. We parametrize the state-space matrices of the observer-structured controllers with those of the non-structured controllers, one free matrix and a state transformation matrix, and propose a method to obtain the optimal state transformation matrix with respect to the convergence of non-zero initial plant state. We also clarify the relation between our method and an existing one for full-order controllers for LTI plant systems.</p>

DOI： 10.9746/sicetr.58.255

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/sicetr/58/5/58_255/_pdf

Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)

<p>This note addresses the parameter estimation problem in the input matrices for Linear Time-Invariant (LTI) systems under <i>a priori</i> given frequency domain constraints. The constraints are incorporated into the weighted least square method with help of Generalized KYP (GKYP) lemma, the proposed method is thus formulated in terms of Linear Matrix Inequalities (LMIs). A practical example, i.e. the linearized lateral-directional motion model of an airplane, is included to demonstrate the effectiveness of our method.</p>

DOI： 10.9746/sicetr.58.100

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/sicetr/58/2/58_100/_pdf

Authorship：Lead author,　Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

DOI： 10.11511/jacc.65.0_1442

CiNii Research

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1109/LCSYS.2021.3090654

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2022.09.346

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85159669182&origin=inward

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1016/j.jfranklin.2021.02.040

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2022.09.317

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/CDC51059.2022.9992585

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2022.11.291

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85117681982&origin=inward

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1016/j.automatica.2021.109569

Scopus

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/MED51440.2021.9480174

Scopus

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1080/18824889.2021.1953304

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/CCTA48906.2021.9659230

Scopus

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Authorship：Lead author,　Last author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

DOI： 10.11511/jacc.64.0_1101

CiNii Article

CiNii Research

Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)

<p>This paper addresses the design problem of Luenberger observer-based robust iHi_∞ flight controllers for aircraft motion control. Structured Linear Time-Invariant (LTI) iHi_∞ controllers, which are merely sub-optimal with respect to the optimality of <i>H</i>_∞ norm in controllers' parameter space but are attractive due to the simpler structure than full-order <i>H</i>_∞ controllers, can be easily designed using MATLAB^® hinfstruct even for LTI Parameter-Dependent (LTIPD) and Linear Parameter-Varying (LPV) systems via two-step design. That is, controller gain candidates are firstly designed as common gains for multiple LTI models selected from the LTIPD or LPV systems with specific parameter values, and their practical performance is then examined for the LTIPD or LPV systems with rigorous analysis conditions. However, hinfstruct cannot handle multiple design specifications simultaneously, thus, it is not so easy to design practical flight controllers which should meet various requirements. This paper addresses the design problem of Luenberger observer-based robust <i>H</i>_∞ flight controllers using MATLAB^® systune, and demonstrates that such controllers can be designed with observer performance optimized under a priori specified scaled-<i>H</i>_∞ performance and controller gain constraints. The effectiveness of the controller is examined by Hardware-In-the-Loop Simulations (HILS) with JAXA's research airplane MuPAL-α. </p>

DOI： 10.2322/jjsass.69.72

CiNii Article

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jjsass/69/2/69_69_72/_pdf

Language：Japanese   Publishing type：Research paper (scientific journal)

<p>This paper reports the safety confirmation of flight control system of an Unmanned Aerial Vehicle (UAV) with a pair of high-aspect-ratio wings via nonlinear simulations and hardware-in-the-loop simulation tests with various flight conditions (steady winds, gusts, etc.). The UAV successfully had a safe flight in Taiki town in Hokkaido after the safety confirmation process. </p>

DOI： 10.2322/jjsass.69.42

CiNii Article

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jjsass/69/1/69_69_42/_pdf

Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/CDC42340.2020.9304244

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/CCTA41146.2020.9206350

Scopus

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Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1016/j.automatica.2020.108829

Scopus

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1016/j.sysconle.2020.104632

Scopus

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1109/TAC.2019.2919811

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2020.12.1927

Scopus

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Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.2514/1.G005080

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2020.12.1959

Scopus

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Authorship：Lead author,　Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1016/j.ifacol.2020.12.500

Scopus

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Authorship：Lead author,　Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)

<p>This paper addresses the design problem of Fault-Tolerant Control (FTC) for airplane longitudinal motions against possible elevator efficiency reduction. The supposed FTC is composed of a feedforward gain and the conventional airplane control system, i.e. Stability/Control Augmentation System (S/CAS). The FTC is required to maintain good tracking performance with respect to pitch angle control under time-invariant plant modeling errors as well as time-varying possible elevator faults. The design problem is then formulated as structured robust <i>H</i>_∞ controller design for parameter-dependent systems, i.e. single structured <i>H</i>_∞ controller design for parameter-varying plant models. It is hard to obtain the globally optimal controllers for the problem due to the structural constraint for the controllers and the parameter-varying plant models. We thus adopt two-step design, viz., we first design a single common structured <i>H</i>_∞ controller for finitely many plant models using non-smooth optimization technique, which has been implemented to Matlab^® as hinfstruct, under the supposition that the elevator faults are time-invariant, and we then check the control performance of the designed FTC for the parameter-varying closed-loop system via Linear Matrix Inequality (LMI) condition. The control performance is examined via linear simulations as well as hardware-in-the-loop simulations. </p>

DOI： 10.2322/jjsass.68.223

CiNii Article

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jjsass/68/6/68_68_223/_pdf

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)

<p>This paper confirms the applicability of moment control by electric propellers. Normal and reverse rotation of propellers can improve the moment control performance than only using normal rotation propellers. In addition, it is verified that moment control can be improved by using the distributed thrust in addition to the existing control devices due to the slipstream effect. </p>

DOI： 10.2322/jjsass.68.128

CiNii Article

CiNii Research

Other Link： http://id.ndl.go.jp/bib/030481678

Authorship：Lead author,　Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)

<p>This paper addresses the design problem of Gain-Scheduled (GS) flight controllers, in which only inexact scheduling parameters are available, for aicraft motion control. Most of existing design methods for GS controllers implicitly suppose that exact scheduling parameters are available. However, this does not always hold true in practice, which has invoked the research on the design of GS controllers depending on inexact scheduling parameters. We design a GS flight controller for the lateral-directional motion of JAXA's fixed-wing experimental aircraft MuPAL-α using a recently proposed design method which guarantees the pre-defined control performance under the bounded uncertainties in the provided scheduling parameters. We examine the applicability and performance of our controller by flight tests. </p>

DOI： 10.2322/jjsass.68.12

CiNii Article

CiNii Research

Other Link： http://id.ndl.go.jp/bib/030253682