研究者詳細 - 伊藤　博

論文 - 伊藤　博

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Input-to-state stabilization of endemic models for uncertainty of transmission, inflows, and immunity waning 査読有り国際誌

Hiroshi Ito

Automatica 174 ( 4 ) 112167 13 pages 2025年02月

Some implications of positivity with interior equilibria via asymmetrically scaled sectorial supply rates 査読有り国際誌

Hiroshi Ito

2024 63rd Annual Conference of the Society of Instrument and Control Engineers, SICE 2024 1229 - 1234 2024年08月

Scalar modules with logarithmic Lyapunov functions for robust positive systems exhibiting interior equilibria 査読有り国際誌

Hiroshi Ito

10th SICE International Symposium on Control Systems ( Society of Instrument and Control Engineers ) SY0002/24/0000-0787 2024年03月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Japan Higashi-Hiroshima 2024年03月17日 - 2024年03月20日

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A Dissipativity Framework for Input-to-State Stability with Positivity of Dynamical Systems with Interior Equilibria 査読有り国際誌

Ito H.

Proceedings of the American Control Conference 1127 - 1132 2024年01月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposes a module-based framework for analyzing and designing dynamical systems evolving on positive orthants and having stationary points in their interior. Dissipativity theory is a widely-used concept that allows one to assess a property of a system by aggregating dissipativity of its components. Popular storage functions and supply rates do apply to positive systems, but do not give information about the positivity. This paper employs non-vector space storage functions encompassing logarithmic functions to formulate input-to-state stability (ISS) with positivity guarantee, and shows how its dissipativity characterization can effectively address system interconnections. The developed supply rates and criteria are not only asymmetric to fit non-vector state spaces, but also carry equilibrium information which is inherent in positive systems exhibiting interior equilibria. Mathematical and practical examples illustrate that the proposed framework offers flexibility in applying to various system interconnections.

DOI： 10.23919/ACC60939.2024.10644378

Kyutacar

Scopus

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ベルト駆動型多関節ロボットの軌道逸脱を低減する目標軌道のウエハ産業用設計事例査読有り

藤村統太, 福井善朗, 伊藤博

システム制御情報学会論文誌 ( 一般社団法人システム制御情報学会 ) 36 ( 11 ) 392 - 399 2023年11月

記述言語：日本語掲載種別：研究論文（学術雑誌）

<p>This paper deals with high-speed and high-precision transfer control of silicon wafers by a belt-driven robot. We propose a target trajectory design while we only can change the trajectory due to the industry’s strict development limitations. The proposed trajectory design has a piecewise linear type velocity profile. Gradients of each segment in the piecewise profile, that is acceleration, are designed with a consideration of two factors: The effects of belt elasticity and kinematics between the amount of belt elongation and the amount of tracking error. To reduce the amount of tracking error effectively, we also propose a design indicator which combines the two factors for designing the profile. An experiment with the belt-driven type wafer transfer robot UTM-R3700F, currently in use in industry, illustrates that the proposed trajectory design with the proposed indicator reduces tracking error compared to the conventional trajectory design.</p>

DOI： 10.5687/iscie.36.392

Kyutacar

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/iscie/36/11/36_392/_pdf

Asymmetric and fitted dissipativity with logarithmic storages for positive systems exhibiting interior equilibria 査読有り国際誌

Hiroshi Ito

Proceedings of The 22nd IFAC World Congress ( Proceedings of The 22nd IFAC World Congress ) 2023-July 5532 - 5537 2023年07月

Asymmetric dissipativity and supply rates for compartmental systems with logarithmic storage functions 査読有り国際誌

Hiroshi Ito

Proceedings of the American Control Conference 2023 ( IEEE ) 2023-June 3018 - 3023 2023年05月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

USA San Diego

Many compartmental models in biology, chemistry, ecology, sociology, and related sciences have positive variables, for which equilibrium points of interest are in the interior of the positive orthant. Reactions are often modeled as a bilinearity, which renders a boundary of the positive orthant a separatrix. In such situations, the capability of Lyapunov functions defined on symmetric domains is very limited, and logarithmic functions are sometimes used in mathematical biology. The domain of a logarithm function is a ray, which is asymmetric with respect to the equilibrium of interest. This paper aims to add a useful tool to dissipativity theory for analyzing networks via storage functions defined on asymmetric spaces. This paper focuses on an asymmetric supply rate and discusses its properties and utilities which standard symmetric supply rates do not offer. The power of the asymmetric supply rate is illustrated briefly by establishing asymptotic stability of the endemic equilibrium of the SIQRS model of infectious diseases in an arbitrarily large domain.

DOI： 10.23919/ACC55779.2023.10156181

Scopus

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Nonlinear PI control for semi-global asymptotic stabilization and robustness of SIQR model with inflow perturbationsulation, and vaccination in staircase form 査読有り国際誌

Hiroshi Ito

The 12th IFAC Symposium on Nonlinear Control Systems ( IFAC ) 276 - 281 2023年01月

ISS with respect to unrestricted population perturbations in semi-global control of SIQR 査読有り国際誌

Ito H.

2023 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023 1319 - 1324 2023年01月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper addresses control design for mitigating the spread of infectious diseases among humans using vaccination, isolation, and contact regulation. This paper focuses on the robustness for disturbances perturbing all population classes in their full range and pursues effective feedback control using the number of recovered individuals. The proposed design is based on nonlinear control theory in which we use a Lyapunov function solely to achieve input-to-state stability semi-globally in the state space and globally in the disturbance spaces. To this end, the total population in the Lyapunov functions constructed by preceding studies is replaced by the recovered population. This paper illustrates how useful an entirely logarithmic Lyapunov function is to address all disturbances without restricting their magnitude.

DOI： 10.23919/SICE59929.2023.10354168

Kyutacar

Scopus

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Strict Lyapunov functions and feedback controls for SIR models with quarantine and vaccination 査読有り国際誌

Hiroshi Ito, Michael Malisoff, Frédéric Mazenc

Discrete and Continuous Dynamical Systems - Series B ( American Institute of Mathematical Sciences ) 27 ( 12 ) 6969 - 6988 2022年12月

A Global and Semi-Global Controller for SIQR Epidemic Model by A Control Lyapunov Function via Logarithmic Sum 査読有り国際誌

Ito H.

Proceedings of the IEEE Conference on Decision and Control 2022-December 6419 - 6424 2022年12月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposes a feedback controller of isolation, contact regulation, and vaccination that can be simultaneously applied to mitigate the spread of infectious diseases among humans. A particular function that sums up logarithmic functions of all state variables is proved to be a control Lyapunov function and guarantee input-to-state stability of the controlled system with respect to perturbation of susceptible inflows on an arbitrarily large domain of the state variables. The single simultaneous controller is shown to be effective in all two situations which are separated by a bifurcation point.

DOI： 10.1109/CDC51059.2022.9993153

Scopus

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Feedback control of isolation and contact for SIQR epidemic model via strict Lyapunov function 査読有り国際誌

Hiroshi Ito, Michael Malisoff, Frédéric Mazenc

Mathematical Control and Related Fields ( American Institute of Mathematical Sciences ) 13 ( 4 ) 1438 - 1465 2022年09月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

We derive feedback control laws for isolation, contact regulation, and vaccination for infectious diseases, using a strict Lyapunov function. We use an SIQR epidemic model describing transmission, isolation via quarantine, and vaccination for diseases to which immunity is long-lasting. Assuming that mass vaccination is not available to completely eliminate the disease in a time horizon of interest, we provide feedback control laws that drive the disease to an endemic equilibrium. We prove the input-to-state stability (or ISS) robustness property on the entire state space, when the immigration perturbation is viewed as the uncertainty. We use an ISS Lyapunov function to derive the feedback control laws. A key ingredient in our analysis is that all compartment variables are present not only in the Lyapunov function, but also in a negative definite upper bound on its time derivative. We illustrate the efficacy of our method through simulations, and we discuss the usefulness of parameters in the controls. Since the control laws are feedback, their values are updated based on data acquired in real time. We also discuss the degradation caused by the delayed data acquisition occurring in practical implementations, and we derive bounds on the delays under which the ISS property is ensured when delays are present.

DOI： 10.3934/mcrf.2022043

Scopus

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Semi-global input-to-state stabilization of SIQR model with isolation, outing regulation, and vaccination in staircase form 査読有り国際誌

Ito H.

IFAC-PapersOnLine for The 25th International Symposium on Mathematical Theory of Networks and Systems 55 ( 30 ) 115 - 120 2022年09月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Germany Bayreuth 2022年09月 - 2022年09月

This paper proposes staircase-like feedback laws for control of human infectious diseases based on the SIQR model in the situation where vaccine administration alone cannot be sufficient. The control inputs consisting of isolation, contact regulation, and vaccination are designed to achieve input-to-state stability (ISS) with respect to uncertainty that includes perturbation of immigrants and newborns. The designed controller is semi-global so that the ISS guarantee can be obtained on an arbitrary large compact set in the state space. To accomplish the practical control implementation, this paper qualifies a simple separable function as a control Lyapunov function.

DOI： 10.1016/j.ifacol.2022.11.038

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85144817450&origin=inward

Dynamic feedback control of SIQR model guaranteeing semi-global asymptotic stability and robustness for inflow perturbations 査読有り国際誌

Ito H.

2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022 327 - 332 2022年09月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposes a dynamic feedback controller for vaccination, isolation, and contact regulation to mitigate the spread of human infectious diseases. Using the SIQR model, control laws are designed to achieve not only internal stability on an arbitrarily large domain in the state space, but also input-to-state stability for immigrants and newborns perturbations. This paper demonstrates that the properties can be guaranteed under the delay and memory effects of information integration arising from the dynamic human decision even in the presence of range limitations of vaccination, isolation, and contact regulation.

DOI： 10.23919/SICE56594.2022.9905862

Scopus

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An ISS Lyapunov function estimating admissible inflow perturbations for semi-global control of SIQR model 査読有り国際誌

Hiroshi Ito

2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022 321 - 326 2022年09月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Recently feedback laws of vaccination, isolation, and contact regulation for the control of human infectious diseases were proposed in the framework of control Lyapunov functions. This paper proves their robustness with respect to the inflow rate perturbation of immigrants and newborns by constructing an input-to-state stable (ISS) Lyapunov function on an arbitrarily large domain. In contrast to the aforementioned preceding results, the ISS Lyapunov function is constructed without invoking qualitative analysis resorting to the existence of a sufficiently small magnitude of the admissible inflow perturbations. This paper illustrates how we can compute a signed nonlinear gain function to evaluate the robustness of the controlled SIQR epidemic model.

DOI： 10.23919/SICE56594.2022.9905785

Scopus

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Isolation-oriented Lyapunov-based design of simultaneous feedback strategies for disease control of SIQR 査読有り国際誌

Hiroshi Ito

International Journal of Robust and Nonlinear Control ( IFAC ) 32 ( 16 ) 8767 - 8785 2022年07月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

This article pursues a new approach to the design of feedback control laws mitigating the spread of human infectious diseases. The control inputs of vaccination, isolation, and outing/gathering regulation are derived as the gradient of a positive definite function of all the population variables of the SIQR model. Lyapunov functions in which susceptible and infected populations are decoupled are known to be non-self-sufficient for proving stability of the SIQR model as well as other variants of the SIR model. This fact has been hampering Lyapunov-based control design of infectious disease models. This article demonstrates that a popular decoupled function can still serve as a control Lyapunov function as long as isolation is made state-dependent. Techniques realizing this novel idea are presented and shown to allow the Lyapunov function to establish a robustness guarantee in terms of input-to-state stability with respect to immigration and newborn perturbation on an arbitrarily large domain. The effectiveness of the proposed simultaneous controller is illustrated through numerical simulations performed with a parameter set of COVID-19.

DOI： 10.1002/rnc.6309

Scopus

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A toolkit for globally robust observer-based feedback with relaxed characterization of iISS/ISS 査読有り国際誌

Hiroshi Ito, Hyungbo Shim

IEEE Trans. Automatic Control ( IEEE ) 68 ( 7 ) 3858 - 3871 2022年07月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

This paper elaborates on flexibility in dealing with the interconnection of integral input-to-state stable (iISS) and input-to-state stable (ISS) systems. The undecoupled characterizations introduced separately for iISS and ISS in the literature are linked to build a framework enabling global analysis without settling for local and semi-global properties. Feedback control design in the presence of measurement noise can benefit from the framework immediately if plants are nonlinear, irrespective of application areas. This paper proposes a toolkit for providing robustness guarantees in observer-based output feedback control subject to measurement noise. For a nonlinear plant, the couplings among the plant state, the estimation error, and the measurement noise arising in the closed-loop equations often hinder global analysis such as ISS with respect to the measurement noise. In the formalism of iISS, this paper demonstrates that the flexibility in dealing with the couplings allows one to establish the robustness globally. Moreover, it gives a condition under which the closed-loop system can possess ISS and strong iISS which are stronger than iISS.

DOI： 10.1109/TAC.2022.3193270

Scopus

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Strict smooth Lyapunov functions and vaccination control of SIR model certified by ISS 査読有り国際誌

Ito H.

IEEE Transactions on Automatic Control ( IEEE ) 2022年03月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

This paper addresses analysis and control of the SIR model of infectious diseases in the framework of input-to-state stability (ISS) with respect to the net flow of susceptible individuals into a region in both disease-free and epidemic situations. The key development is the construction of a continuously differentiable strict Lyapunov function. Firstly, this paper clarifies that a continuously differentiable Lyapunov function whose derivative is non-positive can deduce asymptotic stability on the whole state space. Secondly, it is demonstrated that a new idea of rendering the derivative strictly negative allows one to detect a margin proving ISS of the SIR model. The accomplishment is based on the pursuit of a Lyapunov function that is not entirely separable into components. It contrasts with previously studied and popular Lyapunov functions that are proven to be incapable of assessing robustness properties such as ISS. Thirdly, two types of feedback control laws are proposed for mass vaccination of immigrants and inhabitants by making use of the strict Lyapunov functions. One type modifies the other type by focusing on the reduction of peaks of the infected population within the ISS guarantees.

DOI： 10.1109/TAC.2022.3161395

Scopus

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対数型リアプノフ関数を使った非対称な状態空間上のダイナミクスのモジュール化について

伊藤博

自動制御連合講演会講演論文集 ( 自動制御連合講演会 ) 65 ( 0 ) 1523 - 1528 2022年01月

Special issue on SICE Annual Conference 2021 招待有り査読有り国際誌

Masuda S., Ito H.

SICE Journal of Control, Measurement, and System Integration 15 ( 1 ) 2022年01月

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