研究者詳細 - 伊藤　博

論文 - 伊藤　博

分割表示269 件中 41 - 60 件目／全件表示 >>

A fusion of max- and sum-separable Lyapunov functions capable of addressing iISS in networks 招待有り査読有り国際誌

Hiroshi Ito

Proceedings of the IEEE Conference on Decision and Control 2019-December 7007 - 7012 2019年12月

A study on distance-based control of mobile agents for formation avoiding entire and partial reflection 査読有り国際誌

Hiroshi Ito, Yuichi Miyagi

International Conference on Control, Automation and Systems 2019-October 753 - 758 2019年10月

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

Korea Jeju 2019年10月 - 2019年10月

© 2019 Institute of Control, Robotics and Systems - ICROS. This paper proposes a feedback control law for navigating mobile agents to form a desired shape consisting of their positions. The objective is to achieve the formation without assuming the agents to start from a sufficiently small neighborhood of the desired shape. The global setting allows one to address reflections and partial reflections of agent positions. Target shapes are defined by excluding reflections and partial reflections which are often undesirable in practice. For agents represented by single-integrator models, this paper demonstrates how targets in a standard control based on their relative position measurements can be switched to generate feedback control input preventing reflected positions with reasonable routing. The effectiveness of the proposed mechanism is studied through numerical simulations.

DOI： 10.23919/ICCAS47443.2019.8971714

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A closed form expression of nonlinear scalings for Lyapunov functions of ISS networks 査読有り

Hiroshi Ito

Proceedings of the 11th IFAC Symposium on Nonlinear Control Systems 2019 931 - 936 2019年09月

An intuitive modification of max-separable Lyapunov functions to cover non-ISS systems 査読有り国際誌

Hiroshi Ito

Automatica 107 518 - 525 2019年09月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2019 Elsevier Ltd This paper proposes a new approach to the problem of establishing internal and external stability of interconnection of integral input-to-state stable (iISS) systems. In the literature of iISS and input-to-state stability (ISS), typical Lyapunov functions constructed for interconnected systems are in max-separable or sum-separable from. In contrast to the max construction, solutions to the sum construction have not been given intuitive geometrical interpretations. The max construction is, however, incapable of guaranteeing stability in the presence of iISS components which are not ISS. This paper aims at constructing a Lyapunov function in the non-ISS case through simple geometrical observations. The approach leads to a novel construction mixing the max and sum separability. The new Lyapunov function gives much useful forward invariant sets than the sum-separable ones known in the literature. It is as intuitive as the max-separable function even in the presence of a non-ISS component.

DOI： 10.1016/j.automatica.2019.06.020

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A small-gain theorem in the absence of strong iISS 査読有り国際誌

Hiroshi Ito, Christopher M. Kellett

IEEE Transactions on Automatic Control 64 ( 9 ) 3897 - 3904 2019年09月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

Previous small-gain results for interconnected integral input-to-state (iISS) systems have been restricted to systems that are strongly iISS. This paper removes this restriction by allowing cross terms between external inputs and states in the Lyapunov decrease of component systems, and subsequently constructing a nonseparable Lyapunov function. An example demonstrates the use of this new small-gain formulation.

DOI： 10.1109/TAC.2018.2886955

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85058898160&origin=inward

An Approach to Interval Observers for Takagi-Sugeno Systems with Attractiveness Guarantees 査読有り

Ito H., Dinh T.N.

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019 1268 - 1273 2019年09月

担当区分：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）

© 2019 The Society of Instrument and Control Engineers - SICE. This paper proposes a method to design interval observers for nonlinear systems by making use of the Takagi-Sugeno fuzzy model. The Takagi-Sugeno model has properties which general nonlinear systems do not posses. This paper demonstrates how such properties allow interval observers to handle nonlinearities in unmeasured variables. Instead of computing some intervals only, this paper puts emphasis on clarifying guarantees the observer can provide for a reasonable length of computed intervals in terms of convergence and attractiveness.

DOI： 10.23919/SICE.2019.8859956

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85073873866&origin=inward

A closed form expression of nonlinear scalings for Lyapunov functions of ISS networks 査読有り

Ito H.

IFAC-PapersOnLine 52 ( 16 ) 544 - 549 2019年09月

担当区分：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）

© 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. For networks consisting of input-to-state stable systems, it is well-known that the popular Lyapunov function called the max-separable function can be constructed by solely relying on component-wise inverse maps of one single path characterizing the monotonicity of dissipation inequalities of component systems. Numerical algorithms have been developed to compute such a path. This paper proposes a useful closed-form expression for the inverse maps of a path and its extension to generate a sufficient variety of paths. The solution not only gives nonlinear scalings of the max-separable Lyapunov function explicitly, but also substantiates the rounding-off technique to remove the non-differentiable nature from the max-separable function.

DOI： 10.1016/j.ifacol.2019.12.018

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85077434874&origin=inward

A glimpse on recent educational activities in the nonlinear control field 招待有り査読有り国際誌

Claudia Califano, Hiroshi Ito, Christophe Prieur

Proceedings of the 12th IFAC Symposium on Advances in Control Educationrol 2019-July ( 9 ) 196 - 199 2019年07月

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 Philadelphia 2019年07月07日 - 2019年07月09日

This contribution aims at making an overview of the most recent activities/contributions in education in the control field by members of the Technical Committee Nonlinear Systems, in order to share the best practices and ideas in the community, as well as to investigate into the level of awareness, interest and involvement of the TC members in several aspects concerning education.

DOI： 10.1016/j.ifacol.2019.08.194

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85076256379&origin=inward

Chamfering max-separable lyapunov functions to accept non-iss in interconnected systems 査読有り

Ito H.

Proceedings of the American Control Conference 2019-July 2402 - 2407 2019年07月

担当区分：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）

© 2019 American Automatic Control Council. This paper aims to unify the construction of Lyapunov functions for interconnected systems comprising integral input-to-state stable (iISS) and input-to-state stable (ISS) subsystems. The sum-separable Lyapunov functions reported for interconnected iISS systems in the literature successfully apply to ISS and linear systems since stable linear systems are ISS, and ISS systems are iISS. However, the sum-separable Lyapunov functions remain seriously complicated and they do not agree with popular Lyapunov functions even if systems are ISS or linear. This paper resolves the complexity and disagreement by proposing a framework of chamfering the corner of the max-separable Lyapunov function which was popular for ISS systems, but could not alone accommodate iISS subsystems which are not ISS.

DOI： 10.23919/acc.2019.8815086

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85066242840&origin=inward

A geometrical formulation to unify construction of Lyapunov functions for interconnected iISS systems 招待有り査読有り国際誌

Hiroshi Ito

Annual Reviews in Control 48 195 - 208 2019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（学術雑誌）

© 2019 Elsevier Ltd In recent years, the ability to accommodate various nonlinearities has become even more important to support systems design and analysis in a broad area of engineering and science. In this line of research, this paper discusses usefulness of the notion of integral input-to-state stability (iISS) in assessing and establishing system properties through interconnection of component systems. The focus is to construct Lyapunov functions which explain mechanism and provide estimate of stability and robustness of interconnected systems. Unique issues arising in dealing with iISS systems are reviewed in comparison with interconnections of input-to-state stable (ISS) systems. The max-separable Lyapunov function and the sum-separable Lyapunov function which are popular for ISS and iISS, respectively, are revisited. The max-separable function cannot be qualified as a Lyapunov function when component systems are not ISS. Level sets of the max-separable function are rectangles, and the rectangles cannot be expanded to encompass the entire state space in the presence of non-ISS components. The sum-separable function covers iISS components which are not ISS. However, it has practical limitations when stability margins are small. To overcome the limitations, this paper brings in a new idea emerged recently in the literature, and proposes a new type of construction looking at level sets of a Lyapunov function. It is shown how an implicit function allows us to draw chamfered rectangles based on fictitious gain functions of component systems so that they provide reasonable estimates of forward invariant sets producing a Lyapunov function applicable to both iISS and ISS systems equally.

DOI： 10.1016/j.arcontrol.2019.05.004

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Preface for Special Issues on SICE Annual Conference 2018

Shigemasa Takai,, Hiroshi Ito

SICE Journal of Control, Measurement, and System Integration ( 公益社団法人計測自動制御学会 ) 12 ( 3 ) 67 - 67 2019年05月

A Left Eigenvector Producing a Smooth Lyapunov Function of ISS Networks 査読有り

Ito H., Rüffer B.

Lecture Notes in Control and Information Sciences 480 247 - 268 2019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）

For a class of monotone nonlinear systems, it is shown that a continuously differentiable Lyapunov function can be constructed implicitly from a left eigenvector of vector fields. The left eigenvector which is a continuous function of state variables is deduced from a right eigenvector which represents a small gain condition. It is demonstrated that rounding off the edges of n-orthotopes, which is the maximization of state variables, yields level sets of the Lyapunov function. Applying the development to comparison systems gives continuously differentiable input-to-state Lyapunov functions of networks consisting of input-to-state systems which are not necessarily monotone.

DOI： 10.1007/978-3-030-04327-8_20

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85060706375&origin=inward

Adaptable iISS small-gain formulation and its application to observer-based output feedback design 査読有り

Hiroshi Ito, Hyungbo Shim

Proceedings of the IEEE Conference on Decision and Control 2018-December 5616 - 5621 2018年12月

担当区分：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 Miami Beach 2018年12月 - 2018年12月

For a popular class of nonlinear systems, an observer can be constructed by rendering estimation error dynamics linear in unmeasured state variables. However, measurement disturbance violates the structure of the error dynamics and brings in undesirable terms in which the estimation error and the plant state are often coupled and multiplied by the measurement disturbance. This is why local analysis and semi-global design have been performed in many cases. This paper introduces new flexibility into the iISS small-gain framework to accommodate such terms. It is demonstrated how the flexible framework enables global analysis of observer-based output feedback control systems to achieve convergence and boundedness in the presence of measurement disturbance.

DOI： 10.1109/CDC.2018.8619271

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85062169336&origin=inward

A Smooth Construction of ISS Lyapunov Functions for Interconnected Systems 査読有り

Hiroshi Ito

Proceedings of the IEEE Conference on Decision and Control 2018-December 3086 - 3091 2018年12月

担当区分：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 Miami Beach 2018年12月 - 2018年12月

© 2018 IEEE. To establish input-to-state stability (ISS) of an interconnected nonlinear system, the small-gain framework makes use of nonlinear gain functions of components systems. Computing gain functions is usually hard without introducing Lyapunov functions to component systems. In the ISS formulation, Lyapunov functions of component systems naturally lead to a Lyapunov functions in the max-separable form for the interconnection. Since the maximization is not differentiable. technical modification or occurrence of artifical behavior is unavoidable in actual use of a max-separable Lyapunov function. This paper proposes a practical Lyapunov function by securing continuous differentiability and keeping it as simple and intuitive as the max-separable Lyapunov function.

DOI： 10.1109/CDC.2018.8619046

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85062169336&origin=inward

Characterisation of ultimate bounds for systems with state-dependent disturbances 査読有り

Sorin Olaru, Hiroshi Ito

IEEE Control Systems Letters 2 ( 4 ) 797 - 802 2018年10月

記述言語：英語掲載種別：研究論文（学術雑誌）

This letter pursues a framework of set characterization of dynamical systems with state-dependent disturbances. It aims to propose a new approach to analysis and design of nonlinear systems involving non-differentiability and asymmetric components which hamper application and effectiveness of local linearization methods. Several characterizations of ultimate bounds are developed. The utility of shifting the fix point is formulated as a parametrization of the ultimate bounds.

DOI： 10.1109/LCSYS.2018.2849642

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85057644707&origin=inward

Bypassing Disturbance Separability in Verifying Integral Input-to-State Stability of Cascade Systems 査読有り

Hiroshi Ito

2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 890 - 895 2018年09月

担当区分：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 Nara 2018年09月 - 2018年09月

© 2018 The Society of Instrument and Control Enginners - SICE. This paper proposes some variants of stability criteria for interconnected nonlinear systems which are not necessarily input-to-state stable. State-dependent weights introduced at disturbance ports remove disturbance separability assumptions made in previously known stability criteria for cascade systems. This paper put forward a unique idea of incorporating coupled weights into the formulation in order to deal with feedback interconnection of systems. The modifications require some uniformity in a feedback variable. Nevertheless, it is demonstrated that the coupled cascade formulation is sometimes far more effective than the integral input-to-state stable small-gain theorem which directly deal with feedback configurations.

DOI： 10.23919/SICE.2018.8492655

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85056741821&origin=inward

Integral Input-to-State Stability of Cascaded Systems and Observer-Based Feedback Design 招待有り査読有り国際誌

Hiroshi Ito

Proceedings of the 2018 American Control Conference 2018-June 1339 - 1345 2018年06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 Milwaukee 2018年06月 - 2018年06月

© 2018 AACC. For nonlinear systems, stability is not always preserved under cascade interconnection. Saturation in decay dynamics and bilinearity in component systems hinder the preservation, although they do not necessarily prevent component systems from being integral input-to-state stable (iISS). This paper develops a stability condition under which cascade of iISS systems remains stable. The established stability is not only internal property, but also boundedness and convergence properties in the presence of disturbances acting on all component systems. It is shown how the cascade stability criterion is beneficial for addressing saturation and bilinearity in observer-based feedback design, whereas previously existing criteria need to invoke more restrictive assumptions and settings.

DOI： 10.23919/ACC.2018.8431854

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85052594457&origin=inward

An Implicit Function Approach to Lyapunov functions for Interconnections Containing Non-ISS Components 査読有り国際誌

Hiroshi Ito

The 2nd IFAC Conf. Modelling, Identification and Control of Nonlinear Systems 51 ( 13 ) 254 - 259 2018年06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）

Mexico Guadalajara 2018年06月 - 2018年06月

© 2018 This paper addresses the problem of establishing internal and external stability of feedback interconnection of integral input-to-state stable systems. Construction of Lyapunov functions has been essential for establishing the stability when components are not input-to-state stable (ISS). Typical Lyapunov functions are in max-separable or sum-separable from. In contrast to the max construction, solutions to the sum construction have not been given intuitive interpretations. The max construction has limitations such as non-smoothness and incapability of guaranteeing stability in the presence of non-ISS components. This paper aims at constructing a Lyapunov function in the non-ISS case through simple geometrical observations. The approach leads to a novel construction mixing the max and sum separability. The new Lyapunov function gives much better invariant sets than the sum-separable ones known in the literature.

DOI： 10.1016/j.ifacol.2018.07.287

DOI： 10.1016/j.ifacol.2018.07.287

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85052665229&origin=inward

Technical Committee on Nonlinear Systems and Control 国際誌

Hiroshi Ito

IEEE Control Systems Magazine ( IEEE ) 38 ( 3 ) 16 - 18 2018年06月

Preface for Special Issues on SICE Annual Conference 2017

Kunihiko Hiraishi, Hiroshi Ito

SICE Journal of Control, Measurement, and System Integration ( 公益社団法人計測自動制御学会 ) 11 ( 2 ) 135 - 135 2018年05月

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