Development of Autopilot and Collision Avoidance Systems for Ships by Nonlinear Receding Horizon H_∞ Control Theory

• Project/Area Number: 18560428
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Control engineering
• Research Institution: Shizuoka University
• Principal Investigator: KATAYAMA Hitoshi Shizuoka University, 工学部, 准教授 (20268296)
• Project Period (FY): 2006 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥2,700,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥300,000); Fiscal Year 2008: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000); Fiscal Year 2007: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000); Fiscal Year 2006: ¥1,400,000 (Direct Cost: ¥1,400,000)
• Keywords: 制御システム / 船舶制御 / 障害物回避 / 自動操船システム / 予見H_∞制御 / 非線形サンプル値制御 / 予見H∞制御 / 衝突回避 / 予見Hoo制御 / 船舶の制御問題

Research Abstract

障害物回避(衝突回避を含む)機能を持つ船舶の自動操船システムの開発を目指し、船舶のコンピュータ制御用の線形及び非線形サンプル値制御理論を構築した。そして、障害物回避を目的とした制御器(具体的には、安定化制御器、追従制御器)を設計した。さらに、共同研究先企業と共に開発した実験船を用いて、制御器の性能評価を行い、非線形サンプル値制御理論に基づく制御系設計法の適用により、障害物回避機能を持つ自動操船システムの開発の可能性を確認した。

Research Products

• [Journal Article] Finite time control with observer-based output feedback for linear discrete-time systems (2009)
  • Author(s): 市原裕之, 片山仁志
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Vol.2, No.2 Pages: 65-71
  • Peer Reviewed
• [Journal Article] Adaptive inverse optimal control of a magnetic levitation system (2009)
  • Author(s): 佐藤康之, 中村文一, 片山仁志, 西谷紘一
  • Journal Title: In Adaptive Control, edited by Kwanho You IN-TECH, Austria Pages: 307-322
  • Peer Reviewed
• [Journal Article] Finite time control with observer-based output feedback for linear discrete-time systems (2009)
  • Author(s): 市原裕之
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Vol. 2 Pages: 65-71
  • Peer Reviewed
• [Journal Article] Receding horizon H_∞ control problems for sampled-data systems (2007)
  • Author(s): 片山仁志, 市川朗
  • Journal Title: International Journal of Systems Science Vol.38, No.12 Pages: 957-976
  • Peer Reviewed
• [Journal Article] Output feedback receding horizon stabilization and H_∞ control for time-varying discrete-time systems (2007)
  • Author(s): 片山仁志, 市川朗
  • Journal Title: International Journal of Systems Science Vol.38, No.1 Pages: 73-85
  • Peer Reviewed
• [Journal Article] Receding horizon H∞ control problems for sampled-data systems (2007)
  • Author(s): 片山 仁志
  • Journal Title: International Journal of System Sciences 38 Pages: 957-976
  • Peer Reviewed
• [Journal Article] Output feedback receding horizon stabilization and H ∞ control for time-varying discrete-time systems (2007)
  • Author(s): 片山仁志
  • Journal Title: International Journal of Systems Science 38・1 Pages: 73-85
• [Journal Article] Output regulation of time-varying systems (2006)
  • Author(s): 市川朗, 片山仁志
  • Journal Title: Systems and Control Letters Vol.55, No.12 Pages: 999-1005
  • Peer Reviewed
• [Journal Article] Output regulation of time-varying systems (2006)
  • Author(s): 市川 朗
  • Journal Title: Systems and Control Letters 55・12 Pages: 999-1005
• [Journal Article] Nonlinear sampled-data stabilization of dynamically positioned ships
  • Author(s): 片山仁志
  • Journal Title: IEEE Transaction on Control Systems Technology 掲載決定
  • NAID: 120002511864
  • Peer Reviewed
• [Journal Article] Nonlinear sampled-data stabilization of dynamically positioned ships
  • Author(s): 片山仁志
  • Journal Title: IEEE Transactions on Control Systems Technology (掲載決定)
  • NAID: 120002511864
  • Peer Reviewed
• [Presentation] Digital control problems for dynamically positioned ships (2009)
  • Author(s): 梶洋隆, 片山仁志
  • Organizer: 2009 IEEE Multi-conference on Systems and Control
  • Place of Presentation: Saint Petersburg, Russia(2009)
  • Year and Date: 2009-07-09
• [Presentation] 船舶の動的位置決め制御用低次元オブザーバの設計 (2009)
  • Author(s): 片山仁志
  • Organizer: 第9回制御部門大会
  • Place of Presentation: 広島大学
  • Year and Date: 2009-03-04
• [Presentation] 船舶のディジタル制御問題 (2009)
  • Author(s): 梶洋隆, 片山仁志
  • Organizer: 第9回制御部門大会
  • Place of Presentation: 広島大学
  • Year and Date: 2009-03-04
• [Presentation] 船舶の動的位置決め制御用低次元オブザーバの設計 (2009)
  • Author(s): 片山仁志
  • Organizer: 第9回制御部門大会
  • Place of Presentation: 広島大学・東広島市
  • Year and Date: 2009-03-04
• [Presentation] 船舶のディジタル制御問題 (2009)
  • Author(s): 梶洋隆
  • Organizer: 第9回制御部門大会
  • Place of Presentation: 広島大学・東広島市
  • Year and Date: 2009-03-04
• [Presentation] Nonlinear sampled-data stabilization of dynamically positioned ships by reduced order observer-based controllers (2009)
  • Author(s): 片山仁志
  • Organizer: 2009 European Control Conference
  • Place of Presentation: Budapest, Hungary
• [Presentation] Control formula for nonlinear systems subject to convex input constraints using control Lyapunov function (2008)
  • Author(s): 佐藤康之
  • Organizer: 47th IEEE Conference on Decision and Control(CDC08)
  • Place of Presentation: Cancun, Mexico
  • Year and Date: 2008-12-10
• [Presentation] 船舶のサンプル値追従制御 (2008)
  • Author(s): 森口達也, 片山仁志
  • Organizer: 第51回自動制御連合講演会
  • Place of Presentation: 山形大学
  • Year and Date: 2008-11-23
• [Presentation] 船舶のサンプル値追従制御 (2008)
  • Author(s): 森口達也
  • Organizer: 第51回自動制御連合講演会
  • Place of Presentation: 山形大学・米沢市
  • Year and Date: 2008-11-23
• [Presentation] Sampled-data output regulation for ships (2008)
  • Author(s): 梶洋隆, 片山仁志
  • Organizer: SICE Annual Conference
  • Place of Presentation: 電気通信大学
  • Year and Date: 2008-08-20
• [Presentation] Sampled-data output regulation for ships (2008)
  • Author(s): 梶洋隆
  • Organizer: SICE Annual Conference Chofu 2008
  • Place of Presentation: 電気通信大学・調布
  • Year and Date: 2008-08-20
• [Presentation] Finite time control for linear discrete-time systems (2008)
  • Author(s): 片山仁志
  • Organizer: 18th International Symposium on Mathematical Theory of Networks and Systems (2008)
  • Place of Presentation: Virginia, USA
  • Year and Date: 2008-07-29
• [Presentation] Nonlinear sampled-data stabilization control for ships (2008)
  • Author(s): 片山仁志
  • Organizer: 2008 American Control Conference
  • Place of Presentation: Seattle, USA
  • Year and Date: 2008-06-11
• [Presentation] 凸入力制約を持つ非線形システムのロバスト制御 (2008)
  • Author(s): 佐藤 康之
  • Organizer: 第8回制御部門大会
  • Place of Presentation: 京都大学
  • Year and Date: 2008-03-07
• [Presentation] 出力フィードバックによる船舶のサンプル値安定化 (2008)
  • Author(s): 片山仁志
  • Organizer: 第8回制御部門大会
  • Place of Presentation: 京都大学
  • Year and Date: 2008-03-06
• [Presentation] 出力フィードバックによる船舶の非線形サンプル値安定化 (2008)
  • Author(s): 片山 仁志
  • Organizer: 46th IEEE Conference on Decision and Control (CDCO7)
  • Place of Presentation: 京都大学
  • Year and Date: 2008-03-06
• [Presentation] Output regulation for sampled-data systems with application to marine systems (2007)
  • Author(s): 片山仁志, 市川朗
  • Organizer: 46th IEEE Conference on Decision and Control
  • Place of Presentation: New Orleans, USA
  • Year and Date: 2007-12-12
• [Presentation] Output regulation for sampled-data systems with application to marine systems (2007)
  • Author(s): 片山 仁志
  • Organizer: 46th IEEE Conference on Decision and Control (CDC07)
  • Place of Presentation: New Orleans(米国)
  • Year and Date: 2007-12-12
• [Presentation] 船舶のサンプル値制御 (2007)
  • Author(s): 片山仁志
  • Organizer: 第36回制御理論シンポジウム
  • Place of Presentation: 札幌
  • Year and Date: 2007-09-05
• [Presentation] 船舶のサンプル値制御 (2007)
  • Author(s): 片山 仁志
  • Organizer: 第36回制御理論シンポジウム
  • Place of Presentation: ホテルライフォート札幌札幌市
  • Year and Date: 2007-09-05
• [Presentation] Robust nonlinear adaptive control for the magnetic levitation system (2007)
  • Author(s): 佐藤 康之
  • Organizer: The 15th Mediterranean Conference on Control and Automation-MED'07
  • Place of Presentation: Athens(ギリシア)
  • Year and Date: 2007-06-27
• [Presentation] 出力レギュレーションによる船舶の追従制御 (2007)
  • Author(s): 片山仁志, 中川雅史, 市川朗
  • Organizer: 第7回制御部門大会
  • Place of Presentation: 電気通信大学
  • Year and Date: 2007-03-06
• [Presentation] Robust model predictive control for sampled-data systems (2006)
  • Author(s): 片山仁志, 市川朗
  • Organizer: SICE-ICASE International Joint Conference 2006
  • Place of Presentation: プサン, 韓国
  • Year and Date: 2006-10-21
• [Presentation] Receding horizon H_∞ control for nonlinear sampled-data systems (2006)
  • Author(s): 片山仁志, 市川朗
  • Organizer: 17th International Symposium on Mathematical Theory of Networks and Systems
  • Place of Presentation: 京都
  • Year and Date: 2006-07-25