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

Research Project

Project/Area Number 18560428
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionShizuoka 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 *help
¥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。

Report

(4 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • 2006 Annual Research Report
  • Research Products

    (35 results)

All 2009 2008 2007 2006 Other

All Journal Article (11 results) (of which Peer Reviewed: 9 results) Presentation (24 results)

  • [Journal Article] Finite time control with observer-based output feedback for linear discrete-time systems2009

    • 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

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Adaptive inverse optimal control of a magnetic levitation system2009

    • 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

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Finite time control with observer-based output feedback for linear discrete-time systems2009

    • Author(s)
      市原裕之
    • Journal Title

      SICE Journal of Control, Measurement, and System Integration Vol. 2

      Pages: 65-71

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Receding horizon H_∞ control problems for sampled-data systems2007

    • Author(s)
      片山仁志, 市川朗
    • Journal Title

      International Journal of Systems Science Vol.38, No.12

      Pages: 957-976

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Output feedback receding horizon stabilization and H_∞ control for time-varying discrete-time systems2007

    • Author(s)
      片山仁志, 市川朗
    • Journal Title

      International Journal of Systems Science Vol.38, No.1

      Pages: 73-85

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Receding horizon H∞ control problems for sampled-data systems2007

    • Author(s)
      片山 仁志
    • Journal Title

      International Journal of System Sciences 38

      Pages: 957-976

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Output feedback receding horizon stabilization and H ∞ control for time-varying discrete-time systems2007

    • Author(s)
      片山仁志
    • Journal Title

      International Journal of Systems Science 38・1

      Pages: 73-85

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Output regulation of time-varying systems2006

    • Author(s)
      市川朗, 片山仁志
    • Journal Title

      Systems and Control Letters Vol.55, No.12

      Pages: 999-1005

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Output regulation of time-varying systems2006

    • Author(s)
      市川 朗
    • Journal Title

      Systems and Control Letters 55・12

      Pages: 999-1005

    • Related Report
      2006 Annual Research Report
  • [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

    • Related Report
      2008 Final Research Report
    • 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

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Presentation] Digital control problems for dynamically positioned ships2009

    • 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
    • Related Report
      2008 Final Research Report
  • [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
    • Related Report
      2008 Final Research Report
  • [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
    • Related Report
      2008 Final Research Report
  • [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
    • Related Report
      2008 Annual Research Report
  • [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
    • Related Report
      2008 Annual Research Report
  • [Presentation] Nonlinear sampled-data stabilization of dynamically positioned ships by reduced order observer-based controllers2009

    • Author(s)
      片山仁志
    • Organizer
      2009 European Control Conference
    • Place of Presentation
      Budapest, Hungary
    • Related Report
      2008 Final Research Report
  • [Presentation] Control formula for nonlinear systems subject to convex input constraints using control Lyapunov function2008

    • 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
    • Related Report
      2008 Annual Research Report
  • [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
    • Related Report
      2008 Final Research Report
  • [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
    • Related Report
      2008 Annual Research Report
  • [Presentation] Sampled-data output regulation for ships2008

    • 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
    • Related Report
      2008 Final Research Report
  • [Presentation] Sampled-data output regulation for ships2008

    • 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
    • Related Report
      2008 Annual Research Report
  • [Presentation] Finite time control for linear discrete-time systems2008

    • 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
    • Related Report
      2008 Annual Research Report
  • [Presentation] Nonlinear sampled-data stabilization control for ships2008

    • Author(s)
      片山仁志
    • Organizer
      2008 American Control Conference
    • Place of Presentation
      Seattle, USA
    • Year and Date
      2008-06-11
    • Related Report
      2008 Annual Research Report 2008 Final Research Report
  • [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
    • Related Report
      2007 Annual Research Report
  • [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
    • Related Report
      2008 Final Research Report
  • [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
    • Related Report
      2007 Annual Research Report
  • [Presentation] Output regulation for sampled-data systems with application to marine systems2007

    • 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
    • Related Report
      2008 Final Research Report
  • [Presentation] Output regulation for sampled-data systems with application to marine systems2007

    • 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
    • Related Report
      2007 Annual Research Report
  • [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
    • Related Report
      2008 Final Research Report
  • [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
    • Related Report
      2007 Annual Research Report
  • [Presentation] Robust nonlinear adaptive control for the magnetic levitation system2007

    • 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
    • Related Report
      2007 Annual Research Report
  • [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
    • Related Report
      2008 Final Research Report
  • [Presentation] Robust model predictive control for sampled-data systems2006

    • 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
    • Related Report
      2008 Final Research Report
  • [Presentation] Receding horizon H_∞ control for nonlinear sampled-data systems2006

    • 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
    • Related Report
      2008 Final Research Report

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Published: 2006-04-01   Modified: 2016-04-21  

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