Development of Formation Control Systems with Disturbance Rejection for Small Ships

• Project/Area Number: 21560459
• 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 静岡大学, 工学部, 准教授 (20268296)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000); Fiscal Year 2011: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000); Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000); Fiscal Year 2009: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
• Keywords: 制御システム / 船舶制御 / フォーメーション制御 / 非線形サンプル値制御 / 自動操船システム / 外乱抑制制御 / 自動繰船システム

Research Abstract

Formation control of sampled-data fully-actuated ships and straight-line path following control of sampled-data under-actuated ships are considered to develop computer-controlled formation control systems with disturbance rejection for small ships. The design methods of state feedback and output feedback controllers are given for both problems. Moreover, effectiveness of the proposed design methods is shown by simulation and experimental results.

Research Products

• [Journal Article] Sampled-data consensus control for nonlinear multi-agent systems of strict-feedback form with application to marine systems, SIC Journal of Control (2011)
  • Author(s): 片山仁志
  • Journal Title: Measure ment, and System Integration Volume: Vol.4No.6 Pages: 417-422
  • Peer Reviewed
• [Journal Article] Universal controlformula for feedback linearizablesystems with local LQ performance, ICE Journal of Control (2011)
  • Author(s): 佐藤康之, 中村文一, 中村奈美, 片山仁志, 西谷紘一
  • Journal Title: Measure ment, and System Integration Volume: Vol.4, No.1 Pages: 22-28
  • Peer Reviewed
• [Journal Article] Sampled-data consensus control for nonlinear multi-agent systems of strict-feedback form with application to marine systems (2011)
  • Author(s): 片山仁志
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Volume: Vol.4, No.6 Pages: 417-422
  • NAID: 10031140101
  • Peer Reviewed
• [Journal Article] Universal control formula for feedback linearizable systems with local LQ performance (2011)
  • Author(s): 佐藤康之
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Volume: Vol.4 Pages: 22-28
  • Peer Reviewed
• [Journal Article] Nonlinear sampled-data stabilization of dynamically positioned ships (2010)
  • Author(s): 片山仁志
  • Journal Title: IEEE Transactions on Control Systems Technology Volume: Vol.18No.2 Pages: 463-468
  • NAID: 120002511864
  • Peer Reviewed
• [Journal Article] Nonlinear sampled-data stabilization of dynamically positioned ships (2010)
  • Author(s): 片山仁志
  • Journal Title: IEEE Transactions on Control Systems Technology VOL. 18 Pages: 463-468
  • NAID: 120002511864
  • Peer Reviewed
• [Presentation] 出力フィードバックによる劣駆動船舶のサンプル値直線軌道追従制御 (2012)
  • Author(s): 片山仁志
  • Organizer: 第12回制御部門大会
  • Place of Presentation: 奈良市
  • Year and Date: 2012-03-15
• [Presentation] 出力フィードバックによる劣駆動船舶のサンプル値直線軌道追従制御 (2012)
  • Author(s): 片山仁志
  • Organizer: 第12回制御部門大会
  • Place of Presentation: 奈良県文化会館(奈良県)
  • Year and Date: 2012-03-15
• [Presentation] Sampled-data straight-line path following control for underactuated ships (2011)
  • Author(s): 片山仁志
  • Organizer: 50th IEEE Conference on Decision and Control and European Control Conference
  • Place of Presentation: Orlando, USA
  • Year and Date: 2011-12-13
• [Presentation] Sampled-data straight-line path following control for underactuated ships (2011)
  • Author(s): 片山仁志
  • Organizer: 50th IEEE Conference on Decision and Control and European Control Conference
  • Place of Presentation: Hilton Orlando Bonnet Creek (USA)
  • Year and Date: 2011-12-13
• [Presentation] Stabilization of a magnetic levitation system by backstepping and high-gain observers (2011)
  • Author(s): 片山仁志
  • Organizer: SICE Annual Conference Tokyo 2011
  • Place of Presentation: 早稲田大学(東京都)
  • Year and Date: 2011-12-13
• [Presentation] 劣駆動船舶のサンプル値直線軌道追従制御 (2011)
  • Author(s): 片山仁志
  • Organizer: 第54回自動制御連合講演会
  • Place of Presentation: 豊橋市
  • Year and Date: 2011-11-20
• [Presentation] 劣駆動船舶のサンプル値直線軌道追従制御 (2011)
  • Author(s): 片山仁志
  • Organizer: 第54回自動制御連合講演会
  • Place of Presentation: 豊橋技術科学大学(愛知県)
  • Year and Date: 2011-11-20
• [Presentation] 厳密フィードバック形の非線形サンプル値マルチエージェント系の出力フィードバックコンセンサス制御 (2011)
  • Author(s): 片山仁志
  • Organizer: 第40回制御理論シンポジウム
  • Place of Presentation: 大阪市
  • Year and Date: 2011-09-27
• [Presentation] 厳密フィードバック形の非線形サンプル値マルチエージェント系の出力フィードバックコンセンサス制御 (2011)
  • Author(s): 片山仁志
  • Organizer: 第40回制御理論シンポジウム
  • Place of Presentation: コスモスクエア国際交流センター(大阪府)
  • Year and Date: 2011-09-27
• [Presentation] Stabilization of a Magnetic Levitation System by Back stepping and High-Gain Observers (2011)
  • Author(s): 片山仁志
  • Organizer: SICE Annual Conference
  • Place of Presentation: Tokyo
  • Year and Date: 2011-09-14
• [Presentation] LOSガイダンスに基づくサンプル値劣駆動船舶の円軌道追従制御 (2011)
  • Author(s): 片山仁志
  • Organizer: 第11回制御部門大会
  • Place of Presentation: 那覇市
  • Year and Date: 2011-03-18
• [Presentation] LOSガイダンスに基づくサンプル値劣駆動船舶の円軌道追従制御 (2011)
  • Author(s): 片山仁志
  • Organizer: 第11回制御部門大会
  • Place of Presentation: 琉球大学(那覇市,沖縄県)
  • Year and Date: 2011-03-18
• [Presentation] 適応局所同次制御による磁気浮上系の有限時間整定制御 (2011)
  • Author(s): 中村文一
  • Organizer: 第11回制御部門大会
  • Place of Presentation: 琉球大学(那覇市,沖縄県)
  • Year and Date: 2011-03-18
• [Presentation] バックステッピングと高ゲインオブザーバによる磁気浮上システムの安定化 (2010)
  • Author(s): 大島巧
  • Organizer: 静岡地区計測制御講演会
  • Place of Presentation: 静岡大学(浜松市,静岡県)
  • Year and Date: 2010-12-25
• [Presentation] Sampled-data consensus control for nonlinear fully-actuated ships (2010)
  • Author(s): 片山仁志
  • Organizer: 49th IEEE Conference on Decision and Control
  • Place of Presentation: Atlanta, USA
  • Year and Date: 2010-12-16
• [Presentation] Sampled-data consensus control for nonlinear fully-actuated ships (2010)
  • Author(s): 片山仁志
  • Organizer: 49th IEEE Conference on Decision and Control
  • Place of Presentation: Hilton Atlanta Hotel (Atlanta, GA, USA)
  • Year and Date: 2010-12-16
• [Presentation] LOSガイダンスによる劣駆動船舶のサンプル値軌道追従制御 (2010)
  • Author(s): 片山仁志
  • Organizer: 第39回制御理論シンポジウム
  • Place of Presentation: 大阪市
  • Year and Date: 2010-09-27
• [Presentation] LOSガイダンスによる劣駆動船舶のサンプル値軌道追従制御 (2010)
  • Author(s): 片山仁志
  • Organizer: 第39回制御理論シンポジウム予稿集
  • Place of Presentation: コスモスクエア国際交流センター(大阪市)
  • Year and Date: 2010-09-27
• [Presentation] Design of reduced-order observer-based emulation controllers for dynamically positioned ships (2010)
  • Author(s): 片山仁志
  • Organizer: 2010 IEEE Multi-conference on Systems and Control
  • Place of Presentation: Yokohama
  • Year and Date: 2010-09-09
• [Presentation] Design of reduced-order observer-based emulation controllers for dynami cally positioned ships (2010)
  • Author(s): 片山仁志
  • Organizer: 2010 IEEE Multi-conference on Systems and Control
  • Place of Presentation: PACIFICO YOKOHAMA (横浜市,神奈川県)
  • Year and Date: 2010-09-09
• [Presentation] Consensus control problem of nonlinear sampled-data fully actuatedships (2010)
  • Author(s): 片山仁志
  • Organizer: SICE Annual Conference Taipei
  • Place of Presentation: Taipei, Taiwan
  • Year and Date: 2010-08-21
• [Presentation] Consensus control problem of nonlinear sampled-data fully-actuated ships (2010)
  • Author(s): 片山仁志
  • Organizer: SICE Annual Conference Taipei 2010
  • Place of Presentation: The Grand Hotel Taipei (台北,台湾)
  • Year and Date: 2010-08-21
• [Presentation] Sampled-data cross-track control for under actuated ships (2010)
  • Author(s): 片山仁志
  • Organizer: 19th International Symposium on Mathematical Theory of Networks and Systems
  • Place of Presentation: Budapest, Hungary
  • Year and Date: 2010-07-06
• [Presentation] Sampled-data cross-track control for underactuated ships (2010)
  • Author(s): 片山仁志
  • Organizer: 19th International Symposium on Mathematical Theory of Networks and Systems
  • Place of Presentation: Eotvos Lorand University (Budapest, Hungary)
  • Year and Date: 2010-07-06
• [Presentation] 船舶のサンプル値動的位置決め制御のための低次元オブザーバ型Emulation安定化制御器の設計 (2010)
  • Author(s): 片山仁志
  • Organizer: 第10回制御部門大会
  • Place of Presentation: 熊本市
  • Year and Date: 2010-03-16
• [Presentation] 船舶のサンプル値動的位置決め制御のための低次元オブザーバ型 Emulation 安定化制御器の設計 (2010)
  • Author(s): 片山仁志
  • Organizer: 第10回制御部門大会
  • Place of Presentation: 熊本大学
  • Year and Date: 2010-03-16
• [Presentation] オイラー近似モデルに基づく船舶のコンセンサス制御 (2009)
  • Author(s): 森口達也
  • Organizer: 第52回自動制御連合講演会
  • Place of Presentation: 米沢市
  • Year and Date: 2009-11-23
• [Presentation] オイラー近似モデルに基づく船舶のコンセンサス制御 (2009)
  • Author(s): 森口達也
  • Organizer: 第52回自動制御連合講演会
  • Place of Presentation: 大阪大学
  • Year and Date: 2009-11-22
• [Presentation] Nonlinear sampled-data stabilization of dynamically positioned ships by reduced order observer-based controllers (2009)
  • Author(s): 片山仁志
  • Organizer: 2009European Control Conference
  • Place of Presentation: Budapest, Hungary
  • Year and Date: 2009-08-26
• [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: ブタペスト、ハンガリー
  • Year and Date: 2009-08-26
• [Presentation] Design of reduced-order observer-based output feedback stabilizing controllers for dynamically positioned ships (2009)
  • Author(s): 片山仁志
  • Organizer: ICROS-SICE International Joint Conference 2009
  • Place of Presentation: Fukuoka
  • Year and Date: 2009-08-19
• [Presentation] Design of reduced-order observer-based output feedback stabilizing controllers for dynamically positioned ships (2009)
  • Author(s): 片山仁志
  • Organizer: ICROS-SICE International Joint Conference 2009
  • Place of Presentation: 福岡
  • Year and Date: 2009-08-19
• [Presentation] Digital control problems for dynamically positioned ships (2009)
  • Author(s): 片山仁志
  • Organizer: 2009 IEEE Multi-conference on Systems and Control
  • Place of Presentation: Saint Petersburg, Russia
  • Year and Date: 2009-07-09
• [Presentation] Digital control problems for dynamically positioned ships (2009)
  • Author(s): 梶洋隆
  • Organizer: 2009 IEEE Multi-conference on Systems and Control
  • Place of Presentation: サンクトペテルブルグ、ロシア
  • Year and Date: 2009-07-09