Papers - Namerikawa, Toru

Plug & Play Control System Design for Suprt Smart Society Based on Dissipativity

KOJIMA Chiaki, NAMERIKAWA Toru

Journal of The Society of Instrument and Control Engineers (The Society of Instrument and Control Engineers)  58 ( 8 ) 600 - 605 2019.08

Research paper (scientific journal), Last author,  ISSN  0453-4662

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Optimal control of connected and automated vehicles at intersections with state and control constraints

MHBM Nor, T Namerikawa

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics … (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM)  2019-July   1397 - 1402 2019.07

Research paper (international conference proceedings), Joint Work, Accepted

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© 2019 IEEE. This paper addresses the optimal control problem (optimal acceleration and deceleration to minimize fuel consumption) for Connected and Automated Vehicles (CAVs) to cross an intersection with state and control constraints. First, we obtain the crossing time for the CAVs to cross the intersection with Mixed Integer Linear Programming (MILP). Then, the crossing time is used as a terminal time to formulate the optimal control problem and we utilized analytical solution (Hamiltonian analysis) to solve the problem. Finally, we simulated the proposed approach and the results show that, even with the frequently changing crossing time, the controller is capable of providing the solution to the optimal control problem.

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Parking lot allocation and dynamic parking fee system based on a mechanism design approach

H Nakanishi, T Namerikawa

2019 American Control Conference (ACC), 2683-2689 (Proceedings of the American Control Conference)  2019-July   2683 - 2689 2019.07

Research paper (international conference proceedings), Joint Work, Accepted

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© 2019 American Automatic Control Council. In this paper, we present a discussion on smart parking systems in urban traffic networks. Reduced vehicle speed when drivers search for parking lots contributes to increased traffic jams in recent urban traffic networks. We aim to shorten the searching time for parking lots, which is one of the causes of traffic jams, by allocating available parking lots to drivers. Furthermore, we design a dynamic parking fee system and redistribute parking lots to equalize the profits earned by managers of multiple parking lots in traffic-congested areas. We then finally confirm the effectiveness of the proposed algorithm through numerical simulations.

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Cooperative transport of quad-rotor by consensus algorithm

K Kotani, T Namerikawa

2019 12th Asian Control Conference (ASCC), 1364-1369 (2019 12th Asian Control Conference, ASCC 2019)     1364 - 1369 2019.06

Research paper (international conference proceedings), Joint Work, Accepted

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© 2019 JSME. At present, UAV is common to use as a single unit, but by operating as multi-agent system, it is possible to possibly be able to carry out more sophisticated tasks. For example, it may be possible to realize long-distance transportation with heavy object which impossible by a single drone. Therefore, we propose a control method to achieve cooperative transport so that the payload follows the virtual leader. We assume the transporting problem connected payload and multiple quad-rotors with cable. In this research, we treated quad-rotor as a model regarded as a linear secondary system and used consensus algorithm to achieve the purpose. Finally we verified its usefulness by simulation.

Secure State Estimation under Measurement Attacks using Virtual State in Distributed Observer System

S Sato, T Namerikawa

2019 12th Asian Control Conference (ASCC), 1683-1688 (2019 12th Asian Control Conference, ASCC 2019)     1683 - 1688 2019.06

Research paper (international conference proceedings), Joint Work, Accepted

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© 2019 JSME. In this paper, a distributed secure state estimation problem that is state estimation in distributed observer system in the presence of attacks is mainly discussed. We introduce the notion of graph-based distributed observer representation, virtual state, and a subgroup to derive a condition for the secure state estimation. By the graph-based distributed observer representation, we can consider the system's observability and communication pass connectivity as graph connectivity at once. With the notion of virtual state and the subgroup, we derive the state estimation condition which is the inequality relationship between the number of the allowable attacked observer and the graph connectivity as a theorem. Finally, a simple numerical example verifies the theorem.

Optimization of power flow and scheduling for EV charging based on distributed control

K Mizuno, T Namerilkawa

2019 12th Asian Control Conference (ASCC), 627-631  2019.06

Research paper (international conference proceedings), Joint Work, Accepted

Energy management of smart home by model predictive control based on EV state prediction

Y Ogata, T Namerikawa

2019 12th Asian Control Conference (ASCC), 410-415 (2019 12th Asian Control Conference, ASCC 2019)     410 - 415 2019.06

Research paper (international conference proceedings), Joint Work

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© 2019 JSME. The purpose of this paper is to minimize the total electricity cost while considering comfort in the home. We propose home energy management (HEMS) method by model predictive control (MPC) based on EV state prediction. If charging and discharging can be planned based on electric vehicle (EV) usage prediction, it can minimize the charging with an external charging station because it can be charged in advance at home. We introduce a model considering the passage of time in order to predict the use of EV. Finally, we confirm the validity of this research through numerical simulations.

Data-Driven Mean-Field Game Approximation for a Population of Electric Vehicles

D Bauso, T Namerikawa

2019 IEEE Data Science Workshop (DSW), 285-289 (2019 IEEE Data Science Workshop, DSW 2019 - Proceedings)     285 - 289 2019.06

Research paper (international conference proceedings), Joint Work, Accepted

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© 2019 IEEE. For a population of electric vehicles (EVs) we design a data-driven mean-field game and provide analysis of approximated mean-field equilibrium points based on a receding horizon approach. The model involves stochastic disturbances on the data that drive the game. Some numerical studies illustrate the efficacy of the proposed strategies.

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A hypothesis of state covariance decorrelation effects to partial observability SLAM

H Ahmad, NA Othman, MM Saari, MS Ramli, MBM Mazlan, T Namerikawa

Indonesian Journal of Electrical Engineering and Computer Science 14 (2 … (Indonesian Journal of Electrical Engineering and Computer Science)  14 ( 2 ) 588 - 596 2019.05

Research paper (scientific journal), Joint Work, Accepted,  ISSN  2502-4752

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© 2019 Institute of Advanced Engineering and Science. All rights reserved. This paper analyze the performance of partial observability in simultaneous localization and mapping(SLAM) problem. The study focuses mainly on the effect of having a decorrelation technique known as Covariance Inflation to the estimation. The matrix inversion will be the main element to be investigated through two conditions with respect to some defined environment namely as unstable partially observable SLAM and partially observable SLAM via matrix norm analysis. For assessment purposes, the Extended Kalman Filter estimation is referred as the estimator to understand how the conditions can influence the results. The simulation results depicted that, the matrix norm is able to determine the efficiency of estimation and is proportional to the uncertainties of the system.

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マルチ Quad-rotor による協調搬送システムに向けた RISE による外乱補償

小谷健人， 滑川徹

電気学会論文誌 C (電子・情報・システム部門誌)  139 ( 4 ) 341 - 349 2019.04

Research paper (scientific journal), Joint Work, Accepted

Formation Control Multi Quad-rotor System Corresponding to Suppression of Disturbance and Collision Avoidance Using RISE

KOTANI Kento, NAMERIKAWA Toru

Transactions of the Society of Instrument and Control Engineers (The Society of Instrument and Control Engineers)  55 ( 1 ) 68 - 77 2019.01

Research paper (scientific journal), Joint Work, Accepted,  ISSN  0453-4654

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<p>In this paper, we propose a control method which combine collision avoidance method and RISE (Robust Integral of the Sign of Error) for multiple Quad-rotor formation control methods, and confirm effectiveness of this method that is resistant to disturbance by lowering the risk of collision. First, we modeled quad-rotor as a linear system. Next, we described a method to suppress nonlinear disturbance using RISE which is a type of sliding mode control. In addition, we introduced collision avoidance method, and derived the conditions to achieve accurate formation by using Lyapunov stability theory. Finally, we implemented an algorithm in the simulation, and confirmed that the proposed method is functioning correctly.</p>

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A Novel Detection Strategy for Kidnapped Robot Problem in Monte Carlo Localization Using Corridor-Type Map

I Bukhori, ZH Ismail, T Namerikawa

Journal of Electrical And Electronics Engineering 2 (1), 7-12  2019

Joint Work

Feasibility and Performance Analysis of Model Predictive Signal Control Based on a Micro Traffic Model Including Individual Vehicle Motion

OKAMOTO Ryota, TEZUKA Yuki, MUKAI Masakazu, HATANAKA Takeshi, IINO Yutaka, NAMERIKAWA Toru

Transactions of the Society of Instrument and Control Engineers (The Society of Instrument and Control Engineers)  54 ( 12 ) 849 - 856 2018.12

Research paper (scientific journal), Last author, Accepted,  ISSN  0453-4654

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<p>This paper is intended to analyze benefits of microscopic real-time optimization for traffic signal control. To this end, we first present a microscopic traffic model consisting of signals and vehicles, where each vehicle dynamics is explicitly incorporated in the form of a mixed logical dynamical system (MLDS) differently from many other related publications taking macroscopic flow models. We then formulate a model predictive control (MPC) problem and then reduce the problem to a mixed integer programming problem. Furthermore, we introduce a linear temporal logic (LTL) constraint to reduce the computation burden and to eliminate unrealistic solutions. The proposed control scheme is then applied to a real-time traffic simulator and it is confirmed that: (i) the number of waiting vehicles for traffic lights is reduced with 54.5% as compared to a fixed-time control scheme and (ii) the average computation time is reduced to about one-tenth relative to the case without the LTL constraint.</p>

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Parking Lot Allocation and Dynamic Parking Fee Design Based on Mechanism Design

NAKANISHI Hiroaki, YOSHIHARA Miyu, NAMERIKAWA Toru

Transactions of the Society of Instrument and Control Engineers (The Society of Instrument and Control Engineers)  54 ( 10 ) 745 - 756 2018.10

Research paper (scientific journal), Joint Work, Accepted,  ISSN  0453-4654

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<p>In this paper, we discuss the smart parking system in urban traffic network. In recent years, the decline in vehicle speed when searching for parking lots has been caused traffic jam in urban traffic network. Then, in this paper, we aim at shortening the searching time for parking lots, which is one of the causes of traffic jam, by allocating parking lots being available to drivers. Furthermore, we design the dynamical parking fee and redistribute parking lots to level the multiple parking manager's profit in traffic area. Finally, we confirm the effectiveness of proposed algorithm in numerical simulation.</p>

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Passivity-Based Stability Analysis of Electricity Market Trading with Dynamic Pricing

Y Okawa, K Muto, T Namerikawa

SICE Journal of Control, Measurement, and System Integration 11 (5), 390-398 (公益社団法人 計測自動制御学会)  11 ( 5 ) 390 - 398 2018.09

Research paper (scientific journal), Joint Work, Accepted,  ISSN  1882-4889

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<p>This paper deals with passivity-based stability analysis of electricity market trading with dynamic pricing. In the deregulated electricity market, power consumers and generators will participate in market trading as market players. For such a new kind of the market trading system, the dynamic pricing procedure has to be taken into account of the intermittent participation of power consumers and generators. Then, this paper discusses the stability of the electricity market trading system including power flow using passivity analysis. This paper also shows that the optimal power demand, supply and electricity prices are asymptotically stable and these values are derived in a distributed manner through market trading.</p>

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Reach Set-Based Secure State Estimation against Sensor Attacks with Interval Hull Approximation

T Shinohara, T Namerikawa

SICE Journal of Control, Measurement, and System Integration (公益社団法人 計測自動制御学会)  11 ( 5 ) 399 - 408 2018.09

Research paper (scientific journal), Joint Work, Accepted,  ISSN  1882-4889

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<p>This paper deals with the problem of secure state estimation in an adversarial environment with the presence of bounded noises. The problem is given as min-max optimization, that is, the system operator seeks an optimal estimate which minimizes the worst-case estimation error due to the manipulation by the attacker. To derive the optimal estimate, taking the reach set of the system into account, we first show that the feasible set of the state can be represented as a union of polytopes, and the optimal estimate is given as the Chebyshev center of the union. Then, for calculating the optimal state estimate, we provide a convex optimization problem that utilizes the vertices of the union. On the proposed estimator, the estimation error is bounded even if the adversary corrupts any subset of sensors. For the sake of reducing the calculation complexity, we further provide another estimator which resorts to the interval hull approximation of the reach set and properties of zonotopes. This approximated estimator is able to reduce the complexity without degrading the estimation accuracy sorely. Numerical comparisons and examples finally illustrate the effectiveness of the proposed esti

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Merging Control for Automated Vehicles Using Distributed Model Predictive Control

HAYASHI Yasuhiro, TOYOTA Ryo, NAMERIKAWA Toru

Transactions of the Society of Instrument and Control Engineers (The Society of Instrument and Control Engineers)  54 ( 9 ) 718 - 727 2018.09

Research paper (scientific journal), Accepted,  ISSN  0453-4654

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<p>This paper deals with merging control of automated vehicles using distributed model predictive control. Firstly, we consider a road model which has two main lanes. In the distributed control algorithm, vehicles repeat sharing the planned future trajectory with other vehicles traveling in the vicinity of each vehicle by using communication and re-planning its own trajectory considering the future trajectory of other vehicles. Moreover, in order to further improve the stability of model predictive control, terminal constraints are set and feasible conditions for optimization problems under the terminal conditions are derived. At the last part of this paper, we discuss the result of numerical simulations using distributed merging control algorithm and mention the effectiveness of proposed methods and future works.</p>

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Robust prediction and MPC-based optimal energy management for HVAC System

T Suda, T Namerikawa

IFAC-PapersOnLine 51 (25), 472-477 (IFAC-PapersOnLine)  51 ( 25 ) 662 - 667 2018.09

Research paper (international conference proceedings), Joint Work, Accepted,  ISSN  2405-8963

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© 2018 The purpose of this paper is to achieve a cut in peak electricity demand and lower electricity costs through the optimal management of a heating ventilation and air conditioning (HVAC) system. In addition, robust solar radiation prediction is required for optimal HVAC management. First, solar radiation prediction is applied using a clustering technique based on the k-means method, classifying all data on similar types of solar radiation. Second, an H∞ filter, which is a robust prediction method for outliers, is applied. Next, an optimal HVAC management system is considered for operating the air conditioning, such as the cooling and heating of each room. Model predictive control (MPC), which is used to predict and control the future changes in the temperature of the room and the electrical charge from solar radiation, is applied. Finally, we confirmed the validity of this research through numerical simulations.

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Optimal Control Based on Quasi-Newton Method Considering Cooperation of Constrained Distributed Energy Resources

T Sekine, T Namerikawa

2018 57th Annual Conference of the Society of Instrument and Control … (2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018)     958 - 963 2018.09

Research paper (international conference proceedings), Joint Work, Accepted

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© 2018 The Society of Instrument and Control Enginners - SICE. In this paper, load frequency control by optimal control algorithm using quasi-Newton method for microgrid introducing diesel generator and battery is discussed. In the proposed method, we consider microgrid model including diesel generator and battery. Also, saturation is taken into account as a constraint on the input to the model of diesel generator and battery. Then, a cost function considering the storage capacity constraint is formulated. Therefore, we propose an algorithm using the quasi-Newton method to determine inputs that minimize the formalized cost function. In addition to the quasi-Newton method, we propose an algorithm using Backward Sweep to match the terminal condition. Finally, we confirm the effectiveness of the proposed method through numerical simulations.

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Non-Cooperative Optimization of Charging Scheduling of Electric Vehicle via Stackelberg Game

M Yoshihara, T Namerikawa, Z Qu

2018 57th Annual Conference of the Society of Instrument and Control … (2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018)     1658 - 1663 2018.09

Research paper (international conference proceedings), Joint Work, Accepted

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© 2018 The Society of Instrument and Control Enginners - SICE. In this paper, we deal with the charging scheduling optimization problem of electric vehicle using Stackelberg game. Stackelberg game is one of game theory classified as hierarchical, repeating, and non-cooperative game. The charging station determines the price to maximize its own profit from selling energy and each EV determines the energy demand to maximize the charge benefit by competing with other EVs. At this time, we guarantee that Nash equilibrium exists within the EV group. Finally, using numerical simulation, we show that the game reaches an Stackelberg equilibrium.

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