2025
院ゼミ
2025年度の院ゼミも山北研究室と合同開催でした．以下では三平研究室担当分のみを記載しています．
| 日付 |
担当者 |
発表内容 |
| 5/20 |
西本 昂樹 |
Characterizing Controllability and Observability for Systems with
Locality, Communication, and Actuation Constraints |
| 6/10 |
大西 祐輝 |
Model Predictive Control and Reinforcement Learning: A Unified
Framework Based on Dynamic Programming |
| 6/17 |
伊藤 匠 |
Managing Conflicting Tasks in Heterogeneous Multi-Robot Systems Through
Hierarchical Optimization |
| 6/24 |
豊岡 汰門 |
Dynamic Tube MPC for Nonlinear Systems |
| 7/1 |
石井 崚太郎 |
Distributed Control Barrier Functions for Global Connectivity
Maintenance |
| 7/15 |
中村 有佑 |
Improving the Controller Performance of a Tilt-Rotor Octocopter by
Compensating for the Tilt Angle’s Dynamics |
| 7/22 |
河島 駿斗 |
Autonomous Cooperative Transportation System involving Multi-Aerial
Robots with Variable Attachment Mechanism |
| 10/14 |
伊藤 匠 |
Aerobatic Trajectory Generation for a VTOL Fixed-Wing Aircraft Using
Differential Flatness |
| 10/21 |
西本 昂樹 |
Empirical differential Gramians for nonlinear model reduction |
| 10/28 |
豊岡 汰門 |
Machine Learning Based Adaptive Prediction Horizon in Finite Control
Set Model Predictive Control |
| 11/11 |
石井 崚太郎 |
Sufficient conditions for feasibility of optimal control problems using
Control Barrier Functions |
| 11/18 |
河島 駿斗 |
Automated Layout and Control Co-Design of Robust Multi-UAV
Transportation Systems |
| 11/25 |
中村 有佑 |
Design and Control of a Single Tilt Tri-Rotor Aerial Vehicle |
| 2/10 |
大西 祐輝 |
Continuum Swarm Tracking Control: A Geometric Perspective in
Wasserstein Space |
2024
院ゼミ
2024年度の院ゼミは山北研究室と合同開催でした．以下では三平研究室担当分のみを記載しています．
| 日付 |
担当者 |
発表内容 |
| 4/23 |
伊藤 匠 |
Nonlinear model predictive control and guidance for a propeller-tilting
hybrid unmanned air vehicle |
| 5/7 |
西本 昂樹 |
Wasserstein Proximal Algorithms for the Schrodinger Bridge Problem:
Density Control With Nonlinear Drift |
| 6/11 |
照沼 怜士 |
Fundamental Actuation Properties of Multirotors: Force-Moment
Decoupling and Fail-Safe Robustness |
| 7/2 |
河島 駿斗 |
A Modular Aerial System Based on Homogeneous Quadrotors with
Fault-Tolerant Control |
| 7/16 |
中村 有佑 |
Comparison studies on aerodynamic performances of a rotating propeller
for small-size UAVs |
| 7/23 |
石井 崚太郎 |
A Collision Cone Approach for Control Barrier Functions |
| 8/5 |
伊藤 匠 |
A Resilient and Energy-Aware Task Allocation Framework for
Heterogeneous Multirobot Systems |
| 11/12 |
西本 昂樹 |
Degree of controllability for linear unstable systems |
| 11/26 |
照沼 怜士 |
Adaptive Kalman filter for actuator fault diagnosis |
| 12/3 |
中村 有佑 |
Dynamics, Hover Configurations, and Rotor Failure Restabilization of a
Morphing Quadrotor |
| 12/10 |
石井 崚太郎 |
AVOCADO: Adaptive Optimal Collision Avoidance driven by Opinion |
| 1/21 |
西本 昂樹 |
Optimal Steering of a Linear Stochastic System to aFinal Probability
Distribution, Part I |
| 2/4 |
石井 崚太郎 |
Winding Through: Crowd Navigation via Topological Invariance |
| 2/17 |
中村 有佑 |
Emergency Control of AR Drone Quadrotor UAV Suffering a Total Loss of
One Rotor |
2023
院ゼミ
| 日付 |
担当者 |
発表内容 |
| 4/18 |
馬庭 龍一 |
Safe Learning of Quadrotor Dynamics Using Barrier Certificates |
| 5/9 |
伊藤 匠 |
Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence
of Actuator Failure |
| 5/30 |
西本 昂樹 |
Differentiable Collision Detection for a Set of Convex Primitives |
| 6/6 |
持田 峻佑 |
Static Hovering Realization for Multirotor Aerial Vehicles With
Tiltable Propellers |
| 6/13 |
豊岡 汰門 |
Nonlinear Model Predictive Path-Following Controller for a Small-Scale
Autonomous Bulldozer for Accurate Placement of Materials and Debris of Masonry in Construction
Contexts |
| 6/27 |
照沼 怜士 |
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based
Control for Quadrotor Agile Flight |
| 10/17 |
西本 昂樹 |
On Submodularity and Controllability in Complex Dynamical Networks |
| 10/31 |
大西 祐輝 |
Necessary and Sufficient Condition for Global Controllability of Planar
Affine Nonlinear Systems |
| 12/12 |
豊岡 汰門 |
TUBE-BASED NONLINEAR MODEL PREDICT CONTROL |
| 12/26 |
照沼 怜士 |
Fault-Tolerant Model Predictive Control for Multirotor UAVs |
| 1/9 |
河島 駿斗 |
Cooperative Heavy Lifting Using Unmanned Multi-Agent Systems |
| 2/6 |
大西 祐輝 |
Three-dimensional bipedal walking control using Divergent Component of
Motion |
2022
学部ゼミ
- 大塚 敏之, "非線形最適制御入門", コロナ社，2011
院ゼミ
| 日付 |
担当者 |
発表内容 |
| 4/19 |
平野 大地 |
Control of port-Hamiltonian systems with minimal energy supply |
| 4/26 |
川越 貴啓 |
Task-priority control of redundant robotic systems using control
lyapunov and control barrier function based quadratic programs |
| 5/10 |
伊藤 匠 |
A Novel Robotic Platform for Aerial Manipulation Using Quadrotors as
Rotating Thrust Generators |
| 5/17 |
馬庭 龍一 |
Adaptive Sampling and Online Learning in Multi-Robot Sensor Coverage
with Mixture of Gaussian Processes |
| 6/14 |
持田 峻佑 |
Modular Multi-Rotors: From Quadrotors to Fully-Actuated Aerial Vehicles
|
| 6/28 |
大西 祐輝 |
Geometric Fabrics: Generalizing Classical Mechanics to Capture the
Physics of Behavior |
| 7/5 |
平野 大地 |
Control Contraction Metrics: Convex and Intrinsic Criteria for
Nonlinear Feedback Design |
| 7/19 |
川越 貴啓 |
Singularity-Free Aerial Deformation by Two-Dimensional Multilinked
Aerial Robot With 1-DoF Vectorable Propeller |
| 10/11 |
伊藤 匠 |
Cooperative Object Transport in 3D with Multiple Quadrotors Using No
Peer Communication |
| 11/8, 22 |
馬庭 龍一 |
Information value in nonparametric Dirichlet-process Gaussian-process
(DPGP) mixture models |
| 11/29 |
持田 峻佑 |
Power-based Safety Layer for Aerial Vehicles in Physical Interaction
using Lyapunov Exponents |
| 12/20 |
平野 大地 |
Sub-Finslerian Metric Associated to an Optimal Control System |
| 2/7 |
大西 祐輝 |
Capturability-based Analysis and Control of Legged Locomotion, Part 1:
Theory and Application to Three Simple Gait Models |
2021
学部ゼミ
- Y. Nakamura, "Advanced Robotics: Redundancy and Optimization", Addison-Wesley,
1991
院ゼミ
| 日付 |
担当者 |
発表内容 |
| 4/20 |
持田 峻佑 |
Geometrical Kinematic Solution of Serial Spatial Manipulators Using
Screw Theory |
| 4/27 |
大西 祐輝 |
Admittance Control With Unknown Location of Interaction |
| 5/11 |
渡辺 隆之助 |
Timescale Separation in Autonomous Optimization |
| 5/25 |
西本 昂樹 |
Control Barrier Functions for Systems with High Relative Degree |
| 6/1 |
宮間 圭吾 |
LQG Control With Minimum Directed Information: Semidefinite Programming
Approach |
| 6/15 |
Kai-Wen Tsai |
L1 Adaptive Control for Wind Gust Rejection in Quad-Rotor UAV Wind
Turbine Inspection |
| 6/22 |
平野 大地 |
Integral Control Barrier Functions for Dynamically Defined Control Laws
|
| 6/29 |
川越 貴啓 |
Trajectory Control of a Quadrotor Using a Control Allocation Approach
|
| 7/6 |
渡辺 隆之助 |
Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal
Robot Locomotion |
| 7/13 |
持田 峻佑 |
A Novel Robust Hexarotor Capable of Static Hovering in Presence of
Propeller Failure |
| 7/20 |
大西 祐輝 |
Redundancy resolution under hard joint constraints: a generalized
approach to rank updates |
| 7/27 |
西本 昂樹 |
The Invariant Extended Kalman Filter as a Stable Observer |
| 10/5 |
宮間 圭吾 |
Constrained Iterative LQG for Real-Time Chance-Constrained Gaussian
Belief Space Planning |
| 10/12 |
Kai-Wen Tsai |
Disturbance Estimation and Rejection for High-Precision Multirotor
Position Control |
| 10/26 |
平野 大地 |
A Passivity Based Sliding Mode Controller for Simple Port-Hamiltonian
Systems |
| 11/2 |
川越 貴啓 |
Robust Trajectory Planning for a Multirotor against Disturbance based
on Hamilton-Jacobi Reachability Analysis |
| 11/9 |
渡辺 隆之助 |
Linear Predictors for Nonlinear Dynamical Systems: Koopman Operator
Meets Model Predictive Control |
| 11/30 |
伊藤 匠 |
Control of Multiple Quad-Copters With a Cable-Suspended Payload Subject
to Disturbances |
| 12/14 |
持田 峻佑 |
Safe and High-performance Control Allocation |
| 1/11 |
大西 祐輝 |
Verifying Safe Transitions between Dynamic Motion Primitives on Legged
Robots |
| 1/18 |
馬庭 龍一 |
Decentralized Merging Control in Traffic Networks: A Control Barrier
Function Approach |
2020
学部ゼミ
- S. Boyd and L. Vandenberghe, "Convex Optimization", Cambridge University Press,
2004
院ゼミ
| 日付 |
担当者 |
発表内容 |
| 5/12 |
渡辺 隆之助 |
Risk-Constrained Linear-Quadratic Regulators |
| 5/19 |
持田 峻佑 |
Force-Moment Decoupling and Rotor-Failure Roustness for Star-Shaped
Generically-Tilted Multi-Rotors |
| 5/26 |
Lu Dupeng |
Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring
|
| 6/2 |
大西 祐輝 |
Transverse Linearization for Controlled Mechanical Systems With Several
Passive Degrees of Freedom |
| 6/9 |
宮間 圭吾 |
Adaptive Learning Kalman Filter with Gaussian Process |
| 6/16 |
西本 昂樹 |
Adaptive Safety with Control Barrier Functions |
| 6/23 |
Kai-Wen Tsai |
Tilting-rotor Quadcopter for Aggressive Flight Maneuvers Using
Differential Flatness Based Flight Controller |
| 7/7 |
渡辺 隆之助 |
Risk-sensitive Linear Control for Systems with Stochastic Parameters
|
| 7/14 |
持田 峻佑 |
Omnidirectional Aerial Vehicles With Unidiretional Thrusters: Theory,
Optimal Design, and Control |
| 7/28 |
大西 祐輝 |
Riemannian Optimal Model Reduction of Linear Second-Order Systems |
| 8/6 |
Lu Dupeng |
Robust H∞ Control for Hovering of a Quadrotor UAV with Slung Load |
| 10/13 |
西本 昂樹 |
Model Predictive Control of Non-linear Systems over Networks with Data
Quantization and Packet Loss |
| 10/20 |
宮間 圭吾 |
Laplace ℓ1 Robust Kalman Filter Based on Majorization Minimization |
| 10/27 |
Kai-Wen Tsai |
Technical Activities Execution with a TiltRotor UAS employing Explicit
Model Predictive Control |
| 11/10 |
平野 大地 |
Control Barrier Function-Based Quadratic Programs Introduce Undesirable
Asymptotically Stable Equilibria |
| 11/17 |
川越 貴啓 |
Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of
Parameter Uncertainties and External Disturbances |
| 11/24 |
渡辺 隆之助 |
Data Informativity: A New Perspective on Data-Driven Analysis and
Control |
| 12/8 |
Lu Dupeng |
Autonomous Lift of a Cable-suspended Load by an Unmanned Aerial Robot
|
| 12/15 |
持田 峻佑 |
Integral Sliding Mode Fault Tolerant Control Allocation for a Class of
Affine Nonlinear System |
| 12/22 |
西本 昂樹 |
Formally Correct Composition of Coordinated Behaviors Using Control
Barrier Certificates |
| 1/12 |
大西 祐輝 |
Dynamics Morphing from Regulator to Oscillator on Bipedal Control |
| 1/19 |
平野 大地 |
Safety-Critical Control for Non-affine Nonlinear Systems with
Application on Autonomous Vehicle |
| 1/26 |
川越 貴啓 |
Fault Tolerance Analysis of a Hexarotor with Reconfigurable Tilted
Rotors |
| 2/2 |
Kai-Wen Tsai |
Control of an Aerial Manipulator using On-line Parameter Estimator for
an Unknown Payload |
2019
学部ゼミ
- J. M. Selig, "Geometric Fundamentals of Robotics", Springer Science+Business
Media Inc. 2005
院ゼミ
| 日付 |
担当者 |
発表内容 |
| 4/16 |
渡辺 隆之助 |
Tractable Stochastic Predictive Control for Partially Observable Markov
Decision Processes with Time-Joint Chance Constraints |
| 4/26 |
大貫 椋太郎 |
Null-space-based path-following control for cooperative payload
transport using multiple rotorcraft UAVs |
| 5/14 |
持田 峻佑 |
Safety-Critical and Constrained Geometric Control Synthesis using
Control Lyapunov and Control Barrier Functions for Systems Evolving on Manifolds |
| 5/21 |
江本 周平 |
A Dual Quaternion Linear-Quadratic Optimal Controller for Trajectory
Tracking |
| 6/18 |
Lu Dupeng |
Stability of small-scale UAV helicopters and quadrotors with added
payload mass under PID control |
| 6/25 |
平手 奨二 |
Adaptive Sampling and Online Learning in Multi-Robot Sensor Coverage
with Mixture of Gaussian Processes |
| 7/16 |
田所 祐一 |
Nonlinear Control of Quadcopters via Approximate Dynamic Programming
|
| 10/8 |
渡辺 隆之助 |
Uncertainty-dependent Optimal Control for Robot Control Considering
High-order Cost Statistics |
| 10/23 |
持田 峻佑 |
Aerial Grasping based on Shape Adaptive Transformation by HALO:
Horizontal Plane Transformable Aerial Robot with Closed-loop Multilinks Structure |
| 11/5 |
江本 周平 |
Constrained Spacecraft Attitude Control on SO(3) Using Fast Nonlinear
Model Predictive Control |
| 11/12 |
大貫 椋太郎 |
Controllability Analysis for Multirotor Helicopter Rotor Degradation
and Failure |
| 11/19 |
平手 奨二 |
Kernel Interpolation for Scalable Structured Gaussian Processes
(KISS-GP) |
| 12/17 |
大西 祐輝 |
Control-Limited Differential Dynamic Programming |
| 1/21 |
田所 祐一 |
Computational Design of Robotic Devices From High-Level Motion
Specifications |
| 1/21 |
Lu Dupeng |
Propeller Thrust and Drag in Forward Flight |
| 1/28 |
西本 昂樹 |
Constrained Autonomous Precision Landing via Dual Quaternions and Model
Predictive Control |
2018
学部ゼミ
- Richard M. Murray, Zexiang Li, S. Shankar Sastry, " Mathematical Introduction to Robotic
Manipulation", CRC Press, 2014A
院ゼミ
| 日付 |
担当者 |
発表内容 |
| 4/26 |
田所 祐一 |
An Intrinsic Robust PID Controller on Lie Groups |
| 5/8 |
遠藤 眞覇人 |
Consensus and Formation Control on SE(3) for Switching Topologies |
| 5/29 |
吉岡 弘人 |
Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing
Micro Aerial Vehicles |
| 6/5 |
渡辺 隆之助 |
Fast Model Predictive Control for Redistributive Lithium-Ion Battery
Balancing |
| 6/12 |
大貫 椋太郎 |
Event-triggered distributed MPC for continuous-time nonlinear systems
|
| 6/19 |
江本 周平 |
A Nonlinear Force Observer for Quadrotors and Application to Physical
Interactive Tasks |
| 6/26 |
平手 奨二 |
Collision Avoidance between Multi-UAV-Systems considering Formation
control using MPC |
| 7/10 |
田所 祐一 |
Dual-quaternion backstepping control for a fully-actuated rigid-body
|
| 7/24 |
Mustafa Soliman |
Control of 3-dimensional Snake Robots by Using Redundancy |
| 10/16 |
渡辺 隆之助 |
Aggressive Driving with Model Predictive Path Integral Control |
| 10/23 |
遠藤 眞覇人 |
Robustness of Control Barrier Functions for Safety Critical Control
|
| 10/30 |
吉岡 弘人 |
Safe Learning of Quadrotor Dynamics Using Barrier Certificates |
| 11/13 |
平手 奨二 |
Real-Time Distributed Receding Horizon Motion Planning and Control for
Mobile Multi-Robot Dynamic Systems |
| 11/20 |
大貫 椋太郎 |
Geometric Control of Multiple Quadrotor UAVs Transporting a
Cable-Suspended Rigid Body |
| 12/6 |
江本 周平 |
Global Exponential Attitude Tracking Controls on SO(3) |
| 12/13 |
持田 峻佑 |
Trajectory tracking of Trirotor UAV with Pendulum Load |
2017
学部ゼミ
- Hassan K. Khalil, "Nonlinear Control", Prentice Hall, 2014
院ゼミ
| 日付 |
担当者 |
発表内容 |
| 5/9 |
木村 駿介 |
A Survey of Motion Planning Algorithms from the Perspective of
Autonomous UAV Guidance |
| 5/16 |
仲野 聡史 |
Exact Solutions to a Class of Feedback Systems on SO(n) |
| 5/23 |
森田 悠太郎 |
Invariance Control Design for Nonlinear Control Affine Systems under
Hard State Constraints |
| 5/23 |
杉森 敦人 |
Extensions of Learning-Based Model Predictive Control for Real-Time
Application to a Quadrotor Helicopter |
| 5/30 |
田所 祐一 |
Design, Modeling and Control of Omni-Directional Aerial Robot |
| 6/6 |
松田 錬磨 |
Structural reconfigurability analysis of multirotor UAVs after actuator
failures |
| 6/20 |
渡辺 隆之助 |
Chattering-free discrete-time sliding mode control |
| 7/4 |
吉岡 弘人 |
Geometric Tracking Control of a Quadrotor UAV on SE(3) |
| 7/4 |
遠藤 眞覇人 |
Sliding mode leader-following consensus controllers for second-order
non-linear multi-agent systems |
| 7/18 |
木村 駿介 |
Viability Control for a Class of Underactuated Systems |
| 7/25 |
仲野 聡史 |
Adding an Integrator for Output Regulation of Systems with Matrix
Lie-group States |
| 8/10 |
田所 祐一 |
Exploration of Kinematic Optimal Control on the Lie Group SO(3) |
| 9/26 |
Mustafa Soliman |
Whole-body Aerial Manipulation by Transformable Multirotor with
Two-dimensional Multilinks |
| 10/3 |
森田 悠太郎 |
Trajectory Planning and Control for Plannar Robots with Passive Last
Joint |
| 10/17 |
杉森 敦人 |
Safe and Robust Learning Control with Gaussian Processes |
| 11/14 |
松田 錬磨 |
Fundamental Actuation Properties of Multi-rotors Force-Moment
Decoupling and Fail-safe Robustness |
| 12/05 |
渡辺 隆之助 |
Nonlinear Analysis and Control of a Reaction-Wheel-Based 3-D Inverted
Pendulum |
| 1/23 |
吉岡 弘人 |
Passive Position Control of a Quadrotor With Ground Effect Interaction
|
| 1/30 |
木村 駿介 |
Control Barrier Function Based Quadratic Programs for Safety Critical
Systems |
| 2/6 |
田所 祐一 |
Design, Modeling, and Geometric Control on SE(3) of a Fully-Actuated
Hexarotor for Aerial Interaction |
2016
学部ゼミ
- J.-J. E. Slotine & W. Li, "Applied Nonlinear Control", Prentice-Hall,
1991
院ゼミ
| 日付 |
担当者 |
発表内容 |
| 5/10 |
田所 祐一 |
Dual Connected Bi-Copter with New Wall Trace Locomotion Feasibility
That Can Fly at Arbitrary Tilt Angle |
| 5/31 |
木村 駿介 |
Real-Time Trajectory Optimization under Input Constraints for a
Flatness-Controlled Laboratory Helicopter |
| 5/31 |
仲野 聡史 |
Exponential Stability of an Attitude Tracking Control System on SO(3)
for Large-Angle Rotational Maneuvers |
| 6/21 |
杉森 敦人 |
Decentralized Cooperative Collision Avoidance for Acceleration
Constrained Vehicles |
| 6/21 |
松田 錬磨 |
Cooperative Control Reconfiguration in Multiple Quadrotor Systems with
Actuator Faults |
| 6/28 |
伊庭 達哉 |
A Lie-B\"acklund Approach to Equivalence and Flatness of Nonlinear
Systems |
| 6/28 |
村上 尚人 |
Control of Underactuated Mechanical Systems by the Transverse Function
Approach |
| 7/5 |
森田 悠太郎 |
Hovering Quad-Rotor Control: A Comparison of Nonlinear Controllers
Using Visual Feedback |
| 7/12 |
仲野 聡史 |
Spacecraft Relative Rotation Tracking without Angular Velocity
Measurements |
| 7/26 |
木村 駿介 |
Safe Motion using Viability Kernels |
| 8/2 |
田所 祐一 |
A Maneuverability Analysis of a Novel Hexarotor UAV Concept |
| 8/2 |
伊庭 達哉 |
A condition for dynamic feedback linearization of control-affine
nonlinear systems |
| 10/27 |
村上 尚人 |
Discontinuous control of high-order generalized chained systems |
| 10/27 |
森田 悠太郎 |
Sliding mode control for a class of nonlinear systems with application
to a wheeled mobile robot |
| 11/15 |
松田 錬磨 |
3D Dynamic Walking with Underactuated Humanoid Robots: A Direct
Collocation Framework for Optimizing Hybrid Zero Dynamics |
| 11/15 |
遠藤 眞覇人 |
On Consensus in Multi-agent Systems with Linear High-order Agents |
| 11/22 |
杉森 敦人 |
Predictive Gradient Iterative Learning Control |
| 11/22 |
仲野 聡史 |
Output Synchronization of Systems in Chained Form |
| 11/29 |
木村 駿介 |
An Integrated Path-Planning and Control Approach for Nonholonomic
Unicycles Using Switched Local Potentials |
| 12/12 |
田所 祐一 |
Design, Modeling and Control of an Omni-Directional Aerial Vehicle |
| 1/24 |
Stian Laate |
Adaptive Control of a Quadrotor UAV Transporting a Cable-Suspended Load
with Unknown Mass |
2015
学部ゼミ
- Peter Corke, "Robotics, Vision and Control", Springer, 2011
- Richard M. Murray, Zexiang Li, S. Shankar Sastry, "A Mathematical Introduction to Robotic
Manipulation", CRC Press, 1994
院ゼミ
| 日付 |
担当者 |
発表内容 |
| 4/14 |
Thomas Frimann Koren |
Nonlinear Adaptive Control for Quadrotor Flying Vehicle |
| 5/19 |
安田 真大 |
Modeling and global trajectory tracking control for an over-actuated
MAV |
| 5/19 |
伊庭 達哉 |
Real-time Jumping Trajectory Generation for a One Legged Jumping Robot
|
| 6/2 |
藤田 優稀 |
Robust Control Synthesis of Bilinear Systems with Nonlinear Weights by
Sum of Squares Optimization |
| 6/2 |
田所 祐一 |
Backstepping/Nonlinear H_inf Control for Path Tracking of a QuadRotor
Unmanned Aerial Vehicle |
| 6/9 |
村上 尚人 |
Movement Control using Zero Dynamics of Two-wheeled Inverted Pendulum
Robot |
| 6/16 |
仲野 聡史 |
Passivity-Based Output Synchronization of Networked Euler-Lagrange
Systems Subject to Nonholonomic Constraints |
| 6/23 |
木村 駿介 |
Barrier Lyapunov Functions for the contol of output-constrained
nonlinear systems |
| 7/14 |
伊庭 達哉 |
Robustness Improvement of a Nonlinear H_infty Controller for Robot
Manipulators via Saturation Functions |
| 10/13 |
安田 真大 |
Design and Development of a Free-Floating Hexrotor UAV for 6-DOF
Maneuvers |
| 10/27 |
田所 祐一 |
Modeling, Control and Design Optimization for a Fully-actuated
Hexarotor Aerial Vehicle with Tilted Propellers |
| 11/17 |
藤田 優稀 |
Dynamic Solution of the HJB Equation and the Optimal Control of
Nonlinear Systems |
| 11/17 |
村上 尚人 |
Velocity and Position Control of a Wheeled Inverted Pendulum by Partial
Feedback Linearization |
| 11/24 |
木村 駿介 |
Freedom in coordinate transformation for exact linearization and its
application to transient behavior improvement |
| 12/1 |
仲野 聡史 |
Full-State Tracking and Internal Dynamics of Nonholonomic Wheeled
Mobile Robots |
| 12/8 |
伊庭 達哉 |
Parametrization of the Output with Respect to the Relative Degree |
| 12/8 |
安田 真大 |
Modeling and Control of a Quadrotor UAV with Tilting Propellers |
| 1/19 |
藤田 優稀 |
Two Approximate Solutions to HJI Equation via State Dependent Riccati
Equation |
| 1/19 |
田所 祐一 |
Analysys and Synthesis of Multi-Rotor Aerial Vehicles |
2014
学部ゼミ
Hassan K. Khalil, "Nonlinear Control", Prentice Hall, 2014
院ゼミ
| 日付 |
担当者 |
発表内容 |
| 6/3 |
木曽勝之 |
Analysis of unconstrained nonlinear MPC schemes with time varying
control horizon |
| 6/10 |
藤田優稀 |
Nonlinear Analysis and Control of a Reaction Wheel-based 3D Inverted
Pendulum |
| 6/17 |
勝山裕輝 |
Momentum Unloading Excessive Reaction-Wheel System of a Spacecraft |
| 6/24 |
粟井康裕 |
Particle Model Predictive Control for Probability Density Functions
|
| 7/8 |
木曽勝之 |
Modeling and Altitude Control of Quad-rotor UAV |
| 7/29 |
安田真大 |
Minimum (h,ϕ)-Entropy Control for Non-Gaussian Stochastic Networked
Control Systems and Its Application to a Networked DC Motor Control System |
| 10/7 |
藤田優稀 |
A novel active fault tolerant control design with respect to actuators
reliability |
| 10/14 |
勝山裕輝 |
Adaptive Compensation of Gyro Bias in Rigid-Body Attitude Estimation
Using a Single Vector Measurement |
| 10/21 |
粟井康裕 |
Iterative B-spline Neural Networks for Stochastic Distribution Control
and Its Application in Industrial Process |
| 11/11 |
木曽勝之 |
Jacobian, Manipulability, Condition Number, and Accuracy of Parallel
Robots |
| 11/20 |
安田真大 |
Disturbance-decoupling observers for a class of second order
Distributed Parameter Systems |
| 11/27 |
藤田優稀 |
Control design for bilinear systems with a guaranteed region of
stability : an LMI-based approach |
| 1/8 |
安田真大 |
Nonlinear Unknown Input Observer Design for Nonlinear Systems |
| 1/20 |
Thomas Frimann Koren |
A dynamic human motion: coordination analysis |
| 1/27 |
藤田優稀 |
Online Adaptive Control for Bilinear Systems |