DATA-DRIVEN MEAN-FIELD GAME APPROXIMATION FOR A POPULATION OF ELECTRIC VEHICLES

For a population of electric vehicles (EVs) we design a datadriven 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

Covariance Bounds Analysis during Intermittent Measurement for EKF-based SLAM

This paper deals with Extended Kalman Filter(EKF)-based SLAM estimation considering intermittent measurement. The study proposes a method to ensure that a designer is able to secure the state covariance or system uncertainties even though the mobile robot sometimes losses its measurement data during its observations. EKF which is based on Bayesian, is chosen in this work for estimation purposes in determining mobile robot position and the environment conditions. In addition, as most of estimation techniques uses Bayesian method, our propose results is expected to provide a general estimation guidelines especially on the filter statistical behavior. The analysis started from the review of theoretical studies of EKF including the expected condition occurred when mobile robot do not received information from its sensors. Simulation results have consistently supports our theoretical analysis which determines that a designer can determine the state error covariance explicitly whenever measurement data is not available.&nbsp

High performance robust control of magnetic suspension systems using GIMC structure

金沢大学大学院自然科学研究科知能情報・数理金沢大学工学部This paper deals with a high performance and robust control scheme based on Generalized Internal Model Control(GIMC) Structure. We apply the GIMC structure to the unstable magnetic suspension system and construct a high performance and robust control system. GIMC structure can switch two controllers which have high performance and high robustness respectively. The two controllers using in GIMC structure are designed via ℋ∞ mixed sensitivity problem. The experimental results show the effectiveness of GIMC structure. © 2006 IEEE

Hierarchical and cooperative model predictive control of electrical grids by using overlapping information

© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.The presented study deals with hierarchical and cooperative model predictive control (MPC) of electrical grids. The aim of this study is minimizing electrical frequency deviation while ensuring power levels do not rise too much. The original system is a simply interconnected one divided in several areas and, in order to control eventually disconnected areas due to communication blackouts, an expansion of the original system to a hierarchical version of itself by overlapping original system’s areas.Peer ReviewedPostprint (author's final draft

A passivity-based approach to wide area stabilization of magnetic suspension systems

金沢大学大学院自然科学研究科知能情報・数理金沢大学工学部This paper deals with a passivity-based approach to wide area stabilization of magnetic suspension systems. It is well known that the magnetic suspension systems have strong nonlinearity. In order to realize wide area stabilization of magnetic suspension systems, we design the passivity-based feedback controller considering a nonlinear dynamics of the magnetic suspension systems and a leakage inductance of the electromagnet especially. The systems can be decomposed two subsystems; an electrical subsystem and a mechanical subsystem. We design nonlinear passivity-based controllers for both two subsystems. Steady-state and transient time responses results for some operating points show the effectiveness of the proposed controller experimentally. © 2006 IEEE

Passivity-based Synchronized Control of Teleoperation with Power Scaling

金沢大学大学院自然科学研究科知能情報・数理金沢大学工学部This paper deals with the passivity-based synchronized control of teleoperation considering position tracking arid power scaling. In the proposed method, the motion arid the force relation between the master and slave robots can be specified freely. Using a passivity of the systems and Lyapunov stability methods, the asymptotic stability of teleoperation with communication delay and power scaling is proven. Several experimental results show the effectiveness of our proposed method. © 2006 ICASE

H∞ filtering convergence and it\u27s application to SLAM

金沢大学理工研究域電子情報学系KF-SLAM(Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application. Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H ∞ filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H∞ filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H∞ filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H ∞ filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H∞ filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM. © 2009 SICE

Bilateral control of nonlinear teleoperation with time varying communication delays

This paper addresses the bilateral control of nonlinear teleoperation with time varying communication delays. The proposed methods are two types of simple PD-type controllers which consists of D-controls depending on (the upper bound of) the rate of change of delay and P-controls depending on the upper bound of round-trip delay. Using Lyapunov-Krasovskii function, the delay-dependent stability of the origin is shown for the ranges of gains. Furthermore the proposed strategies also achieve master-slave position coordination and bilateral static force reflection. Several experimental results show the effectiveness of our proposed methods. ©2008 AACC