Study at TCU

Reseacher

Name SEKIGUCHI Kazuma
Official Title Associate Professor
Affiliation Mechanical Systems Engineering
E-mail ksekiguc@tcu.ac.jp
Web
  1. https://www.cl.mse.tcu.ac.jp/lab/
  2. https://www.risys.gl.tcu.ac.jp/Main.php?action=profile&type=detail&tchCd=5001902
Profile My research interests are nonlinear control systems. Especially, I focus on the underactuated mechanical systems such as drone or ground vehicles. The nonlinearity of the mechanical systems is an important feature to represent its dynamics, but this feature makes it difficult to design controllers. My research approach is exact linearization. The original nonlinearity is embedded into the static or dynamic transformation of states and inputs without any approximation. As the result, my approach acquires the combined benefit of the nonlinear detailed dynamics and the convenient and powerful controller design method based on the linear control theory.
My research also includes the experimental verification of the developed theory. Due to this verification, I am developing our own drones and experimental setup. I am extending my research directions toward the estimation of the state, system parameters, and the environment as well as designing a controller. ​Each estimation problem is known with the following keywords; observer/estimator, system identification, adaptive control, robust control, or SLAM.
My research results are clarified through presentations at international conferences and publications in journals, and also output on our laboratory homepage.
Research Field(Keyword & Summary)
  1. (1) Exact linearization

    This research linearizes a nonlinear smooth dynamics without any approximation. The linearization generally consists of a static nonlinear transformation of state and input, time scale transformation, and dynamic feedback transformation. My approach adopts hierarchical structure into the transformation procedure so that the reduction of the redundant dynamic extension. As a result, it realizes a smallest controllable linear system without any shrink of the applicable system's class.

  2. (2) Autonomous multi-agent drones system control

    This research consists of the establishment of the drone-agents system and the development of the controller for multi-agent autonomous drones. There are many variations for multi-agent drone systems from hardware to control architecture. In the sense of hardware, there are two types of multi-agent drones; free-flying or wire-connected. These types are depending on the choice of power supply. The former has a battery, and the latter is received power supply by wire. In a control system structure, there is a centralized, a decentralized, or a combined layered structure. In order to conduct variational tasks, each drone equips sensors such as a vision camera, lidar, and TOF, and it is possible to mount a tow-cable. The control schemes for the drone system with a wide range of variations are developed in this research.

Representative Papers
  1. (1) Kazuma Sekiguchi, Wataru Eikyu,, Kenichiro Nonaka, Feedback Control for a Drone with a Suspended Load via Hierarchical Linearization, Journal of Robotics and Mechatronics, Vol. 33, pp. 274-282, 2021
  2. (2) Ryota Nakahara,Kazuma Sekiguchi,Kenichiro Nonaka,Masahiro Takasugi,Hiroki Hasebe,Kenichi Matsubara, Model Predictive Braking Control for Heavy-Duty Commercial Vehicles Considering Response Delay of Air-Brake, International Journal of Automotive Engineering, Vol. 11, pp. 177-184, 2020
  3. (3) Hiroaki Endo, Kazuma Sekiguchi, Kenichiro Nonaka, Online Adjustment Method of Model Error Compensator, Journal of the Society of Instrument and Control Engineers, Vol. 55, pp. 156-163, 2019 (in japanese)
  4. (4) Nagomu Takeuchi,Masataka Naruse,Kazuma Sekiguchi,Kenichiro Nonaka, Autonomous Patrol and Invader Detection by Coverage Controlled Quadcopters, The 2019 ASian Control Conference, pp. 1119-1124, Jul 2019
  5. (5) Masataka Naruse,Kazuma Sekiguchi, Kenichiro Nonaka, Coverage Control for Multi-copter with Avoidance of Local Optimum and Collision Using Change of the Distribution Density Map, SICE Annual Conference 2018, pp. 551-554, Sep 2018
  6. (6) Masataka Naruse,Kazuma Sekiguchi, Kenichiro Nonaka, Coverage Control for Multi-copter with Avoidance of Local Optimum and Collision Using Change of the Distribution Density Map, SICE Annual Conference 2018, pp. 551-554, Sep 2018
  7. (7) Tomohiro Fukaishi, Kazuma Sekiguchi, Kenichiro Nonaka, Attitude Control of Two-Wheel Spacecraft Based on Dynamics Model via Hierarchical Linearization, SICE Journal of Control, Measurement, and System Integration, Vol. 10, pp. 310-316, 2017
  8. (8) Kentaro Oyama, Kazuma Sekiguchi, Kenichiro Nonaka, Path-following Control for Front-steering Vehicles based on Time-State Control Form using Travel Distance as a Virtual Time-Axis —Applying to Model Predictive Parking Control—, Journal of the Society of Instrument and Control Engineers, Vol. 50, pp. 746-754, 2014 (in japanese)
  9. (9) Kazuma Sekiguchi,Mitsuji Sampei, and Shigeki Nakaura, Exact Linearization of Two-Input Affine Systems via the Dynamic Extension Based on the Relative Degree Structure, Journal of Control, Measurement, and System Integration, Vol. 4, No. 2, pp. 153-162, 2011
  10. (10) Kazuma Sekiguchi,Mitsuji Sampei, and Shigeki Nakaura, Parametarization of the Output with Respect to the Relative Degree, Journal of Control, Measurement, and System Integration, Vol. 3, No. 2, pp. 137-143, 2010
Grant-in-Aid for Scientific Research Support: Japan Society for Promotion of Science (JSPS) https://nrid.nii.ac.jp/en/nrid/1000080593558/
Recruitment of research assistant(s) No
Affiliated academic society (Membership type) (1) IEEE (Member)
(2) SICE (Member)
Education Field (Undergraduate level) Control theory, Engineering mechanics
Education Field (Graduate level) Advanced digital control

Affiliation