|Official Title||Associate Professor|
|Affiliation||Mechanical Systems Engineering|
|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)||
|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|