Study at TCU


Name NONAKA Kenichiro
Official Title Professor
Affiliation Mechanical Systems Engineering, Science and Engineering
Profile He received the B.E., M.E., and Ph.D. degrees from the Tokyo Institute of Technology, Tokyo, Japan, in 1992, 1994, and 1997. In 1997, he joined the Musashi Institute of Technology as a Research Associate, where he is currently serving as a Professor at Tokyo City University. He was a visiting researcher with the Department of Aerospace and Mechanical Engineering, Boston University, Boston, MA, from April 2000 to March 2001. His research covers both theory and application. He has worked on model predictive control (MPC), moving horizon estimation, open-loop oscillatory stabilization of nonlinear systems, sliding mode control. He has applied these theories to various vehicles, for example, automobiles, mobile robots, drones, electric wheelchairs, and rovers.
Research Field(Keyword & Summary)
  1. (1) Model predictive control

    Model predictive control is an optimal control technique which can deal with physical constraints. He has worked on various kind of systems like automobiles, drones, wheelchairs and rovers.

  2. (2) Self-driving systems

    Self-driving system is one of the hot research topic in recent years. Cooperating with automobile companies, he has applied advanced control techniques to vehicle control. He has also working on autonomous control of electric wheelchair.

  3. (3) Moving horizon estimation

    Moving horizon estimation is a powerful stochastic optimal filter which can deal with both nonlinearity and constraints. He applied it to vehicle state estimation and simultaneous localization and mappiing (SLAM).

Representative Papers
  1. Isao Okawa, Kenichiro Nonaka "Linear complementarity model predictive control with limited iterations for box-constrained problems", Automatica, pp. 1-8, Jan 2021
  2. Ryuichi Maki Isao Okawa, Kenichiro Nonaka, Model Predictive Steering Control with Flexible Lane Crossing Considering Nearby Vehicles, International Journal of Automotive Engineering, Vol. 11, pp. 136-142, 2020
  3. Isao OKAWA, Yoshihide MIZUSHIMA, Kenichiro NONAKA, Optimal trajectory generation with direct acceleration reshaping for autonomous vehicles, Mechanical Engineering Journal, Vol. 7, pp. 19-00632, 2020
  4. Naoki Takahashi, Naoki Shibata, Kenichiro Nonaka, Optimal configuration control of planar leg/wheel mobile robots for flexible obstacle avoidance, Control Engineering Practice, Vol. 101, pp. 1-10, 2020
  5. Tomoya Kikuchi, Kenichiro Nonaka,, Kazuma Sekiguchi, Moving Horizon Estimation with Probabilistic Data Association for Object Tracking Considering System Noise Constraint, Journal of Robotics and Mechatronics, Vol. 32, pp. 537-547, 2020
  6. Takatsugu Oda, Kenichiro Nonaka, Kazuma Sekiguchi, Robust Path Following Control for Small Electric Vehicles Equipped with In-Wheel Motors - Application to the JSAE-SICE Benchmark Problem No. 3 -, International Journal of Automotive Engineering, Vol. 8, pp. 120-129, 2017
  7. Kuniyuki Sakaeta, Kenichiro Nonaka, Kazuma Sekiguchi, Experimental Verification of a Vehicle Localization based on Moving Horizon Estimation Integrating LRS and Odometry, Journal of Physics: Conference Series, 2016 DOI:10.1088/1742-6596/744/1/012048
  8. Kenichiro Nonaka; Hirokazu Sugizaki, Integral sliding mode altitude control for a small model helicopter with ground effect compensation, Proceedings of the American Control Conference, 2011 DOI: 10.1109/ACC.2011.5991016
  9. Toshiyuki Sugimoto, Kenichiro Nonaka, Mark N. Horenstein, Bidirectional Electrostatic Actuator Operated With Charge Control, Journal of Microelectromechanical Systems, Vol.14, No.4, 2005 DOI: 10.1109/JMEMS.2005.845410
  10. Kenichiro Nonaka, Youla-parameterization of Output Feedback Sliding Mode Controller: Internal Stability and Disturbance Rejection, Proceedings of the American Control Conference, 1999 DOI: 10.1109/ACC.1999.782885
Grant-in-Aid for Scientific Research Support: Japan Society for Promotion of Science (JSPS)
Recruitment of research assistant(s) Yes (2 people)
Affiliated academic society (Membership type) (1) IEEE (Member)
(2) SICE (Member)
Education Field (Undergraduate level) Control engineering
Education Field (Graduate level) System theory