NONAKA Kenichiro

J-GLOBAL         Last updated: Dec 23, 2018 at 14:34
 
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Name
NONAKA Kenichiro
Affiliation
Tokyo City University
Section
Faculty of Engineering, Department of Mechanical Systems Engineering, Tokyo City University, Faculty of Engineering, Department of Mechanical Systems Engineering
Job title
Professor
Degree
Doctor of Engineering(Tokyo Institute of Technology)
Other affiliation
Tokyo City University

Research Areas

 
 

Education

 
 
 - 
1997
Department of Mechanical and Environmental Informatics, Graduate School of Information Science and Engineering, Tokyo Institute of Technology
 
 
 - 
1992
Department of Control and Systems Engineering, Faculty of Engineering, Tokyo Institute of Technology
 

Committee Memberships

 
2010
 - 
2012
The Society of Instrument and Control Engineers  Committee member
 
2010
 - 
2011
SICE Annual Conference 2011  Publication Chair
 
2009
 - 
2010
IEEE Conference on Control Applications  Committee Member
 
2007
 - 
2007
The Tenth Conference on Motion and Vibration Control  Comittee
 
2007
   
 
The Society of Instrument and Control Engineers  Comittee member
 

Published Papers

 
Isao Okawa, Kenichiro Nonaka
International Journal of Automotive Engineering   9 39-47   Jan 2018
A novel trajectory generator for obstacle avoidance is proposed and evaluated through numerical simulations with common iterative methods. Since the proposed method generates quasi-optimal trajectories using model predictive control (MPC) theory w...
TOMATSU Takumi, NONAKA Kenichiro, SEKIGUCHI Kazuma, SUZUKI Katsumasa
TRANSACTIONS OF THE JAPAN FLUID POWER SYSTEM SOCIETY   49(1) 1-9   2018
<p>There are cases where a hydraulic excavator does not perform the accurate digging operation due to the influence of the resistance force when the bucket tip contacts with the unknown object in the ground. To resolve this problem, we propose a m...
Takatsugu Oda, Kenichiro Nonaka, Kazuma Sekiguchi
International Journal of Automotive Engineering   8 120-129   Jan 2017
© 2017 Society of Automotive Engineers of Japan, Inc. In this paper, it is demonstrated that the proposed robust path following controller enhances maneuverability and stability of small electric vehicles (EVs) equipped with in-wheel motors throug...
FUKAISHI Tomohiro, SEKIGUCHI Kazuma, NONAKA Kenichiro
SICE Journal of Control, Measurement, and System Integration   10(4) 310‐316(J‐STAGE)   2017
YONEZAWA Yuta, SEKIGUCHI Kazuma, NONAKA Kenichiro
Transactions of the Society of Instrument and Control Engineers   53(12) 633-643   2017
This paper proposes a velocity observer for caster wheel odometers resisting steady-state error. The proposed method is established by attaching a feedback loop of error integration to extended Luenberger observer (ELO). The stability of the propo...
SAKAETA Kuniyuki, KIMURA Kazuki, NONAKA Kenichiro, SEKIGUCHI Kazuma
Transactions of the Society of Instrument and Control Engineers   53(6) 355-365   2017
In this paper, we propose a localization method integrating laser range finder (LRF) measurement and odometry by moving horizon estimation (MHE). The position and the attitude angle of a robot are estimated by solving an optimization problem using...
HAGIMORI Yuki, NONAKA Kenichiro, SEKIGUCHI Kazuma
Transactions of the JSME (in Japanese)   82(842) 16-00144-16-00144   2016
<p>Leg/Wheel mobile robots can achieve adaptive motions for various environments using legs or wheels. However, computational complexity of optimization like model predictive control (MPC) is increased with the number of degree of freedom on joint...
KIMURA Kazuki, NONAKA Kenichiro, SEKIGUCHI Kazuma
Mech Eng J (Web)   2(3) 14-00568-14-00568 (J-STAGE)   2015
ODA Takatsugu, NONAKA Kenichiro, SEKIGUCHI Kazuma
Transactions of the Society of Instrument and Control Engineers   51(7) 484-493   2015
This paper investigates a robust path tracking control for four-wheel driving and steering vehicles. The proposed integrated control system aims at high maneuverability and robustness. The proposed controller is applied to the path tracking proble...
HAGIMORI Yuki, TAKAHASHI Naoki, NONAKA Kenichiro
Transactions of the JSME (in Japanese)   81(825) 14-00484-14-00484   2015
Robots with independent four-wheel steering have many advantages such as high mobility, energy efficiency and strong stability. They can move toward arbitrary direction by conforming the wheel velocity to the velocity field of the locomotion. If t...

Books etc

 
Modeling and Analysis of Dynamical Systems
Toukyo Denki University Pub.   2000   
Variable Structure Systems Sliding Mode and Nonlinear Control
Springer   1999   
Simulation Dictionary
Corona publishing Co., Ltd.   2012   ISBN:978-4-339-02458-6
A Primer of Technical Writing and Presentation
CORONA Publishing Co., LTD.   2008   

Conference Activities & Talks

 
Masaki Koizumi, Kenichiro Nonaka, Kazuma Sekiguchi
2017 Asian Control Conference, ASCC 2017   7 Feb 2018   
© 2017 IEEE. Localization is important to achieve safety motion of autonomous mobile robots. In this paper, we propose a model predictive control which prevents vehicles from falling into a singular localization environment with less features. We ...
Masafumi Saito, Kenichiro Nonaka, Kazuma Sekiguchi
2017 Asian Control Conference, ASCC 2017   7 Feb 2018   
© 2017 IEEE. For planetary rovers, a path planning with reduced risk is critical to realize safety and efficient locomotion on uneven terrain. To realize such locomotion, it is important to combine the local information observed by on-board sensor...
Takatsugu Oda, Kenichiro Nonaka, Kazuma Sekiguchi
2017 Asian Control Conference, ASCC 2017   7 Feb 2018   
© 2017 IEEE. This paper presents energy conserving vehicle motion control for electric vehicles equipped with different types of drive motors. The proposed controller, which minimizes total energy consumption in a vehicle, consists of guidance con...
Naoto Ogawa, Kenichiro Nonaka, Kazuma Sekiguchi
2017 Asian Control Conference, ASCC 2017   7 Feb 2018   
© 2017 IEEE. In our previous study, we developed the odometer having a caster mechanism. We can estimate the translational and rotational velocity of a mobile robot using two of them. When we use the odometers on an uneven ground, the measured val...
Yuuki Nishio, Kenichiro Nonaka, Kazuma Sekiguchi
2017 Asian Control Conference, ASCC 2017   7 Feb 2018   
© 2017 IEEE. In this paper, we propose an obstacle avoidance method considering both the shape and dynamics of robot and the motion of obstacles, using model predictive control (MPC) and fuzzy potential method (FPM). FPM can deal with the shape of...
Kenta Yamamoto, Kazuma Sekiguchi, Kenichiro Nonaka
2017 Asian Control Conference, ASCC 2017   7 Feb 2018   
© 2017 IEEE. This paper proposes a formation control method for multi quadcopters considering collision avoidance using model predictive control (MPC) in three dimensional space. To achieve the formation control, the term of consensus is included ...
Y. Morihiro, N. Takahashi, K. Nonaka, K. Sekiguchi
IFAC-PapersOnLine   1 Jan 2018   
© 2018 Leg/wheel mobile robots have a hybrid mechanism combining legs and wheels. Those robots are expected as a transporter in an extraterrestrial environment because leg/wheel mechanisms have the potential to move on rough terrain efficiently. A...
Koji Shibata, Naoki Shibata, Kenichiro Nonaka, Kazuma Sekiguchi
IFAC-PapersOnLine   1 Jan 2018   
© 2018 In this paper, moving obstacle avoidance in narrow environment is studied. Recently, electric wheelchairs are widely used, which has independent driving wheels modeled as a two-wheeled nonholonomic vehicle model. One of the challenges on ob...
Hiroaki Endo, Ryo Aramaki, Kazuma Sekiguchi, Kenichiro Nonaka
1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017   6 Oct 2017   
© 2017 IEEE. We apply the method to suppress the influence of the model error to a quadcopter. Because a quadcopter is a flying object, the stability is important. Many model based controllers have been proposed and applied to a quadcopter but the...
Takahiro Suyama, Kazuma Sekiguchi, Kenichiro Nonaka
1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017   6 Oct 2017   
© 2017 IEEE. This study presents the interaction suppression control of multi-copter using MPC that considers the disturbance map. The influence of wind by propellers to another quad copter is estimated beforehand and the disturbance map made from...

Works

 
Kenichiro Nonaka
2012
Kenichiro Nonaka
2009 - 2012

Research Grants & Projects

 
Cooperative and Distributed Model Model Predictive Control for Leg / Wheel Mobile Robots
Grant-in-Aid for Scientific Research C
Project Year: 2015 - 2017    Investigator(s): Kenichiro Nonaka
Implementation of Model Predictive Control into embedded CPU and Application to Mobile Robots
Grant-in-Aid for Scientific Research C
Project Year: 2012 - 2015    Investigator(s): Kenichiro Nonaka
A Study on the optimal wheel allocation for leg/wheel mobile robots
Grant-in-Aid for Scientific Research C
Project Year: 2009 - 2012    Investigator(s): Kenichiro Nonaka
開ループ振動安定化制御による、電磁気MEMSリニアアクチュエータの可動範囲の拡張
Grant-in-Aid for Young Scientists (B)
Project Year: 2002 - 2003    Investigator(s): Kenichiro Nonaka
Control of Wheel/Leg Mobile Robots
Open Loop Oscillatory Stabilization Control of Electromechanical Systems
Sliding Mode Robust Control of Vehicles