{
  "@id": "https://api.researchmap.jp/fujimoto_kenji/misc/35392759",
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  "rm:created": "2021-10-26T15:34:57Z",
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  "rm:modifier_type": "ai",
  "rm:modified": "2021-10-26T15:34:57Z",
  "paper_title": {
    "ja": "641 母関数を用いた最適軌道計画の近似解法について",
    "en": "641 On approximate solutions to optimal trajectory planning based on generating functions"
  },
  "authors": {
    "ja": [
      {
        "name": "藤本 健治"
      },
      {
        "name": "HAO Zhiwei"
      }
    ],
    "en": [
      {
        "name": "FUJIMOTO Kenji"
      },
      {
        "name": "HAO Zhiwei"
      }
    ]
  },
  "description": {
    "ja": "We develop an algorithm to compute an approximate solution to the Hamilton-Jacobi equation for the generating function for a nonlinear optimal control problem in this paper. We prove that an approximate generating function based on Taylor series can be obtained by solving a sequence of first-order ordinary differential equations. Once we obtain a generating function for a certain boundary condition, we can solve any trajectory generation problem of the same system for different boundary conditions. Numerical examples illustrate the effectiveness of the proposed method.",
    "en": "We develop an algorithm to compute an approximate solution to the Hamilton-Jacobi equation for the generating function for a nonlinear optimal control problem in this paper. We prove that an approximate generating function based on Taylor series can be obtained by solving a sequence of first-order ordinary differential equations. Once we obtain a generating function for a certain boundary condition, we can solve any trajectory generation problem of the same system for different boundary conditions. Numerical examples illustrate the effectiveness of the proposed method."
  },
  "publisher": {
    "ja": "一般社団法人日本機械学会",
    "en": "The Japan Society of Mechanical Engineers"
  },
  "publication_date": "2012-09-18",
  "publication_name": {
    "ja": "Dynamics & Design Conference",
    "en": "Dynamics & Design Conference"
  },
  "volume": "2012",
  "starting_page": "\"641",
  "ending_page": "1\"-\"641-10\"",
  "languages": [
    "eng"
  ],
  "rm:is_open_access": false,
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      "110009908274"
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      "AA12120184"
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{
  "@id": "https://api.researchmap.jp/fujimoto_kenji/misc/37446709",
  "@type": "misc",
  "@reverse": "https://api.researchmap.jp/fujimoto_kenji/misc",
  "rm:id": "37446709",
  "rm:user_id": "1000221142",
  "display": "disclosed",
  "major_achievement": false,
  "rm:creator_id": "ai:assign_based_internal_feeds",
  "rm:creator_type": "ai",
  "rm:created": "2022-06-29T03:59:17Z",
  "rm:modifier_id": "ai:assign_based_internal_feeds",
  "rm:modifier_type": "ai",
  "rm:modified": "2022-06-29T03:59:17Z",
  "paper_title": {
    "ja": "受動性に基づく確率ポート・ハミルトン系の安定化",
    "en": "Stabilization of stochastic port-Hamiltonian systems based on passivity"
  },
  "authors": {
    "ja": [
      {
        "name": "佐藤 訓志"
      },
      {
        "name": "藤本 健治"
      }
    ],
    "en": [
      {
        "name": "SATOH Satoshi"
      },
      {
        "name": "FUJIMOTO Kenji"
      }
    ]
  },
  "description": {
    "ja": "筆者らは,確定システムの分野で提案されているポート・ハミルトン系を,確率ポート・ハミルトン系として伊藤型確率微分方程式で記述される確率システムへ拡張し,さらにこの系が持ついくつかの性質を明らかにした.本論文では,これまでに得られている結果をまとめる.具体的には,第一に確率ポート・ハミルトン系の構造を保存する座標変換の必要十分条件を示し,第二に確率ポート・ハミルトン系が確率受動性を有するための必要十分条件を示す.第三に,ポート・ハミルトン系の性質を保存する座標変換とフィードバック変換の組である一般化正準変換を確率システムへ拡張した確率一般化正準変換について述べ,これらの変換の組が満たすべき条件を与える.さらに,変換後のシステムが確率ポート・ハミルトン系の構造を保存するだけでなく,確率受動性を持つための必要十分条件を示す.本論文で述べるこれらの性質は,確定システムにおける結果を特別な場合として含んでいる.最後に,確率受動性に基づく確率安定化手法を与える.この方法は制御対象に確率一般化正準変換を施し,確率受動性を持つ新たな確率ポート・ハミルトン系に変換した後,出力フィードバックにより確率安定化を達成するものである.非線形確率システムの安定化は一般に困難であるが,提案手法を利用すれば出力フィードバックという非常に簡単な制御器で確率安定化が達成できる.",
    "en": "This paper introduces stochastic port-Hamiltonian systems and clarifies some of their properties. Stochastic port-Hamiltonian systems are extension of port-Hamiltonian systems which are used to express various deterministic passive systems. Some properties such as passivity of port-Hamiltonian systems do not generally hold for the stochastic port-Hamiltonian systems. Firstly, we show the necessary and sufficient condition to preserve the stochastic Hamiltonian structure of the original system under coordinate transformations. Secondly, we derive the condition to maintain stochastic passivity of the system. Finally, we introduce stochastic generalized canonical transformations and propose a stabilization method based on stochastic passivity."
  },
  "publisher": {
    "ja": "一般社団法人電子情報通信学会",
    "en": "The Institute of Electronics, Information and Communication Engineers"
  },
  "publication_date": "2008-10-30",
  "publication_name": {
    "ja": "電子情報通信学会技術研究報告. NLP, 非線形問題",
    "en": "IEICE technical report"
  },
  "volume": "108",
  "number": "276",
  "starting_page": "53",
  "ending_page": "57",
  "languages": [
    "jpn"
  ],
  "rm:is_open_access": false,
  "identifiers": {
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      "0913-5685"
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      "AN10060800"
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{
  "@id": "https://api.researchmap.jp/fujimoto_kenji/misc/37446704",
  "@type": "misc",
  "@reverse": "https://api.researchmap.jp/fujimoto_kenji/misc",
  "rm:id": "37446704",
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  "rm:created": "2022-06-29T03:59:16Z",
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  "rm:modified": "2022-06-29T03:59:16Z",
  "paper_title": {
    "ja": "ポート・ハミルトン系の受動的経路追従制御",
    "en": "Passive path following control of port-Hamiltonian systems"
  },
  "authors": {
    "ja": [
      {
        "name": "谷口 充"
      },
      {
        "name": "藤本 健治"
      }
    ],
    "en": [
      {
        "name": "TANIGUCHI Mitsuru"
      },
      {
        "name": "FUJIMOTO Kenji"
      }
    ]
  },
  "description": {
    "ja": "本論文ではポート・ハミルトン系に対する経路追従制御の手法を提案する.提案手法は速度場を用いて全駆動系の経路追従制御を行うPassive velocity field controlを拡張した手法である.提案手法は架空のポテンシャル関数と余接空間上のベクトル場を用いて制御を行う.ポート・ハミルトン系は多くのメカニカル系を表すことができ,提案手法は非ホロノミック系を含む多くの系に適用することが可能である.さらに,提案手法では目標経路上を動くときの符号つきの速度を指定することができる.",
    "en": "This paper is devoted to path following control for port-Hamiltonian systems which have energy dissipation mechanism. The control law presented here is extension of an existing passive velocity field controller for fully actuated mechanical systems. The proposed method employs vector fields on co-tangent spaces instead of those on tangent spaces. Since port-Hamiltonian systems can describe a wider class of systems than conventional mechanical ones, the proposed method is applicable to various systems. Furthermore, in the proposed method we can determine velocity of systems and direction systems move on reference path."
  },
  "publisher": {
    "ja": "一般社団法人電子情報通信学会",
    "en": "The Institute of Electronics, Information and Communication Engineers"
  },
  "publication_date": "2008-10-30",
  "publication_name": {
    "ja": "電子情報通信学会技術研究報告. NLP, 非線形問題",
    "en": "IEICE technical report"
  },
  "volume": "108",
  "number": "276",
  "starting_page": "59",
  "ending_page": "64",
  "languages": [
    "jpn"
  ],
  "rm:is_open_access": false,
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      "110007100519"
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      "AN10060800"
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{
  "@id": "https://api.researchmap.jp/fujimoto_kenji/misc/37774515",
  "@type": "misc",
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  "rm:id": "37774515",
  "rm:user_id": "1000221142",
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  "rm:creator_id": "ai:assign_based_internal_feeds",
  "rm:creator_type": "ai",
  "rm:created": "2022-07-01T07:05:37Z",
  "rm:modifier_id": "ai:assign_based_internal_feeds",
  "rm:modifier_type": "ai",
  "rm:modified": "2022-07-01T07:05:37Z",
  "paper_title": {
    "ja": "505 ポートハミルトン系モデルを用いた電気機械システムの軌道追従制御について(OS7-1 制御理論の新展開と機械システムへの応用1,OS7 制御理論の新展開と機械システムへの応用)",
    "en": "505 On trajectory tracking control of electro-mechanical systems using port-controlled Hamiltonian system models"
  },
  "authors": {
    "ja": [
      {
        "name": "松下 亮介"
      },
      {
        "name": "藤本 健治"
      }
    ],
    "en": [
      {
        "name": "MATSUSHITA Ryousuke"
      },
      {
        "name": "FUJIMOTO Kenji"
      }
    ]
  },
  "publisher": {
    "ja": "一般社団法人日本機械学会",
    "en": "The Japan Society of Mechanical Engineers"
  },
  "publication_date": "2008-03-01",
  "publication_name": {
    "ja": "東海支部総会講演会講演論文集"
  },
  "volume": "2008",
  "number": "57",
  "starting_page": "357",
  "ending_page": "358",
  "languages": [
    "jpn"
  ],
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  "identifiers": {
    "cinii_na_id": [
      "110007721508"
    ],
    "cinii_nc_id": [
      "AN00360681"
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{
  "@id": "https://api.researchmap.jp/fujimoto_kenji/misc/39153912",
  "@type": "misc",
  "@reverse": "https://api.researchmap.jp/fujimoto_kenji/misc",
  "rm:id": "39153912",
  "rm:user_id": "1000221142",
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  "rm:created": "2022-07-25T07:05:29Z",
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  "rm:modifier_type": "ai",
  "rm:modified": "2022-07-25T07:05:29Z",
  "paper_title": {
    "ja": "状態空間モデルを用いた非最小位相系の独立成分分析",
    "en": "Independent component analysis for nonminimum phase systems using state space models"
  },
  "authors": {
    "ja": [
      {
        "name": "福永 修一"
      },
      {
        "name": "藤本 健治"
      }
    ],
    "en": [
      {
        "name": "FUKUNAGA Shuichi"
      },
      {
        "name": "FUJIMOTO Kenji"
      }
    ]
  },
  "description": {
    "ja": "本研究では状態空間モデルを用いた非最小位相系の独立成分分析を提案する.独立成分分析は逆システムを推定することによって入力信号を復元する方法である.しかし従来手法は逆システムが安定であることを仮定していたため非最小位相系は扱うことができない.そこでH_∞フィルタを用いて逆システムの状態を推定する.そしてシステムのパラメータはKullback-Leibelerダイバージェンスを最小化することによって推定する.最後に数値例を用いて提案手法の有効性を示す.",
    "en": "This paper proposes an independent component analysis method using state space models for nonminimum phase systems. In the basic ICA approach, the input signal is recovered by estimating the parameter of the inverse of the mixing system. If the system is nonminimum phase, the estimated parameter diverges due to the instability of the inverse of it. For this problem, a stable inverse filter is constructed based on a H^ filter in order to estimate the state of the given plant. The learning algorithm to estimate the parameter of the system is derived by minimizing the Kullback-Leibler divergence. Furthermore, a numerical simulation demonstrates the effectiveness of the proposed method."
  },
  "publisher": {
    "ja": "一般社団法人電子情報通信学会",
    "en": "The Institute of Electronics, Information and Communication Engineers"
  },
  "publication_date": "2007-03-07",
  "publication_name": {
    "ja": "電子情報通信学会技術研究報告. NC, ニューロコンピューティング",
    "en": "IEICE technical report"
  },
  "volume": "106",
  "number": "588",
  "starting_page": "167",
  "ending_page": "171",
  "languages": [
    "jpn"
  ],
  "rm:is_open_access": false,
  "identifiers": {
    "issn": [
      "0913-5685"
    ],
    "cinii_na_id": [
      "110006249045"
    ],
    "cinii_nc_id": [
      "AN10091178"
    ]
  },
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      "label": "url",
      "@id": "http://id.ndl.go.jp/bib/8706369",
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{
  "@id": "https://api.researchmap.jp/fujimoto_kenji/misc/39052876",
  "@type": "misc",
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  "rm:id": "39052876",
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  "paper_title": {
    "ja": "113 メカトロニクス系のモデル低次元化",
    "en": "113 Model order reduction of electro-mechanical systems"
  },
  "authors": {
    "ja": [
      {
        "name": "藤本 健治"
      }
    ],
    "en": [
      {
        "name": "FUJIMOTO Kenji"
      }
    ]
  },
  "description": {
    "ja": "実世界に存在する対象の多くが非線形のふるまいをする系であるのに対して,従来はこれを近似して線形のモデルを構成することにより,線形の制御理論を適用していた.しかしより高精度な制御を行なったり,より複雑な制御対象を扱いたいという要求から,近年非線形の対象は非線形のまま制御しようという非線形制御理論が注目を集めてきている.実際にさまざまな非線形制御法が構築されつつあるが,これらの制御法を実際の制御対象に適用する際には,モデルおよび補償器はどんどん複雑になる.このような場合に重要になるのが平衡実現やモデル低次元化の技術である.例えば,与えられた制御対象が複雑過ぎて設計が困難な場合や,補償器は設計できたけれども実機に実装するにはその計算量が多過ぎるような場合には,一般に制御対象や補償器を低次元化してやることで計算量を抑制することが期待できる.また制御系設計の際の計算の側面だけをとってみても,平衡実現を用いることによって数値的に安定な設計を行なえることが知られている.このように非線形系の平衡実現は重要な問題であり,非線形制御の今後の発展において基礎的な土台となるものである.線形制御理論における平衡実現とは,制御対象の入力から内部状態までの関係を表す可制御性グラミアンと呼ばれる行列と,内部状態から出力までの関係を表す可観測性グラミアンと呼ばれる行列が,互いに等しくなるような状態空間実現である.この実現を用いることで,数値的に扱いやすい状態空間実現が得られるだけでなく,内部状態が入出力関係にどれくらい寄与しているかを見通し良く計ることができる.したがって入出力への寄与が大きい状態とそれに関連するダイナミクスだけを取り出すことでモデル低次元化やシステム同定が行なえる.このように平衡実現は応用上も重要であるのだが,システム理論的にも非常に興味深いものである.非線形の平衡実現は,上に述べたグラミアンを非線形系に一般化したものである可制御性関数および可観測性関数を用いておこなう.グラミアンの計算は(線形の)リアプノフ方程式を解くことで得られたが,非線形の可制御性関数・可観測性関数はそれぞれ,ハミルトンヤコビ方程式および(非線形の)リアプノワ方程式と,偏微分方程式を解かねばならない.しかし一般にこれらの方程式の解を求めるのは難しく,とくに大規模システムに対してそのまま解を求めることは困難である.本論文は,この非線形平衡実現に基づく低次元化法を基礎として,メカトロニクス系の特性を保存するような低次元化法を提案するものである.とくにメカトロニクス系のモデルとしてハミルトン系を採用することで,系の持つ物理的エネルギーの総和であるハミルトン関数が,ある条件の元で重み付の可制御性関数や可観測性関数と一致することを示す.この性質により, (i)物理的エネルギーやハミルトン系の構造を保存したモデル低次元化が可能になりさらに, (ii)可制御性関数や可観測性関数を計算する際の偏微分方程式を解かなくても良いことになり,計算量を大幅に削減できる,という二つの際立った特徴を持つ手法となっている.さらに数値例を用いて提案手法の有効性の検証をおこなう.",
    "en": "This paper proposes a model order reduction procedure based on nonlinear balanced truncation which preserves the port-Hamiltonian structure of the original model. This method allows us to preserve the energy variable which will be useful in controlling the reduced order model. A numerical simulation shows how the proposed method works."
  },
  "publisher": {
    "ja": "一般社団法人日本機械学会",
    "en": "The Japan Society of Mechanical Engineers"
  },
  "publication_date": "2006-08-06",
  "publication_name": {
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  "paper_title": {
    "ja": "ハミルトン系の変分対称性と学習制御 : ホッピングロボットの走行軌道生成への応用",
    "en": "Variational symmetry and learning control of Hamiltonian control systems : Application to a hopping robot"
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    "ja": [
      {
        "name": "藤本 健治"
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    "en": [
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    "ja": "本報告では,力学系や電気回路などの物理システムを表すハミルトン制御系の変分対称性と呼ばれる性質に注目した学習制御の方法について述べる.制御工学における反復学習制御や反復フィードバックチューニングと関連の深いアルゴリズムであるが,あるクラスの最適制御問題を入出力データのみから求めることができるものである.ここではその仕組みと応用例を取り扱う."
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        "name": "Fujimoto Kenji"
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    "en": "Dynamic Output Feedback Stabilization of a Class of Nonholonomic Systems"
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        "name": "酒井 悟"
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      {
        "name": "藤本 健治"
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    "en": "Singular value analysis and balanced realization of nonlinear systems"
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    "ja": [
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        "name": "藤本 健治"
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    "en": [
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        "name": "FUJIMOTO Kenji"
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  "description": {
    "ja": "本報告では,非線制御系に対する特異値解析の方法と,その平衡実現やモデル低次元化への応用について述べる.まず平衡実現のためのツールについて述べたあと,非線形作用素の特異値の導入を行ない,最後にハンケル作用素と呼ばれる非線形制御系に関連する作用素の特異値解析から平衡実現・モデル低次元化の方法を得る.ここで示す結果は,線形系に対する諸結果を自然に非線形系に拡張したものになっている."
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    "ja": "柔よく剛を制す制御? : ダイナミクスべースト制御とハミルトン系",
    "en": "Control like \"Soft and Fair goes Far\" : Dynamics Based Control and Hamiltonian Systems"
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    "ja": "L_2-Gain and Passivity Techniques in Nonlinear Control, Arjan van der Schaft著, 出版社 Springer, 発行 2000年, 全ページ 262頁, 価格 DM 169, ISBN 1-85233-073-2(「人間を内部に含んだ系のモデリングと設計特集号」)",
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