Researcher basic information

• Bachelor of Engineering, Hokkaido University, Mar. 2017
• Master of Engineering, Hokkaido University, Mar. 2019
• Doctor of Engineering, Hokkaido University, Mar. 2021

• https://researchmap.jp/heisei620?lang=en

• https://orcid.org/0000-0001-9808-2224
• https://jglobal.jst.go.jp/detail?JGLOBAL_ID=202101008628741810

• 50944328

• https://orcid.org/0000-0001-9808-2224

• 202101008628741810

• Deep reinforcement learning
• Reinforcement learning
• Optimization algorithm
• Fuzzy control
• Fuzzy inference
• Model-free control
• mechanical dynamics
• vibration engineering
• control engineering
• powertrain
• active vibration control

• Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering), Control and system engineering, vibration control, vehicle systems, powertrain, robust control, optimal control

• Bachelor's degree program, School of Engineering
• Master's degree program, Graduate School of Engineering
• Doctoral (PhD) degree program, Graduate School of Engineering

Research activity information

• Mar. 2026, 北海道大学 大学院工学研究院, 若手教員奨励賞
  米沢平成
• Mar. 2025, 公益財団法人・マザック財団, 優秀論文表彰
  Simple Inverse Kinematics Computation Considering Joint Motion Efficiency
  Ansei Yonezawa;Heisei Yonezawa;Itsuro Kajiwara
• Mar. 2025, 日本機械学会, 日本機械学会奨励賞（研究）
  非線形特性と制御周期制約を考慮した駆動系の振動制御の研究
  米沢平成
• Nov. 2022, 2022 The 10th International Conference on Control, Mechatronics and Automation (ICCMA 2022), ICCMA 2022-Best Presentation Award
  Active reduction of transient driveline oscillations with fuzzy update timings of control input
  Heisei Yonezawa;Ansei Yonezawa;Takashi Hatano;Shigeki Hiramatsu;Chiaki Nishidome;Itsuro Kajiwara
• Sep. 2021, 日本機械学会 機械力学・計測制御部門, 「Dynamics and Design Conference 2020」オーディエンス表彰
  可変制御周期による影響を考慮した自動車駆動系のアクティブ振動制御
  Japan society, Japan
• Mar. 2019, Society of Automotive Engineers of Japan, Inc., Graduate school research encouragement award
  Vibration control of automotive drive system considering gear backlash
  Heisei Yonezawa
• Mar. 2019, The Japan Society of Mechanical Engineers, Miura Prize
  Heisei Yonezawa, Japan
• Mar. 2017, 一般社団法人日本機械学会北海道支部, 第46回日本機械学会 北海道学生会卒業研究発表講演会 ベストプレゼンテーション賞

• GA-Based Binary Sparse Data-Driven Identification and Nonlinear Model Predictive Control of Diesel Engine Air-Path System
  Kentaro Murakami; Shuichi Yahagi; Ansei Yonezawa; Heisei Yonezawa; Hiroki Seto; Shinya Kijimoto; Itsuro Kajiwara
  IEEE Open Journal of the Industrial Electronics Society, 2026, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Sparse Identification of Nonlinear Dynamics With Library Optimization Mechanism: Recursive Long-Term Prediction Perspective
  Ansei Yonezawa; Heisei Yonezawa; Shuichi Yahagi; Itsuro Kajiwara; Shinya Kijimoto; Hikaru Taniuchi; Kentaro Murakami
  IEEE Transactions on Cybernetics, 1, 14, Institute of Electrical and Electronics Engineers (IEEE), 2026, [Peer-reviewed]
  English, Scientific journal
• Model-based controller assisted domain randomization for transient vibration suppression of nonlinear powertrain system with parametric uncertainty
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Mechanical Systems and Signal Processing, 241, 113570, 113570, Elsevier BV, Dec. 2025, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal
• One-shot Data-driven Tuning Approach for Fractional-order Controller Based on Fictitious Reference Signal and Total Variation Regularization
  Ansei Yonezawa; Heisei Yonezawa; Shuichi Yahagi; Itsuro Kajiwara; Shinya Kijimoto
  International Journal of Control, Automation and Systems, 23, 11, 3238, 3247, Springer Science and Business Media LLC, 04 Nov. 2025, [Peer-reviewed]
  English, Scientific journal
• Simple Controller Design to Achieve Iso-Damping Robustness: Noniterative Data-Driven Approach Based on Fractional-Order Reference Model
  Ansei Yonezawa; Heisei Yonezawa; Shuichi Yahagi; Itsuro Kajiwara
  IEEE Transactions on Systems, Man, and Cybernetics: Systems, 55, 11, 8210, 8223, Institute of Electrical and Electronics Engineers (IEEE), Nov. 2025, [Peer-reviewed]
  English, Scientific journal
• Fractional‐order controller tuning via minimization of integral of time‐weighted absolute error without multiple closed‐loop tests
  Ansei Yonezawa; Heisei Yonezawa; Shuichi Yahagi; Itsuro Kajiwara; Shinya Kijimoto
  Asian Journal of Control, Wiley, 17 Jul. 2025, [Peer-reviewed]
  English, Scientific journal, Abstract
  
  This study presents a non‐iterative tuning technique for a linear fractional‐order (FO) controller, based on the integral of the time‐weighted absolute error (ITAE) criterion. Minimizing the ITAE is a traditional approach for tuning FO controllers. This technique reduces the over/undershoot and suppresses the steady‐state error. In contrast to conventional approaches of ITAE‐based controller tuning, the proposed approach does not require multiple closed‐loop experiments or model‐based simulations to evaluate the ITAE. The one‐shot input/output data is collected from the controlled plant. A fictitious reference signal is defined on the basis of the collected input and output signal, which enables us to evaluate the closed‐loop response provided by the arbitrary controller parameters. To avoid repeated experiments that are necessary in the conventional approach, we reformulate the ITAE minimization problem using the fictitious reference signal. The desired FO controller parameters minimizing the ITAE are obtained by solving the optimization problem that is based on the fictitious reference signal. The validity of the proposed approach is demonstrated by a numerical study. The avoidance of repeated experiments significantly reduces the development cost of linear FO controllers, thereby facilitating their practical application.
• Model-free parameter tuning with continuous genetic algorithm: Application to virtual controlled object-based active vibration controller
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, SAGE Publications, 28 Mar. 2025, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal, Active vibration control is a powerful approach to provide higher damping effects over a broad range of frequencies. However, most of them generally involve a modeling process of a controlled structure, complicating the controller design. The main contribution of this study is to present a novel tuning scheme of a model-free active oscillation controller based on continuous genetic algorithm (CGA), which can simplify a controller design process by eliminating the need for plant modeling. The model-free controller is developed using a virtual controlled object (VCO) as its foundation. VCO makes it possible to construct an active damping controller without knowing any specifications of a real controlled structure. In the offline tuning of the design variables of the controller, we use a reference-controlled object (RCO) - a single-degree-of-freedom (SDOF) structure defined by the designer - to assess the damping level instead of the actual controlled structure model. This evaluation is feasible due to the robustness of the VCO-based design, which accommodates variations in the controlled object structures. The application of the CGA, which has the global search ability, enables automatically specifying the optimal parameter values without costly trial-and-error works. The effectiveness of the auto-optimized model-free damping controller is demonstrated through numerical examples across different mechanical systems, with comparisons made to a trial-and-error-tuned controller. The main finding is that the controller can reduce the vibration amplitudes even though plant modeling of the actual controlled objects is not accompanied at all. As the representative results, the resonance peaks of two different cantilever plates were suppressed by 14.38 and 27.13 dB in the low-frequency band. The detailed-specification-independent nature provided by the model-free design makes it possible to apply the resultant controller to various structures because the robustness is enforced.
• Active Vibration Control with a Combination of Virtual Controlled Object-Based Model-Free Design and Fuzzy Sliding Mode Technique
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Journal of Vibration Engineering & Technologies, Feb. 2025, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal
• Geometric and dynamic error compensation of dual-drive machine tool based on mechanism-data hybrid method
  Qi Liu; Hong Lu; Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara; Tao Jiang; Jiji He
  Mechanical Systems and Signal Processing, Feb. 2025, [Peer-reviewed]
  English, Scientific journal
• Final state control-based active compensation for backlash in vibration suppression of automobile powertrain
  Masaki Hirata; Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  International Journal of Control, Feb. 2025, [Peer-reviewed]
  English, Scientific journal
• Experimental verification of model-free active damping system based on virtual controlled object and fuzzy sliding mode control
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Mechanical Systems and Signal Processing, 224, 01 Jan. 2025, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal
• Simultaneous Perturbation Algorithm Tuned Oscillation Controller for Automotive Driveline With Kalman Filtering-Based Compensation for Dead-Zone Nonlinearity
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Volume 5: Dynamics, Vibration, and Control, American Society of Mechanical Engineers, 17 Nov. 2024
  International conference proceedings, Abstract
  
  Advanced active control algorithms have addressed the reduction of vehicle driveline oscillations with the purpose of improving component lifespan and drivability. However, the majority of the current works require the important controller parameters to be determined subjectively, placing a significant burden on designers to make adjustments. This study offers an effective model-based driveline vibration controller tuning technique that specifically takes nonlinear backlash’s negative effects into account. Initially, a driveline model is created that incorporates a dead-zone impact of backlash. To reduce a driveline’s low-frequency resonance, a baseline controller reflecting H2 control theory is used. To handle the backlash nonlinearity, the controller is coupled with a control mode switching-based compensation. For identifying whether the system is in the backlash mode or the contact mode, the state vector is estimated by a Kalman filter. The Kalman filter-based state estimation enables switching of the two control modes systematically and stably. A computationally efficient approach, namely the simultaneous perturbation stochastic approximation (SPSA), finds out the best values of their significant design parameters that are incorporated in the active control system. Multiple comparative simulations confirm the effectiveness of the proposed active oscillation controller adjusted by the SPSA. The resilience is assessed for several patterns of driveline dynamics variations. Consequently, it is discovered that the improved vibration suppression performance is stemming from the backlash compensation.
• Efficient Controller Tuning Technique for Model-Free Active Vibration Control Based on Virtual Controlled Object
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  Volume 5: Dynamics, Vibration, and Control, American Society of Mechanical Engineers, 17 Nov. 2024
  International conference proceedings, Abstract
  
  Vibration control based on a virtual controlled object (VCO) is a simple and practical model-free active vibration suppression strategy. To utilize VCO-based model-free control, controller tuning plays the critical role. This study presents a computationally efficient tuning strategy for the VCO-based model-free active vibration controller. A state equation for model-free controller design is derived based on an actuator model and the VCO. The parameters of the VCO are determined so as to achieve the vibration suppression in the predetermined controlled frequency band. Then, we introduce the reference controlled object (RCO). The control performance of the VCO-controller is evaluated through the vibration control simulation for the RCO. Iteratively executing the vibration suppression simulation for the RCO, the suitable design parameters of the VCO-controller are searched on the basis of the simultaneous perturbation stochastic approximation (SPSA) algorithm. The nonlinear parametrization technique enhances the tuning efficiency. The validity of the tuning scheme is demonstrated by applying it to the design problem of the VCO-based model-free linear quadratic regulator (LQR). The numerical simulations verify the applicability of the VCO-LQR tuned by the proposed approach to wide variety of controlled objects other than the RCO.
• Experimental validation of adaptive grey wolf optimizer-based powertrain vibration control with backlash handling
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Mechanism and Machine Theory, Nov. 2024, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal
• Compensation approach for discretization constraint in automobile powertrain control and its performance evaluation
  Yoshifusa ITO; Masaki HIRATA; Heisei YONEZAWA; Shota SATO; Takashi HATANO; Chiaki NISHIDOME; Itsuro KAJIWARA
  Transactions of the JSME (in Japanese), 90, 936, Japan Society of Mechanical Engineers, Aug. 2024, [Peer-reviewed], [Corresponding author]
  Japanese, Scientific journal
• Practical one-shot data-driven design of fractional-order PID controller: fictitious reference signal approach
  Ansei Yonezawa; Heisei Yonezawa; Shuichi Yahagi; Itsuro Kajiwara
  ISA Transactions, Elsevier BV, Jul. 2024, [Peer-reviewed]
  English, Scientific journal
• Grey wolf optimization tuned drivetrain vibration controller with backlash compensation strategy using time-dependent-switched Kalman filter
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, SAGE Publications, 24 Mar. 2024, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal, To improve the performance and durability of vehicle components, efforts have been made to reduce driveline oscillations using advanced active control algorithms. However, existing methods often rely on subjective parameter adjustments, which can be burdensome for designers. This study introduces an effective tuning algorithm for a driveline vibration controller that accounts for nonlinear backlash effects. Initially, a driveline dynamics model is developed to focus on transient oscillations resulting from changes in driving force and the presence of nonlinear backlash. The backlash impact is incorporated into the model through a discontinuous dead-zone region. Two operational dynamics, which are the contact mode and the backlash mode, are considered. A dynamic output feedback [Formula: see text] controller is designed as a baseline controller to mitigate low-frequency resonance in the driveline. A solution for managing the nonlinear backlash challenges is introduced, involving the use of a simple control mode switching algorithm in conjunction with the controller. This algorithm relies on a time-dependent-switched Kalman filter. Additionally, the optimal settings for the parameters needed by the mode-switching algorithm are autonomously determined using the grey wolf optimizer (GWO). The proposed active controller can be implemented in real vehicles by using an on-vehicle acceleration sensor and electronic control unit (ECU). In a simulation environment, the vehicle body vibration is online fed back to the resultant controller, and an actuator is supposed to apply control commands to the driveline. The effectiveness of this newly proposed active controller is confirmed through comparative tests, revealing the superior vibration control.
• Experimental verification of active oscillation controller for vehicle drivetrain with backlash nonlinearity based on norm-limited SPSA
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, Mar. 2024, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal
• Simple Inverse Kinematics Computation Considering Joint Motion Efficiency
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  IEEE Transactions on Cybernetics, 1, 12, Institute of Electrical and Electronics Engineers (IEEE), 2024, [Peer-reviewed]
  English, Scientific journal
• Novel Powertrain Vibration Controller With Six Rules-Based Fuzzy Inference for Time-Fluctuated Control Period
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  IEEE Access, 12, 11972, 11986, Institute of Electrical and Electronics Engineers (IEEE), 2024, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal
• Improved Six Rules-Based Fuzzy Compensation for Time-Varying Control Cycle in Active Powertrain Oscillation Reduction
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Volume 6: Dynamics, Vibration, and Control, American Society of Mechanical Engineers, 29 Oct. 2023
  International conference proceedings, Abstract
  
  To prevent the degradations of comfort and drivability, this research presents an improved fuzzy-logic-based active oscillation control algorithm for an automotive powertrain with a time-fluctuated control cycle limitation. A sampled-data controller is firstly employed as the base control, and a model-predictive algorithm is implemented to compute the optimal control signals at a periodic time interval. However, the update timing of the real control input fluctuates over time due to the powertrain actuator limitation. The fuzzy reasoning is applied to tackle the time-fluctuated control cycles. In the present method, the update timing is translated into some fuzzy sets. Moreover, the periodic control signals by the sampled-data controller are combined as fuzziness, resulting in linguistic fuzzy sets. Six fuzzy rules are created based on those fuzzy sets to derive feasible control inputs at the fluctuated updating timings. The control strategy is tested via simulations with a powertrain oscillation model. The compensation effect is observed for the two patterns of the fluctuated control cycles. In addition, the test results confirm the improvement of the oscillation reduction over a conventional control algorithm.
• Experimental Comparison of Model-Free Vibration Control Based on Virtual Controlled Object and Model-Based Control: Robustness to Characteristic Changes in Actual Controlled Object
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  Volume 6: Dynamics, Vibration, and Control, American Society of Mechanical Engineers, 29 Oct. 2023
  International conference proceedings, Abstract
  
  Model-free active vibration control based on a virtual controlled object (VCO) has attracted a great deal of attention due to its simplicity. This study experimentally compares VCO-based model-free vibration control with model-based control in terms of the robustness to characteristic changes in an actual controlled object. The VCO is designed so as to achieve model-free vibration suppression in the designated frequency band. A state equation for designing a model-free vibration controller is constructed using only the actuator model and the VCO. The VCO-based model-free controller is designed based on the mixed H2/H∞ synthesis for the state equation. The model-based mixed H2/H∞ controller is designed based on the mathematical model of a both ends supported plate (BESP). The VCO-based and model-based controllers are tuned through vibration control experiment so that both controllers provide the same vibration reduction effects for the BESP. Then these controllers are applied to a vibration control experiment for a cantilever plate which is totally different from the BESP. As a result, the VCO-controller exhibits a good vibration suppression for the cantilever while the model-based one totally fails, revealing the advantage of the VCO-approach over the model-based strategy in the viewpoint of the robustness.
• Efficient parameter tuning to enhance practicability of a model-free vibration controller based on a virtual controlled object
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  Mechanical Systems and Signal Processing, 200, 110526, 110526, Elsevier BV, Oct. 2023, [Peer-reviewed]
  English, Scientific journal
• Efficient Tuning Scheme of Mode-Switching-Based Powertrain Oscillation Controller Considering Nonlinear Backlash
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  IEEE Access, 11, 93935, 93947, Institute of Electrical and Electronics Engineers (IEEE), Sep. 2023, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal
• Experimental verification of active damping of powertrain vibrations with simple fuzzy logic compensation for time-varying control period
  Heisei Yonezawa; Ansei Yonezawa; Takashi Hatano; Shigeki Hiramatsu; Chiaki Nishidome; Itsuro Kajiwara
  Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 095440702311781, 095440702311781, SAGE Publications, 02 Jun. 2023, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal, To ensure comfortability and lifetime of components, transient vibrations in a vehicle powertrain must be suppressed. This study proposes a novel active vibration control strategy with straightforward fuzzy inference compensation for time-fluctuations of control periods of engines used as actuators. First, a model prediction algorithm including a sampled-data controller (SDC) is applied for addressing the maximal phase lag of the control input caused by the fluctuated control period. Fluctuated renewal timings of the control input that are deviated from those of the periodical operated SDC are defined by fuzzy sets. These fuzzy sets are expressed as “Nearly past timing” and “Nearly future timing.” Using a human-intuition-like fuzzy compensation with only four inference rules, unknown control inputs at fluctuated update timings are reasonably determined from such fuzzy sets and periodical control signals given by the SDC. Experiments using an actual test device are performed to investigate the damping performance of the proposed control scheme. The experimental tests demonstrate that the novel active damping strategy significantly reduces transient vibrations despite the fluctuated control period. Moreover, several different test conditions newly reveal the robustness of the fuzzy compensation against fluctuations of variable regions in the control periods.
• Experimental study of model-free vibration control based on a virtual controlled object considering parameter uncertainty of actuator
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 095440622211408, 095440622211408, SAGE Publications, Jun. 2023, [Peer-reviewed]
  Scientific journal, This study experimentally verifies robustness of a model-free vibration controller based on a virtual controlled object (VCO) considering parametric uncertainty of actuator. A proof-mass actuator, which can be modeled as a single-degree-of-freedom (SDOF) system, is used. A VCO, which is defined as an SDOF structure, is introduced between a real controlled object and the actuator model. The parameters of the VCO are determined so as to achieve model-free vibration control. A state equation to derive the model-free controller is constructed using the two-degree-of-freedom (2DOF) structure composed of the actuator model and the VCO. The parametric uncertainty of the actuator is quantitatively characterized in the 2DOF structure. The mixed [Formula: see text] control theory is used to design a model-free controller. The vibration suppression performance and robustness to the actuator uncertainty of the proposed method are validated by experiments. Simulation studies are also conducted to enhance the validity of the experimental results. As a result, the proposed damping method exhibits good damping performance and strong robustness to the actuator uncertainty and characteristic changes in controlled object.
• Grey-Wolf-Optimization-Algorithm-Based Tuned P-PI Cascade Controller for Dual-Ball-Screw Feed Drive Systems
  Qi Liu; Hong Lu; Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara; Ben Wang
  Mathematics, 11, 10, 2259, 2259, MDPI AG, 11 May 2023
  Scientific journal, Dual-ball-screw feed drive systems (DBSFDSs) are designed for most high-end manufacturing equipment. However, the mismatch between the dynamic characteristic parameters (e.g., stiffness and inertia) and the P-PI cascade control method reduces the accuracy of the DBSFDSs owing to the structural characteristic changes in the motion. Moreover, the parameters of the P-PI cascade controller of the DBSFDSs are always the same even though the two axes have different dynamic characteristics, and it is difficult to tune two-axis parameters simultaneously. A new application of the combination of the grey wolf optimization (GWO) algorithm and the P-PI cascade controller is presented to solve these problems and enhance the motion performance of DBSFDSs. The novelty is that the flexible coupling model and dynamic stiffness obtained from the motor current can better represent the two-axis coupling dynamic characteristics, and the GWO algorithm is used to adjust the P-PI controller parameters to address variations in the positions of the moving parts and reflect characteristic differences between the two axes. Comparison of simulation and experimental results validated the superiority of the proposed controller over existing ones in practical applications, showing a decrease in the tracking error of the tool center and non-synchronization error of over 34% and 39%, respectively.
• Active Reduction of Transient Driveline Oscillations with Fuzzy Update Timings of Control Input
  Heisei Yonezawa; Ansei Yonezawa; Takashi Hatano; Shigeki Hiramatsu; Chiaki Nishidome; Itsuro Kajiwara
  2022 10th International Conference on Control, Mechatronics and Automation (ICCMA), IEEE, 09 Nov. 2022
  International conference proceedings
• Noise Tolerance of Online Self-Tuning Mechanism for Model-Free Vibration Controller Based on a Virtual Controlled Object
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  2022 10th International Conference on Control, Mechatronics and Automation (ICCMA), IEEE, 09 Nov. 2022
  International conference proceedings
• Fuzzy-reasoning-based robust vibration controller for drivetrain mechanism with various control input updating timings
  Heisei Yonezawa; Ansei Yonezawa; Takashi Hatano; Shigeki Hiramatsu; Chiaki Nishidome; Itsuro Kajiwara
  Mechanism and Machine Theory, 175, 104957, 104957, Elsevier {BV}, Sep. 2022, [Peer-reviewed], [Lead author]
  English, Scientific journal
• Vibration control for various structures with time-varying properties via model-free adaptive controller based on virtual controlled object and SPSA
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  Mechanical Systems and Signal Processing, 170, 108801, 108801, Elsevier BV, May 2022, [Peer-reviewed]
  English, Scientific journal
• Stability Improvement of Model-Free Control Based on a Virtual Structure Against the Resonance of a Proof-Mass Actuator
  Yuto Sato; Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Journal of Vibration Engineering & Technologies, 08 Feb. 2022, [Peer-reviewed]
  English, Scientific journal
• Parameter tuning technique for a model-free vibration control system based on a virtual controlled object
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  Mechanical Systems and Signal Processing, 165, 108313, 108313, Feb. 2022, [Peer-reviewed]
  English, Scientific journal
• Vibration Control System Construction Method without Controlled Object Modeling
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  2021 9th International Conference on Control, Mechatronics and Automation (ICCMA), IEEE, 11 Nov. 2021
  International conference proceedings
• Experimental verification of model-free vibration control technique based on a virtual controlled object considering actuator parameter uncertainty
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 7A-2021, 2021
  International conference proceedings
• Motion and Vibration Control of Automotive Drivetrain with Control Cycle Limitation
  H. Yonezawa; I. Kajiwara; C. Nishidome; T. Hatano; M. Sakata; S. Hiramatsu
  Vibration Engineering for a Sustainable Future, 87, 93, Springer International Publishing, 2021
  In book
• Application of Physical Function Model to State Estimations of Nonlinear Mechanical Systems
  Heisei Yonezawa; Itsuro Kajiwara; Shota Sato; Chiaki Nishidome; Takashi Hatano; Shigeki Hiramatsu
  IEEE Access, 9, 12002, 12018, Institute of Electrical and Electronics Engineers ({IEEE}), 2021, [Peer-reviewed]
  English, Scientific journal
• Novel Sliding Mode Vibration Controller With Simple Model-Free Design and Compensation for Actuator's Uncertainty.
  Ansei Yonezawa; Itsuro Kajiwara; Heisei Yonezawa
  IEEE Access, 9, 4351, 4363, 2021, [Peer-reviewed]
  Scientific journal
• Experimental verification of model-free active vibration control approach using virtually controlled object
  Heisei Yonezawa; Itsuro Kajiwara; Ansei Yonezawa
  JOURNAL OF VIBRATION AND CONTROL, 26, 19-20, 1656, 1667, Oct. 2020, [Peer-reviewed]
  English, Scientific journal
• Active damping of drivetrain vibrations with compensation for time-varying long control cycle due to actuator constraint
  Heisei Yonezawa; Itsuro Kajiwara; Chiaki Nishidome; Takashi Hatano; Masato Sakata; Shigeki Hiramatsu
  CCTA 2020 - 4th IEEE Conference on Control Technology and Applications, 555, 560, Institute of Electrical and Electronics Engineers Inc., 01 Aug. 2020
  English, International conference proceedings
• Active vibration control of automobile drivetrain with backlash considering time-varying long control period
  Heisei Yonezawa; Itsuro Kajiwara; Chiaki Nishidome; Takashi Hatano; Masato Sakata; Shigeki Hiramatsu
  PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, Aug. 2020, [Peer-reviewed]
  English, Scientific journal
• Model-free vibration control based on a virtual controlled object considering actuator uncertainty
  Ansei Yonezawa; Itsuro Kajiwara; Heisei Yonezawa
  JOURNAL OF VIBRATION AND CONTROL, 27, 11-12, 1324, 1335, Jul. 2020, [Peer-reviewed]
  English, Scientific journal
• Model-free active vibration control approach using proof-mass actuator with uncertainty
  A. Yonezawa; I. Kajiwara; H. Yonezawa
  Proceedings of ISMA 2020 - International Conference on Noise and Vibration Engineering and USD 2020 - International Conference on Uncertainty in Structural Dynamics, 11, 21, 2020
  International conference proceedings
• Vibration Control of Automotive Drive System With Nonlinear Gear Backlash
  Heisei Yonezawa; Itsuro Kajiwara; Shota Sato; Chiaki Nishidome; Masato Sakata; Takashi Hatano; Shigeki Hiramatsu
  JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 141, 12, Dec. 2019, [Peer-reviewed]
  English, Scientific journal
• Model-free vibration control to enable vibration suppression of arbitrary structures
  Heisei Yonezawa; Itsuro Kajiwara; Ansei Yonezawa
  2019 12TH ASIAN CONTROL CONFERENCE (ASCC), 289, 294, 2019
  English, International conference proceedings
• Vibration control of automotive drive system with backlash considering control period constraint
  Heisei Yonezawa; Itsuro Kajiwara; Chiaki Nishidome; Shigeki Hiramatsu; Masato Sakata; Takashi Hatano
  JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING, 13, 1, 2019, [Peer-reviewed]
  English, Scientific journal

• Design of Control Systems for Mechanical Systems with Uncertainty: A New Integration of Model-Based Control and AI
  Heisei Yonezawa
  日本機械学会 2026年度年次大会, 08 Sep. 2026, Japanese, Invited oral presentation
  06 Sep. 2026 - 09 Sep. 2026, [Invited]
• Model-Based Assisted Domain-Randomized Reinforcement Learning for Robust Powertrain Vibration Control
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  10th IEEE Conference on Control Technology and Applications (CCTA 2026), 12 Aug. 2026, English, Oral presentation
  12 Aug. 2026 - 14 Aug. 2026
• 不確かな非線形システムに対するアクティブ振動制御の高性能化と知能化: ソフトコンピューティングとモデルベース制御の融合
  米沢平成
  第420回振動談話会, 01 Aug. 2024, Japanese, Invited oral presentation
  01 Aug. 2024 - 01 Aug. 2024, [Invited]
• Active vibration suppression of automotive drive system with uncertainty on update timing of control input
  Heisei YONEZAWA; Chiaki NISHIDOME; Takashi HATANO; Shigeki HIRAMATSU; Itsuro KAJIWARA
  Dynamics and Design Conference 2021（D&D2021）, 15 Sep. 2021, Japanese, Oral presentation
  13 Sep. 2021 - 17 Sep. 2021
• 自動車駆動系の制御設計における物理機能モデルの活用
  Heisei Yonezawa
  連続講習会（全4回）「機械-電気の統合モデルによるモデルベース開発」第1回 物理機能モデルの概要及び適用事例発表, 05 Mar. 2021, 日本機械学会 交通・物流部門, Japanese, Public discourse
  Japan
• Model-free active vibration control approach using proof-mass actuator with uncertainty
  Ansei Yonezawa; Itsuro Kajiwara; Heisei Yonezawa
  ISMA 2020 International Conference on Noise and Vibration Engineering, Sep. 2020, English, Oral presentation
  07 Sep. 2020 - 09 Sep. 2020
• Active damping of drivetrain vibrations with compensation for time-varying long control cycle due to actuator constraint
  Heisei Yonezawa; Itsuro Kajiwara; Chiaki Nishidome; Takashi Hatano; Masato Sakata; Shigeki Hiramatsu
  The 4th IEEE Conference on Control Technology and Applications (CCTA 2020), Aug. 2020, English, Oral presentation
  24 Aug. 2020 - 26 Aug. 2020
• 可変制御周期による影響を考慮した自動車駆動系のアクティブ振動制御
  米沢平成; 梶原逸朗; 西留千晶; 波多野崇; 坂田将人; 平松繁喜
  Dynamics and Design Conference 2020, 2020, Japanese, Oral presentation
  2020 - 2020
• Motion and vibration control of automotive drivetrain with control cycle limitation
  Heisei Yonezawa; Itsuro Kajiwara; Chiaki Nishidome; Takashi Hatano; Masato Sakata; Shigeki Hiramatsu
  The 18th Asia-Pacific Vibration Conference, Nov. 2019, English, Oral presentation
  17 Nov. 2019 - 20 Nov. 2019
• 自動車駆動系の制御設計における物理機能モデルの活用
  米沢平成
  No.19-336講習会 連続講習会（全4回）「機械-電気の統合モデルによるモデルベース開発」第1回 物理機能モデルの概要及び適用事例発表, 28 Oct. 2019, Japanese, Public discourse
• Model-free vibration control to enable vibration suppression of arbitrary structures
  Heisei Yonezawa; Itsuro Kajiwara; Ansei Yonezawa
  The 12th Asian Control Conference (ASCC 2019), Jun. 2019, English, Oral presentation
  09 Jun. 2019 - 12 Jun. 2019
• パラメータの不確かさを有するアクチュエータを用いたモデルフリー振動制御
  米沢安成; 米沢平成; 梶原逸朗
  Dynamics and Design Conference 2019, 2019, Japanese, Oral presentation
  2019 - 2019
• 制御周期制約下における自動車駆動系のバックラッシ補償
  米沢平成; 梶原逸朗; 西留千晶; 波多野崇; 坂田将人; 平松繁喜
  第16回 「運動と振動の制御」シンポジウム, 2019, Japanese, Oral presentation
  2019 - 2019
• 非線形性を有する自動車操舵系のモデル化とモータによる角度追従制御
  近藤俊朗; 米沢平成; 西留千晶; 梶原逸朗; 加藤真; 近藤秀一; 波多野崇; 坂田将人; 平松繁喜
  第62回自動制御連合講演会, 2019, Japanese, Oral presentation
  2019 - 2019
• 物理機能モデルを活用した非線形システムの状態量推定
  米沢平成; 梶原逸朗; 西留千晶; 波多野崇; 坂田将人; 平松繁喜
  第62回自動制御連合講演会, 2019, Japanese, Oral presentation
  2019 - 2019
• Motion and Vibration Control of Automotive Drive System Considering Gear Backlash Nonlinearity
  Heisei Yonezawa; Itsuro Kajiwara; Shota Sato; Chiaki Nishidome; Masato Sakata; Takashi Hatano; Shigeki Hiramatsu
  The 14th International Conference on Motion and Vibration Control (MoViC 2018), Aug. 2018, English, Oral presentation
  05 Aug. 2018 - 08 Aug. 2018
• 任意構造物の制振を可能とするモデルフリー振動制御
  米沢平成; 梶原逸朗; 大西諒史; 米沢安成
  第61回自動制御連合講演会, 2018, Japanese, Oral presentation
  2018 - 2018
• バックラッシ特性を再現する自動車駆動系の基礎実験装置と振動制御
  米沢平成; 梶原逸朗; 佐藤晶太; 西留千晶; 坂田将人; 波多野崇; 平松繁喜
  Dynamics and Design Conference 2018, 2018, Japanese, Oral presentation
  2018 - 2018
• 混合H2/H∞スライディングモード制御によるギヤバックラッシを含む自動車駆動系の振動制御
  米沢平成; 梶原逸朗; 佐藤晶太; 西留千晶
  計測自動制御学会, 第50回計測自動制御学会北海道支部学術講演会, 2018, Japanese, Oral presentation

• 制御・電気工学演習, 2024年, 学士課程, 工学部
• 固体力学系演習Ⅰ, 2024年, 学士課程, 工学部
• 応用数学演習Ⅱ, 2024年, 学士課程, 工学部

• 2022 - Present
  IEEE
• 2017 - Present
  The Japan Society of Mechanical Engineers

• 車両制御系に対する次世代の最適化設計の創出：狼の狩猟戦術と物理機能モデルの協働
  科学研究費助成事業
  01 Apr. 2026 - 31 Mar. 2029
  米沢 平成
  日本学術振興会, 基盤研究(C), 北海道大学, 26K07398
• 時間変動する制御周期を人間の柔軟思考で補償したパワートレイン振動制御の高性能化
  科学研究費助成事業 若手研究
  01 Apr. 2023 - 31 Mar. 2026
  米沢 平成
  日本学術振興会, 若手研究, 北海道大学, 23K13273
• 設計変数の更新制約により探索範囲の安全性を考慮した群知能に基づく建設機械用パワートレインのアクティブ振動制御
  2025年度研究助成金
  Apr. 2025 - Mar. 2026
  公益信託 加藤辰次郎記念建設機械研究開発振興基金, Principal investigator
• Active vibration control of EV powertrain under limitation on communication capacity: automatic optimization design with whale optimization algorithm
  Oct. 2024 - Sep. 2025
  Nagamori Foundation, Principal investigator
• 時間軸の標本化と入力軸の量子化を考慮した次世代パワートレインのアクティブ振動制御
  科学研究費助成事業 研究活動スタート支援
  31 Aug. 2022 - 31 Mar. 2024
  米沢 平成
  日本学術振興会, 研究活動スタート支援, 北海道大学, 22K20396
• Development of robust digital vibration control technology for powertrain system to compensate for discretization limitation on control inputs and nonlinear characteristics
  2023年度「動力伝達の未来を支える基盤技術に対する研究」
  Apr. 2023
  Transmission Research Association for Mobility Innovation, Hokkaido University, Principal investigator, 23B3-01
• The high-performance vibration control of automotive drive system with compensations for backlash and control period constraint
  Grants-in-Aid for Scientific Research Grant-in-Aid for JSPS Fellows
  24 Apr. 2020 - 31 Mar. 2022
  米沢 平成
  本年度は，制御周期制約を補償する予測処理に対して，人工知能の考え方を取り入れることに注力した．具体的には，サンプル値制御器から得られる制御指令値を限られた既存の知識と見なし，設計で考慮していない制御周期の値に遭遇した際の制御ロジックを検討した．このために，モデル予測のアルゴリズムやプログラムを再確認・改造しつつ，制御入力の算出に知的推論法を導入するアイデアを検討した．本年度では，この知的推論法を用いた制御ロジックの初歩的アイデアを詳細に考え，サンプル値制御器や状態量推定器の一種である非線形カルマンフィルターと組み合わせた．時変制御周期を有する制御対象に対して提案手法を適用した結果，その有効性，具体的には車体振動の良好な過渡応答特性を確認した．また，制御周期制約の変動領域に対してある程度のロバスト性も見受けられたが，この点はより詳細な検証が必要である．ただし，この知的推論法を用いた補償方法は未だ初歩的・基礎的段階にあり，不十分な点が多いため，本格的な発展は今後の課題である．
  実車への適用を見据えた制御系の検討については，数値シミュレーションを主体とした検証をいくつか行った．これは，主に上記の知的推論法とサンプル値制御器に基づく制御ロジックの検証であり，対象として実車のパワートレインを簡略化した基礎実験装置のモデルを用いた．よって，時変周期など，課題の本質的影響に的を絞った検討は達成できた．
  最後に，成果物の発表状況について報告する．上記と関連し，基礎となる成果は機械力学・制御分野に関する国内学会で発表された（前年度の成果に対する受賞も含む）．また，学術論文を国際誌に現在投稿中である．
  Japan Society for the Promotion of Science, Grant-in-Aid for JSPS Fellows, Hokkaido University, 20J11084

• 2020
  日本学生支援機構 (JASSO) 優秀業績による奨学金半額返還免除(博士後期課程)
• 2019
  日本学生支援機構 (JASSO) 優秀業績による奨学金半額返還免除(修士課程)