研究者基本情報

• 学士（工学）, 北海道大学, 2019年03月
• 修士（工学）, 北海道大学, 2021年03月
• 博士（工学）, 北海道大学, 2023年03月

• https://researchmap.jp/an03sei16

• https://orcid.org/0000-0001-5077-5259
• https://jglobal.jst.go.jp/detail?JGLOBAL_ID=202201002468415724

• https://orcid.org/0000-0001-5077-5259

• 202201002468415724

• 情報通信, 機械力学、メカトロニクス
• ものづくり技術（機械・電気電子・化学工学）, 制御、システム工学, 振動制御，ロバスト制御，最適化

研究活動情報

• 2025年05月, 公益財団法人 マザック財団, マザック⾼度⽣産システム優秀論⽂表彰
  Simple Inverse Kinematics Computation Considering Joint Motion Efficiency (doi: 10.1109/TCYB.2024.3372989)
  米沢安成;米沢平成;梶原逸朗
• 2021年03月, 日本機械学会, 三浦賞
• 2019年03月, 一般社団法人日本機械学会北海道支部, 第48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
• 2019年03月, 日本機械学会, 畠山賞

• 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, 56, 5, 2475, 2488, Institute of Electrical and Electronics Engineers (IEEE), 2026年05月, ［査読有り］, ［筆頭著者, 責任著者］
  英語, 研究論文（学術雑誌）
• 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, 2025年12月, ［査読有り］
  英語, 研究論文（学術雑誌）
• 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, 2025年11月04日, ［査読有り］, ［筆頭著者, 責任著者］
  英語, 研究論文（学術雑誌）
• 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), 2025年09月, ［査読有り］, ［筆頭著者, 責任著者］
  英語, 研究論文（学術雑誌）
• 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, 28, 1, 20, 33, Wiley, 2025年07月, ［査読有り］, ［筆頭著者, 責任著者］
  英語, 研究論文（学術雑誌）, 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, 239, 14, 5371, 5382, SAGE Publications, 2025年03月28日, ［査読有り］
  英語, 研究論文（学術雑誌）, 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.
• Sparse identification and nonlinear model predictive control for diesel engine air path system
  Shuichi Yahagi; Hiroki Seto; Ansei Yonezawa; Itsuro Kajiwara
  International Journal of Control, Automation and Systems, 23, 2, 620, 629, Springer Science and Business Media LLC, 2025年02月05日, ［査読有り］
  英語, 研究論文（学術雑誌）
• 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, 13, 2, Springer Science and Business Media LLC, 2025年01月24日, ［査読有り］
  英語, 研究論文（学術雑誌）
• 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, 224, 112041, 112041, Elsevier BV, 2025年01月, ［査読有り］
  英語, 研究論文（学術雑誌）
• 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, 111961, 111961, Elsevier BV, 2025年01月, ［査読有り］
  英語, 研究論文（学術雑誌）
• Experimental validation of adaptive grey wolf optimizer-based powertrain vibration control with backlash handling
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  Mechanism and Machine Theory, 203, 105825, 105825, Elsevier BV, 2024年11月, ［査読有り］
  英語, 研究論文（学術雑誌）
• 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, 152, 208, 216, Elsevier BV, 2024年09月, ［査読有り］, ［筆頭著者, 責任著者］
  英語, 研究論文（学術雑誌）
• Simple inverse kinematics computation considering joint motion efficiency
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  IEEE Transactions on Cybernetics, 54, 9, 4903, 4914, Institute of Electrical and Electronics Engineers (IEEE), 2024年09月, ［査読有り］, ［筆頭著者, 責任著者］
  英語, 研究論文（学術雑誌）
• 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, 98, 2, 269, 281, Informa UK Limited, 2024年04月, ［査読有り］
  英語, 研究論文（学術雑誌）
• 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, 239, 7, 2637, 2650, SAGE Publications, 2024年03月24日, ［査読有り］
  英語, 研究論文（学術雑誌）, 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 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, 238, 1, 134, 149, SAGE Publications, 2024年03月, ［査読有り］
  英語, 研究論文（学術雑誌）, To address vehicle drivetrain vibrations that cause discomfort and poor drivability, this study proposes a new active damping strategy with simple backlash compensation based on the simultaneous perturbation stochastic approximation (SPSA) with norm-limited update vector. First, an experimental device developed for a simplified drivetrain mechanism is demonstrated. A mechanism for reproducing both the contact mode and the backlash mode is included in the device. For the contact mode, a model-based [Formula: see text] controller is employed as the baseline damping strategy. Further, to mitigate the backlash effect, a simple algorithm based on mode-switching-based compensation is used with the [Formula: see text] controller. In particular, for the critical controller parameters, this article presents a systematic design approach to search for their optimal values. The key parameters, which are needed for the backlash and contact mode controllers, are simultaneously auto-tuned using norm-limited update vector-based SPSA, which ensures the stability in the iterative tuning. The novelty of this study is that both the backlash mode controller and the contact mode controller are simultaneously optimized by the improved version of SPSA, thus realizing a comprehensive auto-tuning design of an active drivetrain damping system. Finally, the active controller is experimentally verified using the actual test device. Comparative studies show that the proposed approach significantly reduces drivetrain vibrations and is robust against fluctuations in the backlash.
• 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年, ［査読有り］
  研究論文（学術雑誌）
• 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, Elsevier BV, 2023年10月, ［査読有り］, ［筆頭著者］
  英語, 研究論文（学術雑誌）
• 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, 238, 10-11, 3347, 3356, SAGE Publications, 2023年06月02日, ［査読有り］
  英語, 研究論文（学術雑誌）, 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.
• 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, 2023年05月11日, ［査読有り］
  英語, 研究論文（学術雑誌）, 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.
• 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), 2023年, ［査読有り］
  英語, 研究論文（学術雑誌）
• 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, 237, 12, 2665, 2674, SAGE Publications, 2022年12月21日, ［査読有り］, ［筆頭著者］
  英語, 研究論文（学術雑誌）, 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.
• 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, 2022年09月, ［査読有り］
  英語, 研究論文（学術雑誌）
• 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, 2022年05月, ［査読有り］, ［筆頭著者］
  英語, 研究論文（学術雑誌）
• 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, 10, 3, 1175, 1188, 2022年02月08日, ［査読有り］
  英語, 研究論文（学術雑誌）
• 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, 2022年02月, ［査読有り］, ［筆頭著者］
  英語, 研究論文（学術雑誌）
• 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, 2021年06月, ［査読有り］, ［筆頭著者］
  英語, 研究論文（学術雑誌）
• 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年, ［査読有り］, ［筆頭著者］
  英語, 研究論文（学術雑誌）
• 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, 2020年10月, ［査読有り］
  英語, 研究論文（学術雑誌）

• 実制御対象の数理モデルを使用しない制御系設計手法の検討
  米沢 安成
  第53回 モード解析研究会, 2025年12月19日, 日本語, 口頭発表（招待・特別）
  2025年12月18日 - 2025年12月19日, ［招待講演］
• Data-Driven Tuning Technique for Fractional-Order Controller Based on Fictitious Reference Signal and Total Variation Regularization
  Ansei Yonezawa; Heisei Yonezawa; Shuichi Yahagi; Itsuro Kajiwara; Shinya Kijimoto
  2025 25th International Conference on Control, Automation and Systems (ICCAS), 2025年11月06日, 英語, 口頭発表（一般）
  2025年11月04日 - 2025年11月07日
• Whale Optimization Algorithm-Based Powertrain Oscillation Controller Considering Mechanical Clearance Nonlinearity
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  2025 25th International Conference on Control, Automation and Systems (ICCAS), 2025年11月05日, 英語, 口頭発表（一般）
  2025年11月04日 - 2025年11月07日
• ばねと板による配管内騒音の低減
  岡本 陸; 石川 諭; 米沢 安成; 雉本 信哉
  Dynamics and Design Conference 2025, 2025年08月27日, 日本語, 口頭発表（一般）
  2025年08月25日 - 2025年08月28日
• 十字交差管のロックイン現象に関する研究
  楊 玥鵬; 石川 諭; 米沢 安成; 雉本 信哉
  Dynamics and Design Conference 2025, 2025年08月26日, 日本語, 口頭発表（一般）
  2025年08月25日 - 2025年08月28日
• スパースデータ駆動モデリングを駆使したディーゼルエンジン吸排システムの非線形モデル予測制御
  村上 賢太郎; 矢作 修一; 米沢 安成; 米沢 平成; 雉本 信哉; 谷内 輝; 瀬戸 洋紀; 梶原 逸朗
  Dynamics and Design Conference 2025, 2025年08月25日, 日本語, 口頭発表（一般）
  2025年08月25日 - 2025年08月28日
• ばねと質量を用いた誘電エラストマーアクチュエータ
  笹野 翔太郎; 冨髙 達弥; 矢作 修一; 米沢 平成; 米沢 安成; 梶原 逸朗; 細矢 直基
  Dynamics and Design Conference 2025, 2025年08月25日, 日本語, 口頭発表（一般）
  2025年08月25日 - 2025年08月28日
• 広帯域音の再現性向上を目的とした領域分離制御
  渡邊 竜成; 雉本 信哉; 米沢 安成; 木庭 洋介; 井上 敏郎; 王 循
  第 35 回 環境工学総合シンポジウム2025, 2025年07月19日, 日本語, 口頭発表（一般）
  2025年07月18日 - 2025年07月21日
• 制御対象の入出力データを活用した非整数階微分・積分に基づく制御器の設計法
  米沢安成; 米沢平成; 矢作修一; 梶原逸朗
  情報・知能・精密機器部門講演会(IIP2025), 2025年03月03日, 日本語, 口頭発表（一般）
  2025年03月03日 - 2025年03月04日
• Efficient Controller Tuning Technique for Model-Free Active Vibration Control Based on Virtual Controlled Object
  Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  ASME 2024 International Mechanical Engineering Congress and Exposition, IMECE 2024, 2024年11月19日, 英語, 口頭発表（一般）
  2024年11月17日 - 2024年11月21日
• Simultaneous Perturbation Algorithm Tuned Oscillation Controller for Automotive Driveline With Kalman Filtering-Based Compensation for Dead-Zone Nonlinearity
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  ASME 2024 International Mechanical Engineering Congress and Exposition, IMECE 2024, 2024年11月19日, 英語, 口頭発表（一般）
  2024年11月17日 - 2024年11月21日
• Sparse identification and nonlinear model predictive control for diesel engine air path system
  Shuichi Yahagi; Hiroki Seto; Ansei Yonezawa; Itsuro Kajiwara
  2024 24th International Conference on Control, Automation and Systems (ICCAS), 2024年10月31日, 英語, 口頭発表（一般）
  2024年10月29日 - 2024年11月01日
• Whale optimization algorithm を用いた自動車駆動系の振動制御器設計に関する基礎的検討
  米沢平成; 米沢安成; 梶原逸朗
  第15回最適化シンポジウム2024, 2024年10月26日, 日本語, 口頭発表（一般）
  2024年10月26日 - 2024年10月27日
• スパースデータ駆動モデリング：ディーゼルエンジンの吸排気システムへの適用
  谷内輝; 米沢安成; 矢作修一; 米沢平成; 瀬戸洋紀; 梶原逸朗
  Dynamics and Design Conference 2024, 2024年09月03日, 日本語, 口頭発表（一般）
  2024年09月03日 - 2024年09月07日
• 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
  ASME 2023 International Mechanical Engineering Congress and Exposition, IMECE 2023, 2023年10月30日, 英語, 口頭発表（一般）
  2023年10月29日 - 2023年11月02日, ［国際会議］
• Improved Six Rules-Based Fuzzy Compensation for Time-Varying Control Cycle in Active Powertrain Oscillation Reduction
  Heisei Yonezawa; Ansei Yonezawa; Itsuro Kajiwara
  ASME 2023 International Mechanical Engineering Congress and Exposition, IMECE 2023, 2023年10月30日, 英語, 口頭発表（一般）
  2023年10月29日 - 2023年11月02日, ［国際会議］
• スパースデータ駆動モデリングを用いた非線形モデル予測制御: ディーゼルエンジンの吸排気システムへの適用
  矢作 修一; 瀬戸 洋紀; 米沢 安成; 梶原 逸朗
  第66回自動制御連合講演会, 2023年10月07日, 日本語, 口頭発表（一般）
  2023年10月07日 - 2023年10月08日
• 仮想構造物を導入した階層構造物のモデルフリー振動制御
  吉川 元人; 米沢 安成; 福嶋 祐人; 米沢 平成; 梶原 逸朗
  Dynamics and Design Conference 2023, 2023年08月31日, 日本語, 口頭発表（一般）
  2023年08月28日 - 2023年08月31日
• 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), 2022年11月09日, IEEE
  2022年11月09日 - 2022年11月09日
• 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), 2022年11月09日, IEEE
  2022年11月09日 - 2022年11月09日
• Robust Stability Enhancement of Model-Free Vibration Control for Dynamic Characteristic Variations of Proof-Mass Actuator
  Yuto Sato; Ansei Yonezawa; Heisei Yonezawa; Itsuro Kajiwara
  19th Asia-Pacific Vibration Conference, 2022年11月01日, 英語, 口頭発表（一般）
  2022年11月01日 - 2022年11月03日
• マルチアクチュエータによる任意構造物のモデルフリー振動制御
  福嶋 祐人; 佐藤 友人; 米沢 安成; 米沢 平成; 梶原 逸朗
  Dynamics and Design Conference 2022, 2022年09月05日, 日本語, 口頭発表（一般）
  2022年09月05日 - 2022年09月08日
• 実制御対象の数理モデルを用いないアクティブ振動制御装置の構築手法
  米沢 安成; 米沢 平成; 梶原 逸朗
  第17回「運動と振動の制御」シンポジウム (MoViC2021), 日本語
  2021年12月09日 - 2021年12月10日
• 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), 2021年11月11日, IEEE
  2021年11月11日 - 2021年11月11日
• 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 2021 International Mechanical Engineering Congress and Exposition, IMECE 2021, 2021年, 英語
  2021年 - 2021年, ［国際会議］
• 仮想構造物を導入したマルチアクチュエータによるモデルフリー振動制御
  佐藤友人; 米沢平成; 米沢安成; 梶原逸朗
  第63回自動制御連合講演会, 日本語
  2020年11月21日 - 2020年11月22日
• 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, 2020年, 英語
  2020年 - 2020年
• 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, 日本語
  2019年08月27日 - 2019年08月30日
• Model-free vibration control to enable vibration suppression of arbitrary structures
  Heisei Yonezawa; Itsuro Kajiwara; Ansei Yonezawa
  2019 12th Asian Control Conference (ASCC), 2019年, IEEE, 英語
  2019年 - 2019年, There are some problems in model-based active vibration controls. It is required to maintain performance and stability of a closed-loop system when characteristics of a target structure change. In addition, the control performance and stability depend on the accuracy of the model. In this study, model-free vibration control system to enable vibration suppression of arbitrary structures is proposed. Vibration suppression can be realized by using the model of virtual structure corresponding to the controlled object. The effectiveness and robustness of the control system are validated by control simulations with several types of controlled objects using a unique mode-free controller.

• 2022年03月 - 現在
  Institute of Electrical and Electronics Engineers
• 2019年03月 - 現在
  日本機械学会

• ダイナミックセル生産方式実現への突破口となる産業ロボットの実用的な逆運動学解法
  科学研究費助成事業
  2023年08月 - 2025年03月
  米沢 安成
  日本学術振興会, 研究活動スタート支援, 北海道大学, 研究代表者, 23K19084
• 生産方式の変革に対応した制御対象のモデルを使わない振動制御技術の開発
  科学研究費助成事業
  2022年04月 - 2024年03月
  米沢 安成
  初めに，1自由度系でモデル化されるアクチュエータのパラメータ及びモデルフリー振動制御を達成したい周波数帯域の上下限から，先行研究にて導出された設計条件に基づいて仮想構造物を設計した．続いて，アクチュエータ及び仮想構造物からなる2自由度系を基に，モデルフリー振動制御器を設計するための状態方程式を構築した．そして，構築した状態方程式に対して，非線形ロバスト制御法の1つであるスライディングモード制御理論を始めとした，様々なモデルベース制御理論に基づき，仮想構造物に基づくモデルフリー制御器を構成した．
  次に，次世代型生産方式であるダイナミックセル生産方式における，産業ロボットの振動問題の解決を見据え，上記モデルフリー振動制御系のオンラインチューニング手法を検討した．具体的には，計算効率の高い確率的最適化法を活用し，実制御対象の制振点における振動応答（観測出力）に基づくモデルフリー制御器のオンライン最適化機構を構築した．本年度は，生産設備の長期稼働に伴う制振用アクチュエータの経年変化を始めとした，実システムでの使用を想定した様々な条件下における提案手法の有効性を検証した．加えて，スライディングモード制御器における切換入力の平滑化法の改良や，最適化機構の微調整など，提案手法の性能の更なる向上方法を精査・考察した．
  上記と関連し，得られた成果は，査読付き国際誌における学術論文，及び学術会議において発表されている．
  日本学術振興会, 特別研究員奨励費, 北海道大学, 研究代表者, 22KJ0066