Systems and Control Lab. at Ritsumeikan Univ.

Publications

2025

Journal Papers

Y. Sakamoto, T. Namba, and K. Takaba: "Workplace Energy Management with EVs by Distributed Mixed-Integer Linear Programming," under review, 2025.

Refereed Conference Papers

T. Namba and S. Ahmed: "Dynamics-aware distributed optimization over a network of input-saturated linear agents," under review, 2025.
T.B. Haile and K. Takaba: "Adaptive integral terminal sliding mode control of steer-by-wire system," under review, 2025.
K. Takaba and T. Namba: "Data-driven synchronization of linear multi-agent system," accepted for presentation, 2025.

2024

Journal Papers

T. Namba and K. Takaba:"Cloud-mediated self-triggered synchronization of a general linear multi-agent system over a directed graph," IET Cyber-Physical Systems: Theory & Applications, vol. 9, no. 4, pp. 497-508, 2024.
DOI: 10.1049/cps2.12101 (Open Access)

Refereed Conference Papers

T. Namba, S. Ahmed, K. Takaba: "Robust synchronization of uncertain physically coupled heterogeneous linear agents," Proceedings of 63rd IEEE Conf. on Decision and Control (CDC2024), pp. 4424-4430, 2024.
DOI: 10.1109/CDC56724.2024.10886820
D. Tetsuno and K. Takaba: "Multi-robot FastSLAM based on consensus of observed data," Proc. of the 2024 International Conference on Advanced Mechatronic Systems (ICAMechS2024), pp. 55-60, 2024.
DOI: 10.1109/ICAMechS63130.2024.10818723
T.B. Haile and K. Takaba: "Integral terminal sliding mode control of steer-by-wire systems," Proc. of 24th Int. Conf. on Control, Automation and Systems (ICCAS2024), pp. 1365-1370, 2024.
DOI: 10.23919/ICCAS63016.2024.10773058
Y. Sakamoto, T. Namba, and K. Takaba: "Energy management of a workplace with EVs via mixed-integer linear programming," Proc. of 39th Int. Technical Conf. on Circuits/Systems, Computers, and Communications (ITC-CSCC2024), 2024.
DOI: 10.1109/ITC-CSCC62988.2024.10628194
T. Namba and K. Takaba: "Cloud-mediated self-triggered synchronization of physically coupled linear agents," American Control Conference 2024 (ACC2024), 2024.
This work is published in IEEE Control Systems Letters, vol. 7, pp. 3836 - 3841, 2023.

Inivited Lectures

K. Takaba: "Data-driven control design for multi-agent synchronization," Keynote Speech, 14th Int. Conf. on Advanced Mechatronic Systems (ICAMechS2024), Shiga, Japan, November 29, 2024.

2023

Journal Papers

T. Namba and K. Takaba:"Cloud-mediated self-triggered synchronization of physically coupled linear agents," IEEE Control Systems Letters, vol. 7, pp. 3836 - 3841, 2023.
DOI: 10.1109/LCSYS.2023.3341965
T. Namba and K. Takaba: "Self-triggered output synchronization of heterogeneous linear agents through a cloud repository," SICE Journal on Control, Measurement, and System Integration, vol. 16, no. 1, pp. 215-226, 2023.
DOI: 10.1080/18824889.2023.2220977 (Open Access)

Preprints

T. Namba and K. Takaba:"Cloud-mediated self-triggered synchronization of a general linear multi-agent system over a directed graph," arXiv:2309.05195, September 11, 2023.
DOI: 10.48550/arXiv.2309.05195

Refereed Conference Papers

T. Namba and K. Takaba: "Cloud-mediated self-triggered synchronization of linear agents subject to disturbances," IFAC PapersOnline, vol. 56, no. 2, pp. 5981-5986, 2023 (presented at 22nd IFAC World Congress, Yokohama, July 9-14, 2023).
DOI: 10.1016/j.ifacol.2023.10.637

2022

Refereed Conference Papers

T.Namba and K. Takaba: "Self-triggered synchronization of a linear multi-agent system through a cloud repository," IFAC-PapersOnline, vol. 55, issue 13, pp. 157-161, 2022 (9th IFAC Workshop on Networked Systems (NecSys22)).
DOI: 10.1016/j.ifacol.2022.07.252 (Open Access)

2021

Journal Papers

T. Namba, S. Funabiki, and K. Takaba: "Stochastic distributed model predictive control of microgrid with uncertain PV power prediction," SICE Journal on Control, Measurement, and System Integration, vol. 14, no.1, pp. 39-50, 2021.
DOI: 10.1080/18824889.2020.1863614 (Open Access)
A. Tsuji, A. Ohashi, and K. Takaba: "A Bayesian approach to disitributed optimal filtering over a ring network," Measurement: Sensors, vol. 18, article:100223, 2021.
DOI: 10.1016/j.measen.2021.100223 (Open Access)

Refereed Conference Papers

2020

Refereed Conference Papers

Y. Zhou, A. Ohashi, and K. Takaba: "Model predictive landing control of an unmanned aerial vehicle by using partial feedback linearization," Procedings of the 2020 IEEE Region 10 Conference (TENCON2020), pp. 1159-1164, 2020.
DOI: 10.1109/TENCON50793.2020.9293862

2019

Journal Papers

A. Ohashi, K. Takaba: "A modified GMRES method for a symmetric solution to Lyapunov equation for multi-agent systems, SICE Journal on Control, Measurement, and System Integration, vol. 12, no. 6, pp. 223-227, 2019., 2019.
DOI: 10.9746/jcmsi.12.223

Refereed Conference Papers

Y. Zhou and K. Takaba: "Optimal landing control of an unmanned aerial vehicle via partial feedback linearization," Proc. of 2019 Int. Conf. on Advanced Mechatronic Systems (ICAMechS2019), pp.218-223, 2019.
DOI: 10.1109/ICAMechS.2019.8861664
K. Kishimoto, K. Takaba, and A. Ohashi: "Moving horizon multi-robot SLAM based on C/GMRES method," Proc. of 2019 Int. Conf. on Advanced Mechatronic Systems (ICAMechS2019), pp.22-27, 2019.
DOI: 10.1109/ICAMechS.2019.8861681
T. Namba, S. Funabiki, and K. Takaba: "Microgrid management with PV power prediction via stochastic distributed optimization," Proc. of SICE Annual Conference 2019 (SICE2019), pp. 1685-1691, 2019.
DOI: 10.23919/SICE.2019.8859902
T. Namba, S. Yamashita, T. Hatanaka, and K. Takaba: "Distributed microgrid management using passivity-based generalized primal-dual dynamics," Proc. of 3rd IEEE Conf. on Control Technology and Applications (CCTA2019), pp. 635-642, 2019.
DOI: 10.1109/CCTA.2019.8920490

2018

Journal Papers

K. Takeda and K. Takaba: "Stochastic model predictive control of microgrids based on PV power prediction," Trans. of Society of Instrument and Control Engineers, vol. 56, no. 2, pp. 219-226, 2018 (in Japanese).
DOI: 10.9746/sicetr.54.219
R.H. Nakata, B. Haruna, T. Yamaguchi, V.M. Lubecke, S. Takayama, and K. Takaba: "Motion compensation for an unmanned aerial vehicle remote radar life sensor," IEEE J. Emerging and Selected Topics in Circuits and Systems, vol. 8, no. 2, pp. 329-337, 2018.
DOI: 10.1109/JETCAS.2018.2821624
K. Takaba: "Robust synchronization of linear multi-agent system with input/output constraints," Artificial Life and Robotics, vol. 23, no. 4, pp. 577-584, 2018.
DOI: 10.1007/s10015-018-0491-5

Refereed Conference Papers

T. Yamaguchi and K. Takaba: "Remote tracking control of a quadrotor-type drone subject to uncerrtain time delays," Proc. of SICE Annual Conference 2018 (SICE2018), pp. 1137-1143, 2018.
DOI: 10.23919/SICE.2018.8492685
K. Takubo, S. Miyagawa, and K. Takaba: "Formation control of wheeled vehicles on a slope," Proc. of 18th Int. Conf. Control, Automation and Systems (ICCAS2018), pp. 114-119, 2018.
Download
I. Kimoto and K. Takaba: "Effective line-based SLAM with adaptive tuning of particles," Proc. of 2nd IEEE Conf. on Control Technology and Applications (CCTA2018), pp. 1159-1165, 2018.
DOI: 10.1109/CCTA.2018.8511361
T. Namba, K. Takeda, and K. Takaba: "Dual decomposition-based distributed microgrid management with PV prediction," Proc. of SICE Annual Conference 2018 (SICE2018), pp. 964-970, 2018.
DOI: 10.23919/SICE.2018.8492698
S.Funabiki, K. Takeda, Y.Eda, and K. Takaba: "Modified JIT-based solar irradiance prediction methods," Proc. of 50th ISCIE Int. Symposium on Stochastic Systems Theory and Its Applications (SSS2018), to appear, 2018.
Y. Imoto and K. Takaba: "SOC estimation of lithium-ion batteries by extended Kalman fixed lag smoother," Proc. of 50th ISCIE Int. Symposium on Stochastic Systems Theory and Its Applications (SSS2018), to appear, 2018.
L. Lin, M. Fukui, and K. Takaba: "An accurate SOC estimation system considering the observation noise of the electric current," Proc. of Intenational Telecommunication Energy Conference 2018 (INTELEC2018), 2018.
DOI: 10.1109/INTLEC.2018.8612347

2017

Journal Papers

M. Oya, W. Sueki, Y. Hayakawa, K. Takaba, and M. Fukui: "Combined RLS-EKF method for simultaneous SOC and parameter estimations for lithium-ion batteries," ECS Transactions, vol. 80. no. 10, pp. 207-217, 2017.
DOI: 10.1149/08010.0207ecst
L. Lin, H. Ono, M. Fukui, and K. Takaba: "An in situ full charge capacity estimation algorithm for li-ion batteris using recursitve least-squares identification with adaptive forgetting factor tuning," ECS Transactions, vol. 75, no. 20, pp. 111-119, 2017.
Download

Refereed Conference Papers

K. Takeda and K. Takaba: "Distributed stochastic control of microgrids based on PV power predictions," Proc. of 49th ISCIE Int. Symposium on Stochastic Systems Theory and Its Applications (SSS2017), pp. 92-99, 2017.
DOI: 10.5687/sss.2018.92
K.Takaba: "Synchronization of linear agents with input/output constraints," IFAC PapersOnline, vol.50, no.1, pp.1817-1821, 2017 (Presented at 20th IFAC Triennial World Congress, July 9-14, 2017).
Download
K. Takaba: "Robust synchronization of linear multi-agent system with input/contput constraints," Proc. of SWARM2017, pp.291-296, 2017.
A.Ohashi and K.Takaba: "A modified GMRES method for solving large-scale Lyapunov equations for multi-agent systems," Proc. of SICE Annual Conference 2017, pp. 1583-1588, 2017.
Download
J. Shirai, T. Yamaguchi and K. Takaba: "Remote visual servo control of drone taking account of time delays," Proc. of SICE Annual Conference 2017, pp. 1589-1594, 2017.
Download
T. Sasaoka, Y. Kishimoto, and K. Takaba: "Multi-robot SLAM via distributed extended Kalman filters," Proc. of 17th Int. Conf. Control, Automation and Systems (ICCAS2017), pp.1661-1662, 2017.

Survey Article

K. Takaba: "Distributed Kalman filters," Journal of Society of Instrument and Control Engineers (SICE), vol. 56, no. 12, pp. 937-942, 2017 (in Japanese).

2016

Journal Papers

L. Lin, R. Ishizaki, K. Takanba, and M. Fukui: "Recursive least-squares identification of li-ion batteris with adaptive forgetting factor tuning," IEICE Transactions on Communication, vol.J99-B, no.7, pp.481-489, 2016 (in Japanese).
Download
M. Oya, K. Takaba, L. Lin, R. Ishizaki, N. Kawarabayashi, and M. Fukui: "State-of-charge estimation of lithium-ion batteries based on parameter-dependent state-space model," Transactions of Institute of Systems, Control, and Information Engineers, vol.29, no.10, pp.433-440, 2016 (in Japanese).
Download

Refereed Conference Papers

D.Tsuzuki and K.Takaba: "Vehicle following and formation control of nonholonomic vehicles using time-state control form," Proc. of SICE Annual Conference 2016, pp.1666-1672, 2016.
Download
T.Sasaoka, I.Kimoto, Y.Kishimoto, K. Takaba, and H.Nakashima: "Multi-robot SLAM via Information Fusion Extended Kalman Filters," Proc. of 6th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS2016), pp.303-308, 2016.
Download

2015

Journal Papers

K. Takaba: "Local synchronization of linear multi-agent systems subject to input saturation," SICE Journal on Control, Measurement, and System Integration, vol.8, no.5, pp.334-340, 2015.
Download

Refereed Conference Papers

K.Takaba: "Eigenvalue placement approach to synchronization of networked nonlinear oscillators," Preprints of 4th IFAC Conference on Analysis and Control of Chaotic Systems (CHAOS2015), pp.152-156, 2015.
Download
K. Takaba: "Synchronization of linear agents with sector-bounded input nonlinearities," Proc. of 15th Int. Conf. Control, Automation and Systems (ICCAS2015), pp. 1-6, 2015.
Download
K.Takaba: "A dynamic protocol for local synchronization of linear multi-agent systems subject to input saturation," Proc. of IEEE 54th Conf. on Decision and Control (CDC2015), pp. 4923-4928, 2015.
Download
M.Oya, K.Takaba, L.Lin, R.Ishizaki, N.Kawarabayashi and M.Fukui: "Accurate SoC estimation of lithium-ion batteries based on parameter-dependent state-space model," Proc. 15th Int. Symp. on Communications and Information Technologies (ISCIT2015), pp.37-40, 2015.
Download
L.Lin, K.Takaba and M.Fukui: "An accurate SOC estimation system for lithium-ion batteries by EKF with dynamic noise adjustment," Proc. 15th Int. Symp. on Communications and Information Technologies (ISCIT2015), pp.33-36, 2015.
Download
R. Ishizaki, L. Lin, Y. Hayakawa, M. Fukui, K. Takaba: "A thermal dynamic SOC estimator for lithium-ion batteries," Proc. of 2015 IEEE Vehicle Power and Propulsion Conference (VPPC2015), pp.1-6, 2015.
Download

Book Chapter

Mathematical Control Theory II: Behavioral Systems and Robust Control (M.N.Belur, M.K.Camlibel, P.Rapisarda, J.M.A.Scherpen (eds.)), Springer-Verlag, pp.169-181, 2015.

Lectures

K.Takaba: "Synchronization of linear agents with input nonlinearities," Workshop on Mathematical Systems Theory: From Behaviors to Nonlinear Control, dedicated to the 60th birthdays of Arjan van der Schaft and Harry Trentelman, Academiegebouw, University of Groningen, The Netherlands, July 12-13, 2015.

2014

Journal Papers

T. Miyazaki, K. Takaba: "Formation control of mobile robots with obstacle avoidance",Trans. of Inst. of System, Control, and Information Engineers, vol.28, no.2, pp.50-57, 2015 (in Japanese).

Refereed Conference Papers

T. Miyazaki, K. Takaba: "Formation control of mobile robots with obstacle avoidance," Proc. of 14th Int. Conf. Control, Automation and Systems (ICCAS2014), pp.121-126, 2014.
Download
K. Takaba: "Synchronization of linear multi-agent systems under input saturation," Proc. of 21st Int. Symp. on Mathematical Theory of Networks and Systems (MTNS2014), app. 1976-1979, 2014.
Download

2013

Journal Paper

H.L. Trentelman, K. Takaba and N. Monshizadeh: "Robust synchronization of uncertain linear multi-agent systems," IEEE Transactions on Automatic Control, vol. 58, no. 6, pp. 1511-1523, 2013.
Download

Refereed Conference Paper

K. Takaba: "Synchronization of passive agents over stochastically switching networks with imperfect prior information," Proc. of 45th ISCIE Symposium on Stochastic Systems Theory and its Applications (SSS'13), Okinawa, pp. 246-250, 2013.

Survey Article

K. Takaba: "Linear system theory based on the behavioral approach," J. Society of Instrument and Control Engineers, vol. 52, no. 4, pp. 298-303, 2013. (in Japanese)

2012

Refereed Conference Papers

K. Takaba, A. Hibi: "Synchronization of coupled nonlinear oscillators via regional pole placement technique," Proc. of 51st IEEE Conf. Decision and Control, Maui, USA, December 10-13, pp. 3928-3935, 2012.
Download
K. Takaba: "Robust synchronization of nonlinar agents over directed communication graph," Proc. of 7th IFAC Symposium on Robust Control Design, Aalborg, Denmark, June 20-22, pp. 33-38, 2012.
Download
K. Takaba: "Output synchronization of passive agents over stochastically switching networks," Proc. of 44th ISCIE Symposium on Stochastic Systems Theory and its Applications (SSS'12), Tokyo, November 1-2, pp. 269-272, 2012.
H.L. Trentelman, K. Takaba: "Robust synchronization of linear multi-agent systems with additive uncertainty," Proc. 20th Int. Symp. on Mathematical Theory of Networks and Systems (MTNS2012), Paper No. 0171, Melbourne, Australia, July 9-13, 2012.
paper slides