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Nakamura Lab
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A control engineering lab that operates robots and motors using nonlinear control theory.
AboutAbout the lab
Controlling robots and motors with nonlinear control.
The Nakamura Lab studies control engineering for electromechanical systems such as robots and motors.
Its work centers on developing nonlinear control theory and confirming its effectiveness through experiments on real hardware.
The lab also develops theory for handling well the nonlinear devices that are increasingly used to save energy and improve performance.
The information on the lab's website dates from around 2017.
Key terms
- Nonlinear control
- A control approach for systems whose input and output are not related by simple proportion.
- Control Lyapunov function
- A function used to construct nonlinear control laws. The motor group has proposed a control law based on this function.
- System resuscitation transformation
- A method for relaxing state constraints. The lab uses it in research on obstacle avoidance and control that keeps a system within a safe region.
ResearchResearch themes
The lab develops nonlinear control theory for robots and motors and confirms its effectiveness through experiments on real hardware. The research is divided into four groups: motors, two-wheeled vehicles, four-wheeled vehicles, and drones.
*Illustrative imageControl to improve motor efficiency
The IPMSM (interior permanent magnet synchronous motor) is difficult to control in the low-speed range, and its maximum torque and current in transient states had not been optimized. The lab proposed a nonlinear control law using a control Lyapunov function and achieved improved energy efficiency.
*Illustrative imageControl of two-wheeled vehicles that avoid obstacles
Using a method called system resuscitation transformation, the lab studies control for avoiding obstacles and staying within a safe region. Experiments with a Roomba on real hardware confirm its effectiveness.
*Illustrative imageControl that guarantees vehicle safety
The lab is developing theory for control systems that guarantee safety against any human input without sacrificing vehicle maneuverability. It has completed a one-dimensional hazard-avoidance control system on a RoboCar and is now extending it to two dimensions that take steering into account.
*Illustrative imageAttitude and trajectory control of drones and rockets
For rockets and drones, the lab studies theory for stable attitude control, movement to target positions, and trajectory tracking. The lab builds its drones in-house, from design through the application of control theory.
MembersFaculty
The members of the Nakamura Lab consist of faculty, master's and undergraduate students, and research collaborators (an assistant professor and doctoral students).As of 2017
- Associate ProfessorHisakazu Nakamura
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Report an errorAbout the images
The top and research theme images are illustrative and were not taken at the lab. They are cropped from Wikimedia Commons images. Cropped CC BY-SA images are provided under the same CC BY-SA license as the original (version shown on each line).
- Top image: “VEX Robotics Competition Robot and Controller” Noah Wulf / CC BY-SA 4.0 (cropped)
- Control to improve motor efficiency: “Audi electric motor control, Paris Motor Show 2018, Paris (1Y7A1113)” Matti Blume / CC BY-SA 4.0 (cropped)
- Control of two-wheeled vehicles that avoid obstacles: “Two-wheeled surveillance mini robot "Boomerang"” ALYaR robotic Ltd. / CC BY-SA 3.0 (cropped)
- Control that guarantees vehicle safety: “Automatic tool changer for press brake” GaspariniMB / CC BY-SA 4.0 (cropped)
- Attitude and trajectory control of drones and rockets: “A Drone Expo,Part of Tathva'24,NIT Calicut” Aman03062006 / CC0 (cropped)
- Related lab (木村研究室): “The European robotic arm extends out from the Nauka module (iss067e034864) (cropped)” NASA / Public domain (cropped)
- Related lab (堂脇研究室): “GASAG Biogas plant in Schwedt (051)” Vasyatka1 / CC BY-SA 4.0 (cropped)
- Related lab (杉山研究室): “Solar World wafer ( )” Oregon Department of Transportation / CC BY 2.0 (cropped)
- Related lab (永田研究室): “EFR-0SB40K23 opened” Mister rf / CC BY-SA 4.0 (cropped)
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