In this paper, the driver chooses the optimal charging station and determines the optimal energy demand when the highway enters, with the charging station and the electric vehicle controlled. The purpose of this study is to propose optimal charging scheduling. In previous studies, we considered that the charging price was not included in the driver's preference and also the price of the charging station was not optimal. In this paper, the price is included in the preference when the driver selects the charging station, and the optimal price for maximizing the profit is determined by a repeated game by designing the new utility function of the charging station. We theoretically prove the conditions under which repeated game converges, and finally perform numerical simulations to confirm the effectiveness of the proposed algorithm in a more realistic situation than in previous studies.
Finite-time control is a control method that guarantees convergence rate. However, it is difficult to design control law based on a homogeneous Lyapunov function. In this paper, we propose a finite-time control method that relaxes the difficulty of construction by using locally semiconcave control Lyapunov function. The effectiveness of the proposed controller is confirmed by computer simulation for nonlinear system.
This paper propose a virtual camera-work method for musical instruments performance videos. At the concerts for professional musical instruments performers, videos are shot and edited by a professional cameraman or editors. These videos are broad-casted on TV or sold as a DVD. On the other hand, at the concerts for amateur musical instruments performers including extracurricular activities, it is difficult to have a professional cameraman or editor shoot and edit videos because of the cost problem. We can solve the cost problem by automatically reconstructing the concerts videos by fixed camera without cameraman. We have proposed a method of virtual camera-work method using receding horizon strategy which is well used in control engineering. This method eliminates the need for a professional cameraman and editor, then we can reduce the cost of shooting and editing. In this paper, we show a method to automatically reconstruct videos for musical instruments performance videos taken by fixed point camera. In case of musical instruments performance videos or concert videos, drastic changing of frame is required because various focus point (such as various performers) are including the entire frame of the fixed camera. The control objective in this paper is to propose an automatically reconstruction method of videos using receding horizon strategy with adequate setting of the cost function to achieve drastic changing the frames in reconstructed videos.
Multi-motor systems have many advantages. For example, it is possible to improve the reliability of the system by providing redundancy to a failure of some motors or to improve the efficiency of the system by selecting appropriate motor operating point according to load and so on. In order to take advantages of the above feature of multi-motor systems, it is needed to develop a decentralized control law that enables cooperative motion control of motors. To this end, we draw inspiration from the decentralized control scheme for quadruped locomotion which we proposed previously. This paper shows a construction method of the control law inspired by the gait control and simulation results to exhibit the usefulness of this method.