Updated on 2024/03/28

写真a

 
YOKOYAMA Makoto
 
Organization
Academic Assembly Institute of Science and Technology SEISAN DESIGN KOUGAKU KEIRETU Associate Professor
Graduate School of Science and Technology Advanced Materials Science and Technology Associate Professor
Faculty of Engineering Department of Engineering Associate Professor
Title
Associate Professor
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Degree

  • 工学博士 ( 1990.3   東京都立大学 )

Research History (researchmap)

  • University of California, Berkeley   Researcher

    1998.4 - 1999.3

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Research History

  • Niigata University   Faculty of Engineering Department of Engineering   Associate Professor

    2017.4

  • Niigata University   Graduate School of Science and Technology Advanced Materials Science and Technology   Associate Professor

    2004.4

  • Niigata University   Graduate School of Science and Technology Advanced Materials Science and Technology   Associate Professor

    2004.4

  • Niigata University   Faculty of Engineering Department of Mechanical and Production Engineering   Associate Professor

    2004.4 - 2017.3

  • Niigata University   Associate Professor (as old post name)

    2001.10 - 2004.3

  • Niigata University   Lecturer

    1991.4 - 2001.9

  • Niigata University   Graduate School of Science and Technology   Research Assistant

    1990.4 - 1991.3

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Studying abroad experiences

  • UC Berkeley   Visiting Schalor

    1998.4 - 1999.3

 

Papers

  • Robust Control of Contact Force for Pantograph-Catenary System Reviewed

    Pan Yu, Kang-Zhi Lyu, M. Yokoyama

    SICE2018   2018.9

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  • Tracking Control of Autonomous Vehicle via Input-Output Linearization and Backstepping Method Reviewed

    M. Yokoyama, M, Abe

    14th International conference on motion and vibration   2018.7

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  • Pitching motion control of a wheeled mobile robot via full-state linearization and extremum seeking Reviewed

    Makoto Yokoyama, Kazuya Sugihara

    2017 Asian Control Conference, ASCC 2017   2018-   1304 - 1309   2018.2

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    This paper presents a control strategy for a wheeled mobile robot with variable pitch blades which make it highly move over irregular terrain. A nonlinear controller for the pitching motion to climb a stair is proposed, employing full-state linearization technique together with integral sliding mode control to provide robust performance against model uncertainties such as ground adhesion properties. Furthermore, an extremum seeking technique is used to obtain the reference slip for high friction force between the tires and ground.

    DOI: 10.1109/ASCC.2017.8287359

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  • An optimal servo system based on sliding mode for the contact force of an active pantograph Reviewed

    Myat Thiri Ko, M. Yokoyama, S. Nagayoshi

    Mechanical Engineering Journal (JSME)   4 ( 4 )   17 - 00149-17-00149   2017.4

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Mechanical Engineers  

    <p>This paper presents a design method of optimal servo systems based on sliding mode for an active pantograph with flexibility subject to the stiffness variation of the catenary. It is pointed out through our analysis that the flexibility makes the control problem much harder, because it increases not only the freedom of motion but also the relative degree between the control input and the contact force to be controlled. However, it is shown by employing the optimal control theory, especially SRL (Symmetric Root Locus), together with sliding mode theory that pole-zero cancellations play an important role in the controller design. Some numerical simulations in a practical situation, where the actuator dynamics and sensor noise are taken into account, show the effectiveness of the proposed design method.</p>

    DOI: 10.1299/mej.17-00149

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  • Contact force control of an active pantograph for high speed trains Reviewed

    M. T. Ko, M. Yokoyama, Y. Yamashita, S. Kobayashi, T. Usuda

    Journal of Physics: Conference Series   744 ( 1 )   2016.10

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Physics Publishing  

    In this paper, a mathematical model of the pantograph with flexibility is developed based on experiments, and then an optimal controller together with a sliding observer is proposed to regulate the contact force in the presence of variation with respect to the equivalent stiffness of the catenary system. Furthermore, some physical interpretations of the closed-loop dynamics and pole-zero cancelations are given by analysis from a viewpoint of the output zeroing.

    DOI: 10.1088/1742-6596/744/1/012151

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  • Robust contact force control of an active pantograph via sliding mode controller and sliding mode observer Reviewed

    Myat Thiri Ko, Makoto Yokoyama, S. Nagayoshi

    IEEE/SICE International Symposium on System Integratio   2016

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    DOI: 10.1109/SII.2016.7843972

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  • Stability Analysis of Active Pantograph with Sliding mode controller and Sliding mode observer Reviewed

    Myat Thiri Ko, Makoto Yokoyama, S. Nagayoshi

    International conference on science and engineering 2016   2016

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    DOI: 10.1109/SII.2016.7843972

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  • Adaptive Control of a Skid-steer Mobile Robot with Uncertain Cornering Stiffness Reviewed

    Makoto Yokoyama, Jun Igarashi, Akira Okawa

    Mechanical Engineering Journal (JSME)   2 ( 4 )   2015.4

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Mechanical Engineers  

    This paper presents an adaptive controller for a position tracking problem of a skid-steer mobile robot. First, a non-adaptive control law is designed by the backstepping method, where the reference signals are generated by a non-holonomically constrained kinematic model in order to make it easy to construct a Lyapunov function candidate. Then an estimator for unknown cornering stiffness is designed based on the Immersion and Invariance (I&I) approach, where the manifold is properly designed to reduce the effect of the estimation error on the tracking performance. Finally it is shown that the closed-loop system can be uniformly ultimately bounded, and numerical simulation shows the effectiveness of the proposed controller.

    DOI: 10.1299/mej.15-00040

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  • Modeling and Robust Control of a High Speed Train Pantograph Reviewed

    Makoto Yokoyama, Sho Yokoyama, Hikaru Sakakibara, Sshigeyuki Kobayashi, Takayuki Usuda, Mitsuru Ikeda

    Mechanical Engineering Journal (JSME), Vol.2, No.3   2 ( 3 )   15 - 00041-15-00041   2015.3

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Mechanical Engineers  

    For high-speed trains, active control of the pantograph is crucial technology to collect electrical current from the overhead contact wire. In this paper, a mathematical model of the pantograph-catenary system is developed to design a controller, and then a sliding mode controller is proposed to regulate the contact force in the presence of variation in the equivalent stiffness of the catenary system. Although the proposed controller is based on the standard sliding mode control theory for output regulation problems, a design parameter is introduced to guarantee the existence of sliding mode from a practical point of view. Furthermore, the physical interpretation of the dynamics during sliding mode is given by analysis.

    DOI: 10.1299/mej.15-00041

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  • Modeling and Control of Pitching Motion of a Wheeled Mobile Robot with Variable-Pitch Blades Reviewed

    Makoto Yokoyama, Isawa, M, Sano, Tkahashi, K

    IEEE/SICE International Symposium on System Integration   2015

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SII.2015.7405031

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  • Slip Control of a Wheeled Mobile Robot with a Movable Auxiliary Mass Reviewed

    Makoto Yokoyama, Matsuhashi, Y, Sano, A, Myat Thiri Ko

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics   2015

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/AIM.2015.7222671

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  • Modeling and Robust Control of a High Speed Train Pantograph Reviewed

    Makoto Yokoyama, S. Yokoyama, H. Sakakibara, Kobayashi, S, Usuda, S. Ikeda

    The 12th Int'l Conference on Motion and Vibration Control   2014

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  • Adaptive Control of a Skid-steer Mobile Robot with Uncertain Cornering Stiffness Reviewed

    Makoto Yokoyama, Igarashi, J, Okawa, A

    The 12th Int'l Conference on Motion and Vibration Control   2014

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  • Sliding Mode Control of a Robotic Mini-Motorcycle Subject to Changes in Speed Reviewed

    Makoto Yokoyama, Gen Harada, H. Kobayashi

    International Conference on Dynamics and Control of Single Truck Vehicle   2013

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  • Control via back-stepping and DSC approach for a two-wheeled robot with slipping and skidding Reviewed

    N. Ogawa, M. Yokoyama, Y. Tanabe

    ASME 5th DSC Conference/ 11th MOVIC   2012.10

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1115/DSCC2012-MOVIC2012-8861

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  • Position Tracking Control Of A Skid-Steering Vehicle Robot Reviewed

    T. Tobe, M. Yokyama

    The International Conference on Intelligent Unmanned Systems 2012   2012.8

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  • 幾何学的アプローチに基づく4ロータ小型へリコプタの位置及び機体ヨー角制御 Reviewed

    藤本啓吾, 横山誠, 田邊裕治

    日本機械学会論文集C編   78 ( 785 )   126 - 137   2012.1

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.1299/kikaic.78.126

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  • I and i adaptive control by DSC approach for parametric strict-feedback systems Reviewed

    Keigo Fujimto, Makoto Yokoyama

    ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012   3   381 - 386   2012

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    This paper presents a simple adaptive controller for a class of nonlinear systems based on Immersion and Invariance (I and I) approach. The I and I adaptive control theory proposed by Astolfi et.al. has many superior features compared to other conventional certainty-equivalence (CE) adaptive approaches. However, for a class of nonlinear systems which can be described in strict feedback form, the I and I adaptive controller, as well as the back-stepping (BS) controller and the adaptive back-stepping controller, has the problem of explosion of complexity caused by the repeated differentiations of virtual controls. That is, the complexity of the controller grows drastically as the order of the system increases. To overcome this problem, a design method of I and I adaptive control via dynamic surface control (DSC) approach is proposed for parametric strict-feedback systems. Copyright © 2012 by ASME.

    DOI: 10.1115/DSCC2012-MOVIC2012-8774

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  • I&I-Based Adaptive Control of a Four-Rotor Mini Helicopter with Uncertain Aerodynamic Parameters Reviewed

    FUJIMOTO Keigo, YOKOYAMA Makoto, TANABE Yuji

    TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A   77 ( 782 )   3721 - 3736   2011.10

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Mechanical Engineers  

    Focusing on uncertain aerodynamic coefficients which characterize the thrust and torques, an adaptive controller for a four-rotor mini helicopter is designed based on Immersion and Invariance (I&I) approach. In order to deal with the complex multivariable parameter estimation, a relatively simple model parameterized with respect to a few unknown parameters is developed. For the estimation of those parameters, the I&I approach is employed and the design parameters of the resulting estimator are easy to adjust. With the estimates of the parameters, several tracking controllers are designed based on the backstepping methodology. Numerical simulation illustrates the robustness of the controller against the parametric uncertainties and external disturbances.

    DOI: 10.1299/kikaic.77.3721

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  • I&I Adaptive Control via Dynamic Surface Control Approach for A Four-rotor Mini Helicopter Reviewed

    K. Fujimoto, M. Yokoyama, Y. Tanabe

    The International Conference on Intelligent Unmanned Systems   2011.10

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  • Position tracking control via DSC approach for a two-wheeled robot with slipping and skidding Reviewed

    N. Ogawa, M. Yokoyama, Y. Tanabe

    The International Conference on Intelligent Unmanned Systems 2011   2011.10

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  • Intelligent all-terrain vehicle robot with movable auxiliary mass Reviewed

    H. Takemi, M. Yokoyama

    The International Conference on Intelligent Unmanned Systems 2011   2011.10

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  • I&I-based Adaptive Control of A Four-Rotor Mini Helicopter Reviewed

    K. Fujimoto, M. Yokoyama, Y. Tanabe

    Annual Conference of The IEEE Industrial Electronics Society   2010.11

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/IECON.2010.5675184

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  • Adaptive Control of A Four-Rotor Mini Helicopter Reviewed

    K. Fujimoto, M. Yokoyama, Y. Tanabe

    The 10th International Conference of Motion and Vibration Control   2010.8

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  • Integral Sliding Mode Control with Anti-windup Compensation and its Application to a Power Assist System Reviewed

    Makoto Yokoyama, Gyu-Nam Kim, Masahiko Tsuchiya

    JOURNAL OF VIBRATION AND CONTROL   16 ( 4 )   503 - 512   2010.4

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:SAGE PUBLICATIONS LTD  

    In this paper we deal with compensation for controller windup due to actuator saturation in the integral sliding mode control. It is shown that the actuator saturation in the integral sliding mode control causes windup problem similar to the so-called integrator windup, which often takes place in linear control systems with integral action. A simple modification for the switching function is presented in order to reduce the discontinuous component of the control input during saturation. This can be seen as a variable switching function. Furthermore, the proposed anti-windup compensation is applied to a power-assisted manipulator with a single degree of freedom. Simulation and experimental results show the effectiveness of the proposed method.

    DOI: 10.1177/1077546309106143

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  • Integral sliding mode control for a class of nonlinear systems subject to input saturation Reviewed

    Makoto Yokoyama, Yuhi Kawai

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   75 ( 759 )   2926 - 2932   2009

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Mechanical Engineers  

    This paper presents a new sliding mode controller based on the integral sliding mode control (ISMC). It is shown that the original ISMC, which was proposed by Utkin et al., together with the so-called proportional reaching law tends to bring about windup phenomena under actuator saturation since the dynamics of the switching function is not asymptotically stable. In order to overcome this problem, the dynamics of the auxiliary variable used in ISMC is modified so that the dynamics of the switching function should be asymptotically stable in a certain region of the state space even during the actuator saturation. Thus, the proposed controller guarantees that the sliding mode can take place under the actuator saturation much sooner than the conventional ISMC. In addition, without the actuator saturation, the proposed controller can be seen as a kind of the proportional reaching law. Numerical simulation and experimental results demonstrate the effectiveness of the proposed controller.

    DOI: 10.1299/kikaic.75.2926

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  • Robust velocity tracking control with an observer for four-rotor mini helicopter Reviewed

    Keigo Fujimoto, Makoto Yokoyama

    IFAC Proceedings Volumes (IFAC-PapersOnline)   42 ( 16 )   38 - 43   2009

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IFAC Secretariat  

    Focusing on the unmatched uncertainties with respect to the aero dynamic coefficients which characterize the thrust and torques developed on the airframe, a change of state variables with the unknown true model parameters is firstly proposed so as to transform the unmatched uncertainties to matched. Then a sliding mode observer is employed to estimate the new state variables robustly. Using the estimates, a sliding mode controller is effectively employed for the matched uncertainties. Numerical simulation illustrates the robustness of the proposed controller together with the author's previous controller designed by the backstepping method.

    DOI: 10.3182/20090909-4-JP-2010.00009

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  • Velocity Tracking Control of a Four-Rotor Mini Helicopter Reviewed

    M. Yokoyama, K. Fujimoto

    The 9th International Conference on Motion and Vibration Control   2008.9

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  • Robust Control for A Class of Nonlinear Systems with Unmatched Uncertainty Reviewed

    K. Fujimoto, M.Yokoyama

    The First Japan-Korea International Joint Symposium on Dynamics and Control   2008.8

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  • Sliding Mode Control of Skid Steer Vehicle「(共著)」 Reviewed

    M. Yokoyama, R. Kishi, Y. Saito

    The 20th International Symposium: Dynamics of Vehicles on Roads and Tracks   2007.8

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  • Sliding Mode Control for Electric Power Assist Systems Reviewed

    M.Yokoyama, M. Tsuchiya, T. Kawasaki

    Journal of System Design and Dynamics   1 ( 2 )   159 - 167   2007.5

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Mechanical Engineers  

    This paper presents a nonlinear controller for electric power assist systems based on the sliding mode control. The proposed sliding mode controller is designed to achieve desired nonlinear properties including gravitational effect with robustness against disturbances such as friction force and modeling errors. Furthermore, so-called reaching phase is positively utilized so that the operator can feel disturbance torque of relatively large amplitude which should be noticed as information about environment, for example, when hitting an obstacle accidentally. Although the reaching phase can be designed from several points of view, the dynamics in the reaching phase is linearlized in order to use fruitful linear control theories such as H-infinity theory.

    DOI: 10.1299/jsdd.1.159

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  • All-Terrain Vehicle Robot with Controllable Auxiliary Mass「(共著)」 Reviewed

    Makoto Yokoyama, Ryota Adachi

    Proc. of The World Forum on Smart Materials and Smart Structures Technology   2007.5

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  • 電動パワーアシスト装置のスライディングモード制御 Reviewed

    横山誠, 川崎貴史, 土屋雅彦

    日本機械学会論文集   C72 ( 721 )   2838 - 2844   2006.9

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.1299/kikaic.72.2838

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  • Robust preview control based on discrete time integral sliding mode control Reviewed

    K. Nagashima, M. Yokoyama, K. Aida

    Transactions of the Japan Society of Mechanical Engineers   C72-721   2877 - 2883   2006.9

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.1299/kikaic.72.2877

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  • Integral Sliding Mode Control with Anti-windup Compensation and Its Application to a Power Assist System Reviewed

    M. Yokoyama, G. Kim, M. Tsuchiya

    The 8th International Conference on Motion and Vibration Control   2006.8

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  • Practical Model Following Sliding Mode Control of Semi-Active Suspensions Reviewed

    M. Yokoyama, Y. Koike, N. Kakuta, S. Toyama

    The 7th International Conference on Motion and Vibration Control   2004.8

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    DOI: 10.11511/jacc.47.0.176.0

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  • Sliding mode control for power assist systems Reviewed

    M. Yokoyama, T. Kawasaki

    The 7th International Conference on Mechatronics   2003.12

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  • A design method of sliding mode controller for servo-systems subject to actuator saturation Reviewed

    M Yokoyama, Y Tohta, K Saitoh

    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING   46 ( 3 )   960 - 966   2003.9

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:JAPAN SOC MECHANICAL ENGINEERS  

    This paper deals with compensation for windup phenomena due to actuator saturation in sliding mode control systems with integral action. It is shown that the actuator saturation causes windup phenomena similar to integrator windup, which might take place in linear control systems with integral action, even if the linear component of the control input does not include any integral action. This means it is not sufficient just to apply the existing anti-windup methods for the linear controllers to the sliding mode controllers. In other words, the nonlinear component of the control input should be reconsidered. Therefore a simple modification for the switching function is presented in order to reduce the nonlinear component of the input during saturation. It is shown that this modification makes it possible to keep the plant state close to the ideal sliding mode. Simulation and experimental results show the effectiveness of the proposed method.

    DOI: 10.1299/jsmec.46.960

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  • Sliding mode control for semi-active suspensions under actuator uncertainties Reviewed

    S. Toyama, M.Yokoyama

    The 18th International Symposium: Dynamics of Vehicles on Roads and Tracks   351 - 353   2003.8

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  • A sliding mode controller to eliminate chattering in semi-active suspensions with MR dampers Reviewed

    S. Toyama, M. Yokoyama, M. Nakamura

    The 6th International Conference on Motion and Vibration Control   867 - 872   2002.8

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:The Japan Society of Mechanical Engineers  

    This paper presents a design method of nonlinear controller for semi-active suspension systems with Magnetorheological (MR) dampers having nonlinear properties. A dynamic model of the MR damper, which consists of a nonliear static element followed by a linear dynamic element, is introduced and then a control law based on the integral sliding mode control proposed by V. Utkin and J. Shi is presented. It is shown that the proposed model enables us to reduce so-called chattering, which takes place due to the nonlinear properties of the damper and high frequency switching of the sliding mode control. Although this model includes more modeling error than other rigorous ones in the literature, the use of this model makes it easy to design the sliding mode controller. Numerical Simulations illustrate the effectiveness of the proposed method.

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  • A design method of sliding mode controller for servo-systems subject to actuator saturation Reviewed

    M. Yokoyama, Y. Tohta, K. Saito

    The 6th International Conference on Motion and Vibration Control   6 ( 1 )   194 - 199   2002.8

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:The Japan Society of Mechanical Engineers  

    This paper deals with compensation for windup phenomena due to actuator saturation in sliding mode control systems with integral action. It is shown that the actuator saturation causes windup phenomena similar to integrator windup, which might take place in linear control systems with integral action, even if the linear component of the control input does not include any integral action. This means it is not sufficient just to apply the existing anti-windup methods for the linear controllers to the sliding mode controllers. In other words, the nonlinear component of the control input should be reconsidered. Therefore a simple modification for the switching function is presented in order to reduce the nonlinear component of the input during saturation. It is shown that this modification makes it possible to keep the plant state close to the ideal sliding mode. Simulation and experimental results show the effectiveness of the proposed method.

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  • Sliding mode control for electronic throttle control systems Reviewed

    M. Yokoyama

    Transactions of JSME   C68-670   1759 - 1767   2002.6

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.1299/kikaic.68.1759

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  • 部分的モデルマッチング手法による多入出力I-PD予見制御系の設計 Reviewed

    王東, 愛田一雄, 横山誠,他

    日本機械学会論文集   C67 ( 661 )   2863 - 2869   2001.9

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.1299/kikaic.67.2863

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  • A sliding mode controller for semi-active suspensions Reviewed

    M. Yokoyama, J.K. Hedrick, S. Toyama

    Transactions of JSME   C67-657   1449 - 1454   2001.5

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.1299/kikaic.67.1449

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  • An integral sliding mode controller for semi-active suspension systems Reviewed

    S. Toyama, M. Yokoyama

    The 20th IASTED International Conference on Modeling, Identification and Control   2   596 - 601   2001.1

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  • A model following sliding mode controller for semi-active suspension systems with MR dampers Reviewed

    M Yokoyama, JK Hedrick, S Toyama

    PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6   2652 - 2657   2001

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    This paper presents a new sliding mode controller for semi-active suspension systems with Magnetorheological (MR) dampers which have undesirable nonlinear properties. In the proposed controller, a desired semi-active suspension system is chosen as the reference model to be followed, and the control low is determined so that an asymptotically stable sliding mode will occur in the error dynamics between the plant and the reference model states. The advantages of the proposed controller are: (1) measurement of the damper force is not required, (2) the reference model specifies the desired performance considering the passivity constraint of the damper, (3) it is highly possible to maintain the sliding mode and achieve high robustness against model uncertainties and disturbances. Numerical simulations illustrate the effectiveness of the controller.

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  • Semi-Active Suspensions Using Neural Networks Reviewed

    Makoto Yokoyama, Shigehiro Toyama, Hironaga Ito, Kazuo Aida

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   67 ( 663 )   3405 - 3412   2001

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    This paper presents a design method of neural controllers for semi active suspensions with nonlinear devices such as electrotheological or magnetotheological dampers. It is shown that the use of two neural networks corresponding to each signs of the relative velocity is effective to realize the desired controllers, i. e., semi active controllers inherently include discontinuous mappings due to the passivity constraint and it is generally very difficult to realize them with single neural network. A model-following type controller with these neural networks is proposed, and two learning methods, the feedforward learning and the recurrent learning, for the controller are investigated from a viewpoint of system identification theories: the equation error method and the output error method. © 2001, The Japan Society of Mechanical Engineers. All rights reserved.

    DOI: 10.1299/kikaic.67.3405

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  • べき型汎関数級数モデルによる非線形システムの同定法に関する研究

    横山誠

    1990.3

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    Language:Japanese   Publishing type:Doctoral thesis  

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Books

  • Autonomous Control Systems and Vehicles –Intelligent Unmanned Systems–

    Makoto Yokoyama( Role: Sole author)

    Springer  2013.6  ( ISBN:9784431542759

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    Total pages:311   Responsible for pages:195-209   Language:English Book type:Scholarly book

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  • Handbook of Vehicle Suspension Control

    S. Toyama, M. Yokoyama, F. Ikeda( Role: Joint author ,  ◾Design of Sliding Mode Controller for Semi-Active Suspension Systems with MR Dampers)

    Institution of Engineering and Technology  2013  ( ISBN:9781849196338

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    Total pages:424   Responsible for pages:247 - 286   Language:English Book type:Scholarly book

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  • Motion and Vibration Control

    M. Yokoyama, K. Fujimoto( Role: Joint author ,  335-344)

    Springer  2009.1 

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    Language:English Book type:Scholarly book

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  • Frontiers of motion and vibration control

    M.Yokoyama, K.Yoshida, K.Nonami, Y.Koike, H.Nishimura( Role: Joint author)

    Kyoritu publishment  2007.4 

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    Language:Japanese Book type:Scholarly book

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  • Control engineering

    M.Yokoyama, G. Obinata, R. Ikeura, T.Iwami, T.Ohhashi, S.Kizawa( Role: Joint author)

    Asakura shoten  2003.9  ( ISBN:4254231024

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    Language:Japanese Book type:Scholarly book

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  • 例題で学ぶ振動工学

    鈴木浩平, 横山誠,他( Role: Joint author ,  2章)

    丸善  1994.3  ( ISBN:4621039393

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    Language:Japanese Book type:Scholarly book

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  • ポイントを学ぶ振動工学

    鈴木浩平, 横山誠,他( Role: Joint author ,  3章)

    丸善  1993.3  ( ISBN:4621038117

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    Language:Japanese Book type:Scholarly book

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MISC

  • 自動変速機の制御―油温変化による特性変動とロバスト制御―

    横山誠

    油空圧技術   47 ( 8 )   38 - 43   2008.8

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Publisher:日本工業出版  

    CiNii Article

    CiNii Books

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  • 自動変速機のスライディングモード制御

    横山誠

    フルードパワーシステム   39 ( 1 )   34 - 38   2008.1

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (other)   Publisher:フルードパワーシステム学会  

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  • ボルテラ級数と実現問題

    横山誠, 渡辺敦

    計測自動制御学会誌   31 ( 8 )   865 - 871   1994.3

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (other)   Publisher:計測自動制御学会  

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Awards

  • 日本機械学会功労表彰

    2017   日本機械学会  

    横山誠

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    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

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  • パイオニア賞

    2016   日本機械学会   非線形制御理論とその応用

    横山誠

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    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

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  • 部門貢献賞

    2007   日本機械学会  

    横山誠

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    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

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Research Projects

  • シフトバイワイヤに於けるシフト位置制御

    2001.8 - 2002.3

    System name:共同研究

    Awarding organization:株式会社ユニシアジェックス

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    Grant type:Competitive

    Grant amount:\800000

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Teaching Experience

  • 技術英語・プレゼンテーション

    2022
    Institution name:新潟大学

  • 工学リテラシー入門(力学分野)

    2021
    Institution name:新潟大学

  • 機械設計II

    2021
    Institution name:新潟大学

  • 機械工学実験III

    2020
    Institution name:新潟大学

  • 卒業研究

    2020
    Institution name:新潟大学

  • 先端研究入門

    2020
    Institution name:新潟大学

  • 技術英会話

    2020
    Institution name:新潟大学

  • 機械工学実験IV

    2020
    Institution name:新潟大学

  • 英文輪読II

    2020
    Institution name:新潟大学

  • 英文輪読I

    2019
    Institution name:新潟大学

  • 卒業研修

    2019
    Institution name:新潟大学

  • 物理工学実験

    2017
    Institution name:新潟大学

  • 機械工学概論

    2017
    Institution name:新潟大学

  • 機械工学実験I

    2016
    Institution name:新潟大学

  • 機械工学演習

    2016
    Institution name:新潟大学

  • 機械工学実験II

    2016
    Institution name:新潟大学

  • 機械科学セミナーⅠ

    2013
    -
    2015
    Institution name:新潟大学

  • 材料生産システム特定研究Ⅱ

    2013
    -
    2015
    Institution name:新潟大学

  • 研究発表演習・発表

    2013
    -
    2015
    Institution name:新潟大学

  • 材料生産システム特定研究Ⅰ

    2013
    -
    2015
    Institution name:新潟大学

  • 機械科学セミナーⅡ

    2013
    -
    2015
    Institution name:新潟大学

  • 機械科学特別演習

    2012
    -
    2015
    Institution name:新潟大学

  • 機械科学文献詳読Ⅰ

    2012
    -
    2015
    Institution name:新潟大学

  • 機械科学文献詳読Ⅱ

    2012
    -
    2015
    Institution name:新潟大学

  • 自動車工学

    2011
    -
    2018
    Institution name:新潟大学

  • くらしを支える機械システム工学

    2010
    Institution name:新潟大学

  • 工学リテラシー入門(機械システム工学科)

    2009
    -
    2016
    Institution name:新潟大学

  • スタディスキルズ(機械工学基礎)

    2008
    Institution name:新潟大学

  • 知的ロボット

    2007
    Institution name:新潟大学

  • システム制御I

    2007
    Institution name:新潟大学

  • システム制御II

    2007
    Institution name:新潟大学

  • 非線形システム制御論

    2007
    Institution name:新潟大学

  • システム制御III

    2007
    -
    2019
    Institution name:新潟大学

  • 創造工学実習

    2007
    -
    2018
    Institution name:新潟大学

  • 計測と制御

    2007
    -
    2009
    Institution name:新潟大学

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