研究活動情報

• 2020年06月 University of California San Diego, Center for Control Systems and Dynamics, Robert E. Skelton Systems and Control Dissertation Award


• 2019年07月 American Automatic Control Council, O. Hugo Schuck Best Paper Award

  Shumon Koga, Iasson Karafyllis, Miroslav Krstic


• 2018年06月 University of California San Diego, Department of Mechanical and Aerospace Engineering, Outstanding Graduate Student Award

• Safe Stabilization of the Stefan Problem with a High-Order Moving Boundary Dynamics by PDE Backstepping

  Shumon Koga, Miroslav Krstic

  IEEE, 2025年12月, 2025 IEEE 64th Conference on Decision and Control (CDC), 2997 - 3002

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Lyapunov-Certified Trajectory Tracking for Mobile Robot With a Tail Wheel: Differential-Flatness and Adaptive Backstepping Design

  Yuta Nishizawa, Shumon Koga, Koki Aizawa, Yuji Yasui

  IEEE, 2025年05月, 2025 IEEE International Conference on Robotics and Automation (ICRA), 3947 - 3953

  研究論文（国際会議プロシーディングス）


• Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions

  Minnan Zhou, Mustafa Shaikh, Vatsalya Chaubey, Patrick Haggerty, Shumon Koga, Dimitra Panagou, Nikolay Atanasov

  IEEE, 2025年05月, 2025 IEEE International Conference on Robotics and Automation (ICRA), 12863 - 12869

  研究論文（国際会議プロシーディングス）


• Neuron growth control and estimation by PDE backstepping

  Demir, C., Koga, S., Krstic, M.

  2024年07月, Automatica, 165, 英語

  [査読有り]

  研究論文（学術雑誌）


• Sampled-Data Output Feedback Control of the Stefan Problem with Explicit Condition of Sampling Scheduling.

  Shumon Koga

  2024年, American Control Conference(ACC), 3966 - 3971, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Event-Triggered Control of Neuron Growth with Actuation at Soma.

  Cenk Demir, Shumon Koga, Miroslav Krstic

  2024年, American Control Conference(ACC), 5301 - 5306, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Safe PDE Backstepping QP Control With High Relative Degree CBFs: Stefan Model With Actuator Dynamics

  Koga, S., Krstic, M.

  2023年12月, IEEE Transactions on Automatic Control, 68(12) (12)

  [査読有り]

  研究論文（学術雑誌）


• Event-Triggered Safe Stabilizing Boundary Control for the Stefan PDE System with Actuator Dynamics

  Shumon Koga, Cenk Demir, Miroslav Krstic

  IEEE, 2023年05月, 2023 American Control Conference (ACC), 1794 - 1799

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Learning Continuous Control Policies for Information-Theoretic Active Perception

  Pengzhi Yang, Yuhan Liu, Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov

  IEEE, 2023年05月, 2023 IEEE International Conference on Robotics and Automation (ICRA)

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories.

  Pengzhi Yang, Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov 0001

  PMLR, 2023年, Learning for Dynamics and Control Conference(L4DC), 64 - 75

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Control Synthesis for Stability and Safety by Differential Complementarity Problem

  Yi, Y., Koga, S., Gavrea, B., Atanasov, N.

  2023年, IEEE Control Systems Letters, 7

  [査読有り]

  研究論文（学術雑誌）


• Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories

  Arash Asgharivaskasi, Shumon Koga, Nikolay Atanasov

  IEEE, 2022年10月, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 12994 - 13001

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Neuron Growth Output-Feedback Control by PDE Backstepping

  Cenk Demir, Shumon Koga, Miroslav Krstic

  IEEE, 2022年06月, 2022 American Control Conference (ACC), 4159 - 4164

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach

  Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov

  IEEE, 2022年06月, 2022 American Control Conference (ACC), 5062 - 5068

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Control of the Stefan System and Applications: A Tutorial

  Koga, S., Krstic, M.

  2022年05月, Annual Review of Control Robotics and Autonomous Systems, 5, 英語

  [査読有り]

  研究論文（学術雑誌）


• Input Delay Compensation for Neuron Growth by PDE Backstepping

  Cenk Demir, Shumon Koga, Miroslav Krstic

  Elsevier BV, 2022年, IFAC-PapersOnLine, 55(36) (36), 49 - 54

  [査読有り]

  研究論文（学術雑誌）


• State estimation of the Stefan PDE: A tutorial on design and applications to polar ice and batteries

  Koga, S., Krstic, M.

  2022年, Annual Reviews in Control, 53, 英語

  [査読有り]

  研究論文（学術雑誌）


• Neuron Growth Control by PDE Backstepping: Axon Length Regulation by Tubulin Flux Actuation in Soma

  Cenk Demir, Shumon Koga, Miroslav Krstic

  IEEE, 2021年12月, 2021 60th IEEE Conference on Decision and Control (CDC), 649 - 654

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories

  Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov

  IEEE, 2021年09月, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2735 - 2741

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Extremum seeking-based observer design for reduced order models of coupled thermal and fluid systems

  Koga, S., Benosman, M., Borggaard, J.

  2021年07月, International Journal of Adaptive Control and Signal Processing, 35(7) (7), 英語

  [査読有り]

  研究論文（学術雑誌）


• Energy storage in paraffin: A PDE backstepping experiment

  Koga, S., Makihata, M., Chen, R., Krstic, M., Pisano, A., P

  2021年07月, IEEE Transactions on Control Systems Technology, 29(4) (4)

  [査読有り]

  研究論文（学術雑誌）


• Extremum seeking for unknown scalar maps in cascade with a class of parabolic partial differential equations

  Oliveira, T.R., Feiling, J., Koga, S., Krstic, M.

  2021年07月, International Journal of Adaptive Control and Signal Processing, 35(7) (7), 英語

  [査読有り]

  研究論文（学術雑誌）


• Towards implementation of PDE control for Stefan system: Input-to-state stability and sampled-data design

  Koga, S., Karafyllis, I., Krstic, M.

  2021年05月, Automatica, 127, 英語

  [査読有り]

  研究論文（学術雑誌）


• State estimation for lithium-ion batteries with phase transition materials via boundary observers

  Koga, S., Camacho-Solorio, L., Krstic, M.

  2021年04月, Journal of Dynamic Systems Measurement and Control Transactions of the ASME, 143(4) (4), 英語

  [査読有り]

  研究論文（学術雑誌）


• Extremum seeking for traffic congestion control with a downstream bottleneck

  Yu, H., Koga, S., Oliveira, T.R., Krstic, M.

  2021年03月, Journal of Dynamic Systems Measurement and Control Transactions of the ASME, 143(3) (3), 英語

  [査読有り]

  研究論文（学術雑誌）


• Multivariable Extremum Seeking for PDE Dynamic Systems

  Oliveira, T.R., Feiling, J., Koga, S., Krstic, M.

  2020年11月, IEEE Transactions on Automatic Control, 65(11) (11)

  [査読有り]

  研究論文（学術雑誌）


• Laser sintering control for metal additive manufacturing by PDE backstepping

  Koga, S., Krstic, M., Beaman, J.

  2020年09月, IEEE Transactions on Control Systems Technology, 28(5) (5)

  [査読有り]

  研究論文（学術雑誌）


• Delay compensated control of the Stefan problem and robustness to delay mismatch

  Koga, S., Bresch-Pietri, D., Krstic, M.

  2020年04月, International Journal of Robust and Nonlinear Control, 30(6) (6), 英語

  [査読有り]

  研究論文（学術雑誌）


• Stabilization of Filament Production Rate for Screw Extrusion-Based Polymer Three-Dimensional-Printing

  Koga, S., Straub, D., Diagne, M., Krstic, M.

  2020年03月, Journal of Dynamic Systems Measurement and Control Transactions of the ASME, 142(3) (3), 英語

  [査読有り]

  研究論文（学術雑誌）


• Arctic sea ice state estimation from thermodynamic PDE model

  Koga, S., Krstic, M.

  2020年02月, Automatica, 112, 英語

  [査読有り]

  研究論文（学術雑誌）


• Two-phase stefan problem

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Open problems

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Open problems

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• State estimator design for stefan system

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Polymer 3D-printing via screw extrusion

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Sea ice

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Phase change model: Stefan problem

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• State feedback control design for stefan system

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Preface

  Koga, S., Krstic, M.

  Systems and Control Foundations and Applications, 2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Experimental study with paraffin melting

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Metal 3D-printing via selective laser sintering

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Extended models and design

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Lithium-ion batteries

  Koga, S., Krstic, M.

  2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Materials phase change PDE control & estimation: From additive manufacturing to polar ice

  Koga, S., Krstic, M.

  Systems and Control Foundations and Applications, 2020年, Systems and Control Foundations and Applications

  研究論文（学術雑誌）


• Single-boundary control of the two-phase Stefan system

  Koga, S., Krstic, M.

  2020年01月, Systems and Control Letters, 135, 英語

  [査読有り]

  研究論文（学術雑誌）


• Learning-Based Robust Observer Design for Coupled Thermal and Fluid Systems

  Shumon Koga, Mouhacine Benosman, Jeff Borggaard

  IEEE, 2019年07月, 2019 American Control Conference (ACC), 941 - 946

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Control and State Estimation of the One-Phase Stefan Problem via Backstepping Design

  Koga, S., Diagne, M., Krstic, M.

  2019年, IEEE Transactions on Automatic Control, 64(2) (2)

  [査読有り]

  研究論文（学術雑誌）


• Control of Two-Phase Stefan Problem via Single Boundary Heat Input

  Shumon Koga, Miroslav Krstic

  IEEE, 2018年12月, 2018 IEEE Conference on Decision and Control (CDC), 2914 - 2919

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Control of Piston Position in Inviscid Gas by Bilateral Boundary Actuation

  Mona Buisson-Fenet, Shumon Koga, Miroslav Krstic

  IEEE, 2018年12月, 2018 IEEE Conference on Decision and Control (CDC), 5622 - 5627

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Scalar Newton-based Extremum Seeking for a Class of Diffusion PDEs

  Tiago Roux Oliveira, Jan Feiling, Shumon Koga, Miroslav Krstic

  IEEE, 2018年12月, 2018 IEEE Conference on Decision and Control (CDC), 2926 - 2931

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Stabilization of Traffic Flow With a Leading Autonomous Vehicle

  Huan Yu, Shumon Koga, Miroslav Krstic

  This paper develops boundary control law for autonomous vehicles to stabilize the stop-and-go traffic on freeway. The macroscopic traffic dynamics is described by the Aw-Rascle-Zhang (ARZ) model in a time and state dependent domain. The leading autonomous vehicle aims to regulate the traffic behind it to uniform equilibrium and the domain length of the traffic to a setpoint. The traffic density and speed is governed by second-order, nonlinear hyperbolic partial differential equations (PDEs), coupled with a state-dependent ODE for the leading autonomous vehicle. The actuation is the speed of autonomous vehicle at the moving front boundary of the domain. We linearize the system around a uniform velocity and density reference and certain physical properties are discussed for the model validity. The linearized model describes the dynamics of deviations of density and velocity from the reference. By transforming the linearized system in a moving coordinate, we obtain a domain with a fixed boundary at one end and a state-dependent moving boundary at the other end. The well-posedness of the system is proved and the linear instability of open-loop system is shown. We further map the system to Riemann variables and based on it, propose the boundary feedback control law actuated by the leading autonomous vehicle. The exponential stability of state variables in L2 norm and convergence to the setpoint domain length is achieved for the closed-loop system.

  American Society of Mechanical Engineers, 2018年09月, Dynamic Systems and Control Conference, American Society of Mechanical Engineers, 51906, V002T22A006

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Gradient extremum seeking for static maps with actuation dynamics governed by diffusion PDEs

  Feiling, J., Koga, S., Krsti?, M., Oliveira, T.R.

  2018年09月, Automatica, 95, 英語

  [査読有り]

  研究論文（学術雑誌）


• Axial Vibration Suppression in a Partial Differential Equation Model of Ascending Mining Cable Elevator

  Ji Wang, Shumon Koga, Yangjun Pi, Miroslav Krstic

  Lifting up a cage with miners via a mining cable causes axial vibrations of the cable. These vibration dynamics can be described by a coupled wave partial differential equation-ordinary differential equation (PDE-ODE) system with a Neumann interconnection on a time-varying spatial domain. Such a system is actuated not at the moving cage boundary, but at a separate fixed boundary where a hydraulic actuator acts on a floating sheave. In this paper, an observer-based output-feedback control law for the suppression of the axial vibration in the varying-length mining cable is designed by the backstepping method. The control law is obtained through the estimated distributed vibration displacements constructed via available boundary measurements. The exponential stability of the closed-loop system with the output-feedback control law is shown by Lyapunov analysis. The performance of the proposed controller is investigated via numerical simulation, which illustrates the effective vibration suppression with the fast convergence of the observer error.

  ASME International, 2018年06月, Journal of Dynamic Systems, Measurement, and Control, 140(11) (11), 英語

  [査読有り]

  研究論文（学術雑誌）


• Thermodynamic Modeling and Control of Screw Extruder for 3D Printing

  Shumon Koga, David Straub, Mamadou Diagne, Miroslav Krstic

  IEEE, 2018年06月, 2018 Annual American Control Conference (ACC), 2551 - 2556

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Input-to-State Stability for the Control of Stefan Problem with Respect to Heat Loss at the Interface

  Shumon Koga, Iasson Karafyllis, Miroslav Krstic

  IEEE, 2018年06月, 2018 Annual American Control Conference (ACC), 1740 - 1745

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Delay compensated control of the Stefan problem

  Shumon Koga, Miroslav Krstic

  IEEE, 2017年12月, 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 1242 - 1247

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Arctic sea ice temperature profile estimation via backstepping observer design

  Shumon Koga, Miroslav Krstic

  IEEE, 2017年08月, 2017 IEEE Conference on Control Technology and Applications (CCTA), 1722 - 1727

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Backstepping control of the Stefan problem with flowing liquid

  Shumon Koga, Rafael Vazquez, Miroslav Krstic

  IEEE, 2017年05月, 2017 American Control Conference (ACC), 1151 - 1156

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Output feedback control of the one-phase Stefan problem

  Shumon Koga, Mamadou Diagne, Miroslav Krstic

  IEEE, 2016年12月, 2016 IEEE 55th Conference on Decision and Control (CDC), 526 - 531

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Backstepping control of the one-phase stefan problem

  Shumon Koga, Mamadou Diagne, Shuxia Tang, Miroslav Krstic

  IEEE, 2016年07月, 2016 American Control Conference (ACC), 2548 - 2553

  [査読有り]

  研究論文（国際会議プロシーディングス）

• Materials phase change PDE control & estimation : from additive manufacturing to polar ice

  Koga, Shumon, Krstic, Miroslav

  Birkhäuser, 2020年, 英語, ISBN: 9783030584894

• Control of the Stefan Problem

  Shumon Koga

  IEEE Conference on Decision and Control 2024 Workshop, Control and Adaptation: Imagine What’s Next, 2024年12月, 英語

  [招待有り]

  口頭発表（招待・特別）


• Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories

  Shumon Koga

  Annual Learning for Dynamics and Control Conference (L4DC), 2023年06月

  口頭発表（招待・特別）


• Future Perspectives on Control of Parabolic PDEs with Moving Boundaries

  Shumon Koga

  DPS Online Seminar, 2021年06月, 英語

  [招待有り]

  口頭発表（招待・特別）

• 無限次元系のカオス同期化とマルチメディアデータの暗号化に関する研究

  佐野 英樹, 古賀 朱門

  日本学術振興会, 科学研究費助成事業, 基盤研究(C), 神戸大学, 2025年04月01日 - 2029年03月31日


• 確率的制御バリア関数によるロボット安全能動センシング

  古賀 朱門

  日本学術振興会, 科学研究費助成事業, 若手研究, 神戸大学, 2026年04月01日 - 2028年03月31日