坂東 麻衣（ばんどう まい） | データ更新日：2019.06.24 |

准教授 ／
工学研究院
航空宇宙工学部門

**原著論文**

1. | Mai Bando, Daniel J. Scheeres, Nonlinear attractive and reachable sets under optimal control in three-body problem, Journal of Guidance, Control, and Dynamics, 10.2514/1.G003334, 41, 8, 1766-1775, 2018.01, [URL]. |

2. | Yang Zhou, Mai Bando, Shinji Hokamoto, Panlong Wu, Integrated orbit determination and maintenance in Earth-Moon unstable dynamics environment, Acta Astronautica, 10.1016/j.actaastro.2018.11.041, 2018.01, [URL], The hyperbolic instability of collinear libration point orbits dominates the distribution of orbit uncertainty, which is closely related with the unstable manifold of the local orbit. Exploiting the distribution of orbit uncertainty in an unstable orbital environment, an integrated orbit determination and maintenance approach is proposed. X-ray pulsar navigation embedded in the Kalman filtering architecture is adopted to determine the orbit of a spacecraft flying along the Earth-Moon L_{2} halo orbit. To keep the spacecraft in the vicinity of the nominal trajectory, the newly proposed orbit maintenance approach based on the covariance matrix is proposed to design the orbit maintenance maneuver. The numerical simulations show that the proposed approach has a good performance in orbit determination and maintenance.. |

3. | Akiyama Yuki, Mai Bando, Shinji Hokamoto, Explicit form of station-keeping and formation flying controller for libration point orbits, Journal of Guidance, Control, and Dynamics, 10.2514/1.G002845, 41, 6, 1405-1413, 2018.01, [URL], A new station-keeping strategy based on nonlinear output regulation theory has been proposed for the periodic orbits in the circular restricted three-body problem. A Fourier series approximation was employed to generate the desired orbits, and then the output regulation theory for nonlinear systems was applied. The output regulation problem was solved in an analytical form. The proposed controller has been applied and verified in numerical simulations for the halo orbit of the sun–Earth L2 point. In the case that the reference orbit is the natural periodic orbit, the controller can approximate the optimal controller in the sense of minimizing the station-keeping cost. As an application of the proposed method, formation flying using circular orbits around the chief satellite has been worked out.. |

4. | Takayoshi Oba, Mai Bando, Shinji Hokamoto, Controller performance for quad-rotor vehicles based on sliding mode control, Journal of Robotics and Mechatronics, 10.20965/jrm.2018.p0397, 30, 3, 397-405, 2018.06, [URL], This study applies a sliding mode control (SMC) strategy for a robust controller of a quad-rotor vehicle. First, a controller combined with a nested control loop and an SMC is introduced, because a quad-rotor vehicle has only four control inputs although the vehicle has six degrees of freedom. The control performance for the feedback gains in the nested loop is investigated in numerical simulations. Subsequently, the effects of practical system limitations (control cycle and rotor dynamics) on the control performance are examined. Finally, the robust performance of the SMC strategy on a quad-rotor vehicle is discussed.. |

5. | Yuki Akiyama, Mai Bando, Shinji Hokamoto, Periodic and quasi-periodic orbit design based on the center manifold theory, Acta Astronautica, 10.1016/j.actaastro.2019.02.029, 160, 672-682, 2019.07, [URL], This paper proposes a new numerical method for finding libration point orbits in the vicinity of collinear libration points in the circular restricted three-body problem. The main advantage of this method is that it requires neither an initial guess nor complex algebraic manipulations for finding both quasi-periodic and periodic orbits. The proposed method consists of two steps: center manifold design and differential correction. The first step provides a quasi-periodic orbit parametrized by a single parameter vector. In the second step, the parameter vector in the first step is used to obtain an exact periodic orbit. This method is applied to find periodic and quasi-periodic orbits in the Sun-Earth restricted three-body problem around the L_{1} and L_{2} libration points.. |

6. | Yuki Akiyama, Mai Bando, Shinji Hokamoto, Station-keeping and formation flying based on nonlinear output regulation theory, Acta Astronautica, 10.1016/j.actaastro.2018.02.004, 2018.01, [URL], Station-keeping and formation flying along a libration point orbit in the circular restricted three-body problem are considered. In order to deal with the relative motion with respect to a reference trajectory, this paper extends our previous study which derives the station-keeping controller based on the output regulation theory. First the reference orbit of the chief satellite is represented as the output of an autonomous system called exosystem, assuming the reference orbit is given by a truncated Fourier series. For the formation flying, the relative trajectory of the deputy satellite with respect to the chief satellite is also represented by the output of an exosystem. Then the reference signal to be asymptotically tracked for the formation flying is obtained by the superposition of the two exosystems. The proposed controllers are applied and verified for the station-keeping and formation flying along a periodic orbit of the Sun-Earth L2 point.. |

7. | Tsubasa Yamasaki, Mai Bando, Shinji Hokamoto, Tether cutting maneuver in swing-by trajectory, Acta Astronautica, 10.1016/j.actaastro.2017.11.002, 142, 212-220, 2018.01, [URL], The swing-by maneuver is known as a method to change the velocity of a spacecraft by using the gravity force of the celestial body. The powered swing-by has been studied to enhance the velocity change during the swing-by maneuver. This paper studies another way of the powered swing-by using tether cutting, which does not require additional propellant consumption, and shows that the proposed powered swing-by can increase the effect of the swing-by as same as using impulsive thrust. Moreover, it is discussed whether the system has possibility to realize both the powered swing-by of a mother satellite and the planetary capture of a subsatellite simultaneously.. |

8. | Hamidreza Nemati, Mai Bando, Shinji Hokamoto, Chattering Attenuation Sliding Mode Approach for Nonlinear Systems, Asian Journal of Control, 10.1002/asjc.1477, 2017.09, [URL], This study introduces a new robust nonlinear control scheme based on the theory of nonsingular terminal sliding mode control (NTSMC). Since conventional NTSMC utilizes a discontinuous switching function, a significant flaw called chattering can occur. The main purpose of this study is to design a new switching function based upon Lyapunov stability in order to alleviate this drawback over time. There are many approaches to mitigate the chattering drawback in SMC such as utilizing a smooth approximation of the switching element, or employing higher order sliding mode control (HOSMC) strategy. However, the use of a continuous approximation affects the system's performance and a finite reaching time to the sliding manifold, and in HOSMC the estimation of high-order derivatives of states is usually difficult and it still exhibits chattering in the presence of parasitic dynamics. In this study by employing a new sliding manifold including a time function, the chattering is attenuated as well as keeping the robustness. Finally, a second-order nonlinear dynamical system subject to disturbance is simulated to highlight the validity and applicability of the proposed method.. |

9. | Naoto Kobayashi, Mai Bando, Shinji Hokamoto, Improvement of Wide-Field-Integration of Optic Flow Considering Practical Sensor Restrictions, Journal of Mechanical Engineering and Automation, 10.5923/j.jmea.20170702.04, 7, 2, 53-62, 2017.04. |

10. | Yuki Akiyama, Mai Bando, Shinji Hokamoto, Trajectory Design Using the Center Manifold Theory in the Circular Restricted Three-Body Problem, Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, Pd_151-Pd_158, 2016.12. |

11. | Sho Hayashida, Mai Bando, Shinji Hokamoto, Design of Earth-Moon Cyclers Using Primer Vector Theory, Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, Pd_159-Pd_165, 2016.12. |

12. | Yuki Akiyama, Mai Bando, Shinji Hokamoto, On the possibility of using small asteroids for deflecting near-Earth asteroids, Advances in Space Research, 10.1016/j.asr.2015.08.016, 57, 8, 1820-1831, 2016.04, [URL], This paper presents the trajectory design and analysis of the near-Earth asteroid (NEA) deflection mission enabled by a kinetic impact of an intermediate asteroid. The sequential transfer trajectory is designed by solving two Lambert's problems that yield a chain collision between a spacecraft and an intermediate asteroid, followed by a collision between the intermediate asteroid and an NEA. The characteristics of the low-cost trajectories are then identified with respect to the optimal collision point. We show that the feasibility of the mission depends on the existence of an intermediate asteroid with small minimum orbit interception distance (MOID) with the NEA. Moreover the selection strategy of an intermediate asteroid that makes the mission feasible is discussed. We show that several asteroids exist that allow a 10 ton spacecraft with limited ΔV to be launched and impact the NEA 99442 Apophis allowing a deflection given several years warning time.. |

13. | Mai Bando, Daniel J. Scheeres, Attractive sets to unstable orbits using optimal feedback control, Journal of Guidance, Control, and Dynamics, 10.2514/1.G000524, 39, 12, 2725-2739, 2016.12, [URL], This paper investigates the combination of optimal feedback control with the dynamical structure of the three-body problem. The results provide new insights for the design of continuous low-thrust spacecraft trajectories. Specifically, the attracting set of an equilibrium point or a periodic orbit (represented as a fixed point) under optimal control with quadratic cost is obtained. The analysis reveals the relation between the attractive set and original dynamics. In particular, it is found that the largest dimensions of the set are found along the stable manifold and the least extent is along the left eigenvector of the unstable manifold. The asymptotic behavior of the structure of the attractive set when time tends to infinity is analytically revealed. The results generalize the use of manifolds for transfers to equilibrium points and periodic orbits in astrodynamic problems. The result is theoretical and developed for a linearized system, but it can be extended to nonlinear systems in the future.. |

14. | Mai Bando, Hamidreza Nemati, Satellite Formation-keeping about Libration Points in the Presence of System Uncertainties, Advances in the Astronautical Sciences, 156, 737-756, 2015.08. |

15. | 伊達直輝, 坂東麻衣, 外本 伸治, 未知の低推力加速運動を行う人工衛星の軌道推定（第2報：接触軌道要素の推定）, 日本機械学会論文集, DliD2rhdIa, 81, 826, 2015.06. |

16. | 伊達直輝, 坂東麻衣, 外本 伸治, 未知の低推力加速運動を行う人工衛星の軌道推定（第1報：平均軌道要素の推定）, 日本機械学会論文集, AUJ6UxEFLM, 81, 826, 2015.06. |

17. | Mai Bando, Akira Ichikawa, Optimal Selection of Impulse Times For Formation Flying, Advances in the Astronautical Sciences, 153, 861-872, 2015.01. |

18. | Mai Bando, Akira Ichikawa, Formation flying along halo orbit of circular-restricted three-Body problem, Journal of Guidance, Control, and Dynamics, 10.2514/1.G000463, 38, 1, 123-129, 2015.01, [URL], A new control strategy based on output regulation theory is proposed for formation flying along a halo orbit near a libration point in the circular-restricted three-body problem. The reference orbit is a periodic or shifted perturbation of the halo orbit generated by an exosystem, and modification of linear output regulation theory is employed. First, the station keeping problem is considered, and the total velocity change required for the halo orbit maintenance is found to be negligible. The reasonable size of a perturbation can be determined numerically, and hence the formation flying proposed in this paper is useful for the design of a reference orbit along a halo orbit. The proposed relative orbit and control strategy are independent of halo orbits and can be applied to formation flying along an arbitrary path.. |

19. | Mai Bando, 外本 伸治, 円制限三体問題を題材とした航空宇宙工学分野における研究室インターシップ, 工学教育, 62, 2, 73-78, 2014.03. |

20. | Mai Bando, Akira Ichikawa, Formation Flying Along an Elliptic Orbit by Pulse Control, Advances in the Astronautical Sciences, 150, 1433-1446, 2014.01. |

21. | Mai Bando, Akira Ichikawa, Formation Flying near the Libration Points by Impulse Control, Advances in the Astronautical Sciences, 146, 3045-3057, 2013.09. |

22. | Mai Bando, Akira Ichikawa, In-plane motion control of Hill-Clohessy-Wiltshire equations by single input, Journal of Guidance, Control, and Dynamics, 10.2514/1.57197, 36, 5, 1512-1521, 2013.09, [URL], The in-plane motion of the Hill-Clohessy-Wiltshire (HCW) equations is controllable with along-track input but not controllable with crosstrack input. However, in the controllable subspace of the latter, the drift velocity is zero and the free motion is periodic. Thus, formation reconfiguration for the in-plane motion is possible by cross-track input. In the case of the continuous-time feedback controllers, the total velocity change of the along-track controller is larger than that of the two-input controller, but the difference is less than 8% for the settling time larger than five periods. In the case of pulse feedback controllers, the sampling time used for discretization is one-half of the period for the two-input controller and one-quarter of the period for all other single-input controller. The two-input and along-track feedback controllers are robust and effective for the nonlinear relative dynamics.. |

23. | Mai Bando, Hiroshi Yamakawa, Optimal Trajectory Design for Asteroid Deflection Mission , Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, 10, ists28, 2011-d-63, 2013.01. |

24. | Mai Bando, Akira Ichikawa, Active formation flying along an elliptic orbit, Journal of Guidance, Control, and Dynamics, 10.2514/1.57703, 36, 1, 324-332, 2013.01, [URL], An active formation flying for the Tschauner-Hempel equations (TH) is considered, in which the desired relative orbit of the follower is generated by an exosystem. This allows for flexibility of the shape and period of the reference orbit. The regulator differential equation is solved algebraically, exploiting the special structure of the Tschauner-Hempel equations. Hence, control implementation is straight forward. In the case of active formation, the total velocity change increases with penalty on the input. The settling time is independent of the frequency of the reference orbit. For the Tschauner-Hempel equations, the total velocity change for transition increases with frequency of the reference orbit, but the settling time remains almost constant, as in the circular case. For the eccentricity up to 0.3, the total velocity change for maintenance remains at the same level as in the circular case. Using these relations, feedback controls for active formation with given specifications and constraints can be designed effectively.. |

25. | Shu Tsujii, Mai Bando, Hiroshi Yamakawa, Spacecraft formation flying dynamics and control using the geomagnetic lorentz force, Journal of Guidance, Control, and Dynamics, 10.2514/1.57060, 36, 1, 136-148, 2013.01, [URL], The motion of a charged satellite subjected to the Earth's magnetic field is considered. The Lorentz force, which acts on a charged particle when it is moving through a magnetic field, provides a new concept of propellantless electromagnetic propulsion. A dynamic model of a charged satellite, including the effect of the Lorentz force in the vicinity of a circular or an elliptic orbit, is derived and its application to formation flying is considered. Based on Hill-Clohessy-Wiltshire equations and Tschauner-Hempel equations, analytical approximations for the relative motion in Earth orbit are obtained. The analysis based on the linearized equations shows the controllability of the system by stepwise charge control. The sequential quadratic programming method is applied to solve the orbital transfer problem of the original nonlinear equations in which the analytical solutions cannot be obtained.Astrategy to reduce the charge amount using sequential quadratic programming is also developed.. |

26. | 坂東 麻衣, 大須賀公一, 藤井隆雄, 山川 宏, 円制限三体問題のラグランジュポイントの安定性に関する陰的制御的考察, 計測自動制御学会論文集, 38, 7, 431-440, 2012.07. |

27. | Mai Bando, Masaki Nakamiya, Yasuhiro Kawakatsu, Trajectory Design of DESTINY Mission, Advances in the Astronautical Sciences, 146, 321-322, 2012.05. |

28. | Mai Bando, Akira Ichikawa, Graphical generation of periodic orbits of tschauner-hempel equations, Journal of Guidance, Control, and Dynamics, 10.2514/1.56326, 35, 3, 1002-1007, 2012.05, [URL], Graphical generation of periodic orbits of Tschauner-Hempel (TH) equations is presented. The general solution of the relative dynamics based on the orbital elements is obtained, and the relative motion invariant manifold, where the solution lies, is determined. The region where all periodic solutions lie is determined by two ellipses, whose size depends on the eccentricity of the leader orbit. Size and phase parameters for periodic orbits are introduced for the TH equations, and a simple way to draw a periodic orbit is proposed for a given pair of size and phase parameters and a given initial true anomaly of the elliptic orbit. Results show that the design of a relative orbit with size and position specifications is as simple as in the Hill-Clohessy-Wiltshire (HCW) case.. |

29. | Hiroshi Yamakawa, Shinji Hachiyama, Mai Bando, Attitude dynamics of a pendulum-shaped charged satellite, Acta Astronautica, 10.1016/j.actaastro.2011.07.019, 70, 77-84, 2012.01, [URL], In this paper, we investigate the possibility of the use of the Lorentz force, which acts on charged satellite when it is moving through the magnetic field, as a means of satellite attitude control. We first derive the equations of attitude motion of charged satellite and then investigate the stability of the motion. Finally we propose an attitude control method using the Lorentz force. Our method requires moderate charge level for future Lorentz-augmented satellite.. |

30. | Ryo Jifuku, Akira Ichikawa, Mai Bando, Optimal pulse strategies for relative orbit transfer along a circular orbit, Journal of Guidance, Control, and Dynamics, 10.2514/1.51230, 34, 5, 1329-1341, 2011.09, [URL], This paperisconcerned withafuel-optimal relative orbit transfer problem for Hill-Clohessy-Wiltshire equations. The input is of the pulse type and the performance index is the total velocity change required for a transfer. For the in-plane motion, the existence of optimal three-pulse strategies is shown and the minimum total velocity change is explicitly given under the condition that the difference of orbit size is relatively larger than that of drift velocity. For the out-of-plane motion, the existence of optimal single-pulse strategies is shown. The orbit transfer problem covers formation reconfiguration problem as a special case. Midpoints of the optimal pulses coincide with those points at which the velocity along the radial direction is zero. Using this information and null controllability with vanishing energy of the Hill-Clohessy-Wiltshire equations, suboptimal feedback controllers are designed. Simulation results with optimal open-loop strategies and feedback controls are given for two formation reconfiguration problems.. |

31. | Mai Bando, Akira Ichikawa, Formation Flying Along a Circular Orbit with Control Constraints, Advances in the Astronautical Sciences, 142, 1393-1406, 2011.08. |

32. | Mai Bando, Hiroshi Yamakawa, Near-Earth asteroid flyby survey mission using solar sailing technology, Journal of the Astronautical Sciences, 10.1007/BF03321532, 58, 4, 569-581, 2011.01, [URL], The purpose of this paper is to investigate the possibility of on asteroid (NEA) survey mission enabled by advanced solar sailing technology. The study is focused not on the solar sail spacecraft itself but on its orbital dynamics to realize the missions. A novel NEA flyby survey mission with a lightweight solar sail spacecraft to increase the accessibility to NEA flybys located in the vicinity of the Earth's orbit is proposed. A numerical study suggests that our approach increases the opportunities in proximity to NEAs, which have eccentric and inclined orbits.. |

33. | Mai Bando, Hiroshi Yamakawa, Near-Earth Asteroid Survey Mission Concept Using Solar Sailing Technology, Advances in the Astronautical Sciences, 138, 257-269, 2010.07. |

34. | Mai Bando, Hiroshi Yamakawa, New lambert algorithm using the Hamilton-Jacobi-Bellman equation, Journal of Guidance, Control, and Dynamics, 10.2514/1.46751, 33, 3, 1000-1008, 2010.05, [URL], A study was conducted to demonstrate the formulation of the new Lambert Algorithm using the Hamilton-Jacobi-Bellman Equation (HJB). The two-point boundary-value problem (TPBVP) of the Hamiltonian system was treated as an optimal control problem where the Lagrangian function played a role as a performance index. The approach demonstrated in the study was based on the expansion of the value function in the Chebyshev series with unknown coefficients, considering the computational advantages of the use of Chebyshev polynomials. The differential expressions that arose in the HJB equation were expanded in Chebyshev series with the unknown coefficients. The new algorithm had the potential to provide a solution to the TPVBP using the spectral information about the gravitation potential function and was applicable to the problem under a higher-order perturbed potential function without any modification.. |

35. | Mai Bando, Akira Ichikawa, Periodic orbits of nonlinear relative dynamics along an eccentric orbit, Journal of Guidance, Control, and Dynamics, 10.2514/1.46024, 33, 2, 385-395, 2010.03, [URL], This paper is concerned with formation acquisition and reconfiguration problems with an eccentric reference orbit. As a first step, the characterization problem is considered for all initial conditions that constitute periodic solutions of the nonlinear equations of relative motion. Under the condition that the inertial orbits of the leader and a follower are coplanar, initial conditions of all periodic relative orbits are generated in terms of parameters of their orbits and their initial positions. Then the inertial orbit of the follower is rotated successively around the two axes of its perifocal reference system, and the initial conditions of all noncoplanar relative orbits are derived. Based on these periodic relative orbits, formation acquisition and reconfiguration problems by a feedback controller are formulated. The main performance index of a feedback controller is the total velocity change during the operation. Using the property of null controllability with vanishing energy of the Tschauner-Hempel equations, suboptimal controllers are designed via the differential Riccati equation of the linear regulator theory of periodic systems.. |

36. | Mai Bando, Akira Ichikawa, Satellite formation and reconfiguration with restricted control interval, Journal of Guidance, Control, and Dynamics, 10.2514/1.46139, 33, 2, 607-615, 2010.03, [URL], A new formulation of formation flying in an elliptic orbit with restricted control interval is discussed. The main performance index is the L_{1} norm of the control input generated by an employed feedback control, which is proportional to the fuel consumption. The null controllability with vanishing energy (NCVE) property enables to design feedback controllers through the linear quadratic regulator (LQR) theory, which generate control inputs with arbitrarily small L_{2} norms by imposing a large penalty on control. The L_{1} norm of the control input decreases monotonically as the penalty on control increases, and suboptimal controllers are designed. The velocity of the satellite near the apogee is smaller, a relatively small velocity change is required for orbit control and it is assumed that t = 0 is the perigee passage time of the leader, and restrict the control input to the interval.. |

37. | Mai Bando, Hiroshi Yamakawa, Solution to Lambert's Problem Using Generalized Canonical Transformations, Advances in the Astronautical Sciences, 136, 587-603, 2010.02. |

38. | Mai Bando, Hiroshi Yamakawa, Orbital Design for Multiple Flyby Missions, Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, 8, ists27, 2010.01. |

39. | Mai Bando, Akira Ichikawa, From Elliptic Restricted Three-Body Problem to Tschauner-Hempel Equations:A Control Strategy Based on Circular Problems, Advances in the Astronautical Sciences, 135, 301-313, 2009.08. |

40. | Mai Bando, Hiroshi Yamakawa, A New Optimal Orbit Control for Two-Point Boundary-Value Problem Using Generating Functions, Advances in the Astronautical Sciences, 134, 245-260, 2009.02. |

41. | Mai Bando, Akira Ichikawa, Periodic orbits of nonlinear relative dynamics and satellite formation, Journal of Guidance, Control, and Dynamics, 10.2514/1.41438, 32, 4, 1200-1208, 2009.07, [URL], In this paper, leader-follower formation and reconfiguration problems based on the periodic orbits of the nonlinear relative dynamics along a circular orbit are considered. First, initial conditions of coplanar and noncoplanar relative orbits are characterized by the initial true anomaly, mean motion, semimajor axis, eccentricity, and inclination angle of the follower's inertial orbit. Based on the property of null controllability with vanishing energy of the Hill-Clohessy-Wiltshire equations, L_{1} suboptimal feedback controllers are designed via the linear quadratic regulator theory. Simulation results for three examples are given. A comparison with the reconfiguration problem based on the periodic orbits of the Hill-Clohessy-Wiltshire equations shows that replacement by nonlinear periodic orbits does not increase the L _{1}-norm of the feedback control.. |

42. | Mai Bando, Akira Ichikawa, Adaptive Regulation of Nonlinear Systems by Output Feedback, Journal of Robotics and Mechatronics, 20, 5, 2008.09. |

43. | Mai Bando, Hiroaki Nakanishi, A Stable Approach for Modular Learning and Its Application to Autonomous Aero-Robot, Journal of Robotics and Mechatronics, 18, 1, 44-50, 2006.01. |

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