| Project/Area Number |
15K00038
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Mathematical informatics
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| Research Institution | Osaka Institute of Technology |
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Principal Investigator |
Oku Hiroshi 大阪工業大学, 工学部, 准教授 (20351455)
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| Research Collaborator |
USHIDA Shun
NAKAYAMA Mitsuhiro
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| Project Period (FY) |
2015-04-01 – 2019-03-31
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| Project Status |
Completed (Fiscal Year 2018)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2017: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2016: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2015: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Keywords | システム同定 / 閉ループ同定 / マルチレート系 / ドローン / フィードバック制御 / 部分空間法 / リフティング / 部分空間同定法 / グレーボックスモデリング / 繰り返し同定 / マルチレート制御系 |
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| Outline of Final Research Achievements |
The goal of this study is to develop closed-loop system identification methods for unstable MIMO multirate systems. The contributions are follows: (1) A gray-box closed-loop system identification method has been proposed, making use of the prior information of that some of poles of a system to be identified are known. (2) In terms of improvement of control performance, iterative implementation of system identification and controller design has been studied. its effectiveness has been demonstrated by an experiment of hovering flight of a miniature helicopter. (3) A closed loop system identification method for unstable MIMO multirate systems has been proposed. The proposed method is derived by integration of the so-called lifting technique into CL-MOESP, which is a closed-loop subspace model identification method. Its practical effectiveness has been demonstrated by controller design of hovering flight of a quadrotor drone.
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| Academic Significance and Societal Importance of the Research Achievements |
マルチレート系に対するシステム同定の従来研究は，単入出力系に対する閉ループ同定または多入出力系に対する開ループ同定を扱っていた．本研究では，不安定多入出力マルチレート系に対する閉ループシステム同定法を提案しており，従来法では未解決な問題に一つの解を与えたと考えられる．システム同定法の研究における提案手法の有効性の確認は数値シミュレーションにとどまることがほとんどである．しかしながら本研究では，ドローンのホバリング飛行制御系設計を通した実機実験による検証まで行っており，提案手法の実応用に期待が持てる．
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