| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2016: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2015: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Outline of Final Research Achievements |
We have studied distributed cooperative control (synchronization control) of linear multi-agent systems with input and output constraints. For each sub-system, we first characterized the invariant set of state vectors which ensure the constraint fulfillment, and designed a feedback control law which forms this invariant. By making use of this invariant set and control law, we have proposed a new design method of the relative feedback control law and the invariant set which achieve both of the synchronization and input/output constraints for the whole multi-agent system. It also turned out that a wide region of attraction to the synchronized states can be obtained by maximizing the invariant set with the aid of convex optimization. The effectiveness of the proposed methods were verified through numerical simulations.
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