Design of super-distributed control systems for unreliable multi-agents and its application to disaster area survey
| Project/Area Number |
15K14006
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering/System engineering
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| Research Institution | The University of Kitakyushu (2016)
Kyoto University (2015) |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2016: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2015: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | 分散制御 / 分散最適化 / マルチエージェント / スパースモデリング / IoT / マルチエージェントシステム / Cyber-physical systems / 最適制御 / 超スマート社会 / ソサイエティ5.0 / 適応制御 / 伝染病拡散モデル |
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| Outline of Final Research Achievements |
In this research, we proposed a super-distributed control that uses multiple agents with low reliability to enhance the control performance of the system by sacrificing the stability of a few agents. By using the idea of sparse optimal control, or dynamic sparse modeling, sparse distributed control for multi agent system was established for the purpose.
We derive a sparse distributed control law based on L1 norm optimization with stability conditions. We also devised an algorithm of distributed optimization as an application of the control theory for multi-agents. Experiments using a drone and a robot were carried out to verify the effectiveness of the proposed super-distributed control.
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Report
(3 results)
Research Products
(56 results)
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[Presentation] RATE-DISTORTION ANALYSIS OF DELTA-SIGMA MODULATORS2017
Author(s)
Shuichi Ohno, Teruyuki Shiraki, M.Rizwan Tariq, Masaaki Nagahara
Organizer
The 42nd IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP 2017)
Place of Presentation
New Orleans, USA
Year and Date
2017-03-05
Related Report
Int'l Joint Research
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[Presentation] ネットワーク上の制御と信号処理2016
Author(s)
永原
Organizer
第３回計測自動制御学会制御部門マルチシンポジウム
Place of Presentation
南山大学名古屋キャンパス（愛知県・名古屋市）
Year and Date
2016-03-10
Related Report
Invited
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[Presentation] 合意制御と分散最適化2016
Author(s)
永原
Organizer
2016年1月電子情報通信学会信号処理研究会
Place of Presentation
関西学院大学大阪梅田キャンパス（大阪府・大阪市）
Year and Date
2016-01-18
Related Report
Invited
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