| Project/Area Number |
15K14006
|
|---|
| Research Category |
Grant-in-Aid for Challenging Exploratory Research
|
| Allocation Type | Multi-year Fund |
|---|
| Research Field |
Control engineering/System engineering
|
|---|
| Research Institution | The University of Kitakyushu (2016)
Kyoto University (2015) |
|---|
Principal Investigator |
|
|---|
| Project Period (FY) |
2015-04-01 – 2017-03-31
|
| Project Status |
Completed (Fiscal Year 2016)
|
| 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)
|
|---|
| 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 |
|---|
| 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.
|
