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Design of super-distributed control systems for unreliable multi-agents and its application to disaster area survey

Research Project

Project/Area Number 15K14006
Research Category

Grant-in-Aid for Challenging Exploratory Research

Allocation TypeMulti-year Fund
Research Field Control engineering/System engineering
Research InstitutionThe University of Kitakyushu (2016)
Kyoto University (2015)

Principal Investigator

Nagahara Masaaki  北九州市立大学, 環境技術研究所, 教授 (90362582)

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.

Report

(3 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Research-status Report
  • Research Products

    (56 results)

All 2017 2016 2015 Other

All Int'l Joint Research (10 results) Journal Article (10 results) (of which Int'l Joint Research: 3 results,  Peer Reviewed: 10 results,  Open Access: 4 results,  Acknowledgement Compliant: 10 results) Presentation (33 results) (of which Int'l Joint Research: 20 results,  Invited: 14 results) Book (2 results) Remarks (1 results)

  • [Int'l Joint Research] Indian Institute of Technology Bombay(India)

    • Related Report
      2016 Annual Research Report
  • [Int'l Joint Research] Aalborg University(Denmark)

    • Related Report
      2016 Annual Research Report
  • [Int'l Joint Research] Paderborn University(Germany)

    • Related Report
      2016 Annual Research Report
  • [Int'l Joint Research] Texas University at Dallas/University of Pennsylvania(米国)

    • Related Report
      2016 Annual Research Report
  • [Int'l Joint Research] Lund University(Sweden)

    • Related Report
      2016 Annual Research Report
  • [Int'l Joint Research] University of Paderborn(Germany)

    • Related Report
      2015 Research-status Report
  • [Int'l Joint Research] Aalborg University(Denmark)

    • Related Report
      2015 Research-status Report
  • [Int'l Joint Research] Indian Institute of Technology Bombay(India)

    • Related Report
      2015 Research-status Report
  • [Int'l Joint Research] Melbourne University(Australia)

    • Related Report
      2015 Research-status Report
  • [Int'l Joint Research] University of Pennsylvania(米国)

    • Related Report
      2015 Research-status Report
  • [Journal Article] Discrete-Valued Control of Linear Time-Invariant Systems by Sum-of-Absolute-Values Optimization2017

    • Author(s)
      T. Ikeda, M. Nagahara, and S. Ono
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: 印刷中 Issue: 6 Pages: 2750-2763

    • DOI

      10.1109/tac.2016.2627683

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Robust AC Voltage Regulation of Microgrids in Islanded Mode with Sinusoidal Internal Model2017

    • Author(s)
      N. Hayashi, M. Nagahara, and Y. Yamamoto
    • Journal Title

      SICE Journal of Control, Measurement, and System Integration

      Volume: 10(2) Issue: 2 Pages: 62-69

    • DOI

      10.9746/jcmsi.10.62

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Symbol Detection for Faster-Than-Nyquist Signaling by Sum-of-Absolute-Values Optimization2016

    • Author(s)
      H. Sasahara, K. Hayashi and M. Nagahara
    • Journal Title

      IEEE Signal Processing Letters

      Volume: 23(12) Issue: 12 Pages: 1853-1857

    • DOI

      10.1109/lsp.2016.2625839

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Discrete-time hands-off control by sparse optimization2016

    • Author(s)
      M. Nagahara, J. Ostergaard, D. E. Quevedo
    • Journal Title

      EURASIP Journal on Advances in Signal Processing

      Volume: 76 Issue: 1

    • DOI

      10.1186/s13634-016-0372-9

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] Characterization of maximum hands-off control2016

    • Author(s)
      D. Chatterjee, M. Nagahara, D. E. Quevedo, and K. S. M. Rao
    • Journal Title

      Systems & Control Letters

      Volume: 94 Pages: 31-36

    • DOI

      10.1016/j.sysconle.2016.05.002

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] Digital repetitive controller design via sampled-data delayed signal reconstruction2016

    • Author(s)
      M. Nagahara and Y. Yamamoto
    • Journal Title

      Automatica

      Volume: 65 Pages: 203-209

    • DOI

      10.1016/j.automatica.2015.11.029

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Value function in maximum hands-off control for linear systems2016

    • Author(s)
      T. Ikeda and M. Nagahara
    • Journal Title

      Automatica

      Volume: 64 Pages: 190-195

    • DOI

      10.1016/j.automatica.2015.10.043

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Maximum hands-off control: a paradigm of control effort minimization2016

    • Author(s)
      M. Nagahara, D. E. Quevedo, and D. Nesic
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: 61 Issue: 3 Pages: 735-747

    • DOI

      10.1109/tac.2015.2452831

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] Discrete Signal Reconstruction by Sum of Absolute Values2015

    • Author(s)
      M. Nagahara
    • Journal Title

      IEEE Signal Processing Letters

      Volume: 22 Pages: 1575-1579

    • DOI

      10.1109/lsp.2015.2414932

    • NAID

      120005619769

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Digital cancelation of self-interference for single-frequency full-duplex relay stations via sampled-data control2015

    • Author(s)
      H. Sasahara, M. Nagahara, K. Hayashi, and Y. Yamamoto
    • Journal Title

      SICE Journal of Control, Measurement, and System Integration

      Volume: 8 Issue: 5 Pages: 321-327

    • DOI

      10.9746/jcmsi.8.321

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Presentation] Hypertracking Beyond the Nyquist Frequency2017

    • Author(s)
      Kaoru Yamamoto, Yutaka Yamamoto, and Masaaki Nagahara
    • Organizer
      Emerging Applications of Control and System Theory (EACST 2017)
    • Place of Presentation
      Dallas, Texas, USA
    • Year and Date
      2017-09-28
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Continuous Hands-off Control by CLOT Norm Minimization2017

    • Author(s)
      Niharika Challapalli, Masaaki Nagahara, and Mathukumalli Vidyasagar
    • Organizer
      IFAC World Congress 2017
    • Place of Presentation
      Toulouse, France
    • Year and Date
      2017-07-09
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Symbol Detection for Faster-than-Nyquist Signaling by Sum-of-Absolute-Values Optimization2017

    • Author(s)
      Hampei Sasahara, Kazunori Hayashi, 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
      2016 Annual Research Report
    • Int'l Joint Research
  • [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
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] スパースモデリング2017

    • Author(s)
      永原正章
    • Organizer
      SICE第4回制御部門マルチシンポジウム
    • Place of Presentation
      岡山大学(岡山県岡山市)
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] 動的スパースモデリングによる省エネルギー制御2017

    • Author(s)
      永原正章
    • Organizer
      日本鉄鋼協会制御フォーラム公開フォーラム
    • Place of Presentation
      新日鐵住金尼崎研究開発センター(兵庫県尼崎市)
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] Synthesis of IIR error feedback filters for ΔΣ modulators using approximation2016

    • Author(s)
      M. R. Tariq, S. Ohno and M. Nagahara
    • Organizer
      Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA)
    • Place of Presentation
      Jeju, Korea
    • Year and Date
      2016-12-13
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Tracking of signals beyond the Nyquist frequency2016

    • Author(s)
      Y. Yamamoto, K. Yamamoto and M. Nagahara
    • Organizer
      2016 IEEE 55th Conference on Decision and Control (CDC)
    • Place of Presentation
      Las Vegas, NV, USA
    • Year and Date
      2016-12-12
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Consensus by maximum hands-off distributed control with sampled-data state observation2016

    • Author(s)
      T. Ikeda, M. Nagahara and K. Kashima
    • Organizer
      2016 IEEE 55th Conference on Decision and Control (CDC)
    • Place of Presentation
      Las Vegas, NV, USA
    • Year and Date
      2016-12-12
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Massive Overloaded MIMO Signal Detection via Convex Optimization with Proximal Splitting2016

    • Author(s)
      R. Hayakawa, K. Hayashi, H. Sasahara, and M. Nagahara
    • Organizer
      The 2016 European Signal Processing Conference (EUSIPCO)
    • Place of Presentation
      Budapest, Hunbary
    • Year and Date
      2016-08-29
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Quantized self-triggered control by sum-of-absolute-values optimization2016

    • Author(s)
      T. Ikeda, M. Nagahara and D. E. Quevedo
    • Organizer
      22nd International Symposium on Mathematical Theory of Networks and Systems (MTNS)
    • Place of Presentation
      the University of Minnesota, Minneapolis, USA
    • Year and Date
      2016-07-12
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Control Theoretical Approach for Single-Frequency Full-Duplex Wireless Relaying,2016

    • Author(s)
      H. Sasahara, K. Hayashi, M. Nagahara, and Y. Yamamoto
    • Organizer
      22nd International Symposium on Mathematical Theory of Networks and Systems (MTNS)
    • Place of Presentation
      the University of Minnesota, Minneapolis, USA
    • Year and Date
      2016-07-12
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Fundamental analysis of sparse optimal control and its application to discrete-valued control2016

    • Author(s)
      T. Ikeda and M. Nagahara
    • Organizer
      2016 American Control Conference (ACC)
    • Place of Presentation
      Boston, USA
    • Year and Date
      2016-07-06
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Maximum hands-off control without normality assumption2016

    • Author(s)
      T. Ikeda and M. Nagahara
    • Organizer
      2016 American Control Conference (ACC)
    • Place of Presentation
      Boston, USA
    • Year and Date
      2016-07-06
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Mutiuser Detection by MAP Estimation with Sum-of-Absolute-Values Relaxation2016

    • Author(s)
      H. Sasahara, K. Hayashi, and M. Nagahara
    • Organizer
      IEEE International Conference on Communiations (ICC)
    • Place of Presentation
      Kuala Lumpur, Malaysia,
    • Year and Date
      2016-05-23
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [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
      2015 Research-status Report
    • Invited
  • [Presentation] マルチエージェントシステムの制御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
      2015 Research-status Report
    • Invited
  • [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
      2015 Research-status Report
    • Invited
  • [Presentation] マルチエージェントシステムの制御2016

    • Author(s)
      永原正章
    • Organizer
      トヨタ東富士研究所「制御」先端・先進研究交流会
    • Place of Presentation
      トヨタ東富士研究所(静岡県裾野市)
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] スパースモデリング2016

    • Author(s)
      永原正章
    • Organizer
      電子情報通信学会「IoT時代の制御通信塾ー物理と情報をつなぐ新技術」
    • Place of Presentation
      メルパルク京都(京都府京都市)
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] Sparsity, discreteness, and optimal control, Special Lecture2016

    • Author(s)
      永原正章
    • Organizer
      The 48th ISCIE International Symposium on Stochastic Systems Theory and Its Applications (SSS)
    • Place of Presentation
      福岡工業大学(福岡県福岡市)
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] マルチエージェントの制御:ドローン応用からIoTまで2016

    • Author(s)
      永原正章
    • Organizer
      大阪大学 数理・データ科学セミナー 数理モデルセミナーシリーズ 第10回
    • Place of Presentation
      大阪大学(大阪府豊中市)
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] 動的スパースモデリングとL1最適制御2016

    • Author(s)
      永原正章
    • Organizer
      RACOT研究会
    • Place of Presentation
      アクロス福岡(福岡県福岡市)
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] マルチエージェントシステムの制御:合意制御と分散最適化2016

    • Author(s)
      永原正章
    • Organizer
      第60回システム制御情報学会研究発表講演会(SCI'16)
    • Place of Presentation
      京都テルサ(京都府京都市)
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] Sampled-data H-infinity optimization for self-interference suppression in baseband signal subspaces2015

    • Author(s)
      H. Sasahara, M. Nagahara, K. Hayashi, Y. Yamamoto
    • Organizer
      54th IEEE Conference on Decision and Control (CDC2015)
    • Place of Presentation
      大阪国際会議場(大阪府・大阪市)
    • Year and Date
      2015-12-18
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Time-domain equalization for single-frequency full-duplex wireless relay using H2 optimal control2015

    • Author(s)
      H. Sasahara, M. Nagahara, K. Hayashi, Y. Yamamoto
    • Organizer
      47th ISCIE International Symposium on Stochastic Systems Theory and Its Applications (SSS'15)
    • Place of Presentation
      Hawaii, USA
    • Year and Date
      2015-12-05
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Discrete model predictive control by sum-of-absolute-values optimization2015

    • Author(s)
      T. Ikeda and M. Nagahara
    • Organizer
      47th ISCIE International Symposium on Stochastic Systems Theory and Its Applications (SSS'15)
    • Place of Presentation
      Hawaii, USA
    • Year and Date
      2015-12-05
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] ネットワーク上の制御と信号処理,チュートリアル講演2015

    • Author(s)
      永原
    • Organizer
      第58回自動制御連合講演会
    • Place of Presentation
      神戸大学(兵庫県・神戸市)
    • Year and Date
      2015-11-14
    • Related Report
      2015 Research-status Report
    • Invited
  • [Presentation] L1-optimal disturbance rejection for disease spread over time-varying networks2015

    • Author(s)
      M. Ogura, M. Nagahara, and V. M. Preciado
    • Organizer
      The First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015)
    • Place of Presentation
      京都大学(京都府・京都市)
    • Year and Date
      2015-10-28
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] 役に立つ「マルチエージェントシステムの制御」2015

    • Author(s)
      永原
    • Organizer
      SICEネットワーク上の制御と信号処理調査研究会
    • Place of Presentation
      京都大学(京都府・京都市)
    • Year and Date
      2015-09-29
    • Related Report
      2015 Research-status Report
    • Invited
  • [Presentation] マルチエージェントシステムの制御(1)総論と制御工学の基礎2015

    • Author(s)
      永原
    • Organizer
      電子情報通信学会ソサイエティ大会
    • Place of Presentation
      東北大学(宮城県・仙台市)
    • Year and Date
      2015-09-09
    • Related Report
      2015 Research-status Report
    • Invited
  • [Presentation] Loop-Back Interference Suppression for OFDM Signals via Sampled-Data Control2015

    • Author(s)
      H. Sasahara, M. Nagahara, K. Hayashi, and Y. Yamamoto
    • Organizer
      10th Asian Control Conference (ASCC)
    • Place of Presentation
      Kota Kinabalu, Malaysia
    • Year and Date
      2015-05-31
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Continuity of the Value Function in Sparse Optimal Control2015

    • Author(s)
      T. Ikeda and M. Nagahara
    • Organizer
      10th Asian Control Conference (ASCC)
    • Place of Presentation
      Kota Kinabalu, Malaysia
    • Year and Date
      2015-05-31
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Book] 倒立振子で学ぶ制御工学2017

    • Author(s)
      川田昌克,東俊一,市原裕之,浦久保孝光,大塚敏之,甲斐健也,國松禎明,澤田賢治,永原正章,南裕樹
    • Total Pages
      226
    • Publisher
      森北出版
    • Related Report
      2016 Annual Research Report
  • [Book] マルチエージェントシステムの制御2015

    • Author(s)
      東,永原,石井,林,桜間,畑中
    • Total Pages
      232
    • Publisher
      コロナ社
    • Related Report
      2015 Research-status Report
  • [Remarks] 永原正章のホームページ

    • URL

      https://nagahara-masaaki.github.io/

    • Related Report
      2016 Annual Research Report

URL: 

Published: 2015-04-16   Modified: 2022-02-16  

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