• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Development of a unified framework for optimal control and estimation of nonlinear stochastic systems based on path integral analysis

Research Project

Project/Area Number 15K18089
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Control engineering/System engineering
Research InstitutionOsaka University (2017)
Hiroshima University (2015-2016)

Principal Investigator

Satoh Satoshi  大阪大学, 工学研究科, 講師 (60533643)

Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
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: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywords確率制御 / 非線形制御 / 最適制御 / 小型ヘリコプタ / クアッドコプタ
Outline of Final Research Achievements

We have proposed an iterative solution method for nonlinear stochastic optimal control problems using stochastic analysis and statistical sampling. In this project, first, we have extended this method to a nonlinear filtering problem. Second, a modeling method for a nonlinear stochastic system has been investigated, which is based on the parameter identification with the nonlinear filtering method. Third, we have provided a unified framework for stochastic optimal control, state estimation and stochastic system modeling by the path integral analysis approach. Finally, we have performed experimental verification of the proposed method with small unmanned helicopters. Optimal flight trajectories for the helicopters taking probabilistic uncertainties into account have been obtained.

Report

(4 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • Research Products

    (41 results)

All 2018 2017 2016 2015 Other

All Int'l Joint Research (3 results) Journal Article (7 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 7 results,  Acknowledgement Compliant: 1 results) Presentation (25 results) (of which Int'l Joint Research: 8 results,  Invited: 3 results) Book (1 results) Remarks (5 results)

  • [Int'l Joint Research] Radboud University Nijmegen(オランダ)

    • Related Report
      2017 Annual Research Report
  • [Int'l Joint Research] Radboud University Nijmegen(オランダ)

    • Related Report
      2016 Research-status Report
  • [Int'l Joint Research] Radboud University Nijmegen(オランダ)

    • Related Report
      2015 Research-status Report
  • [Journal Article] Component-Based Detailed Modeling of a Small Wheeled Mobile Robot with Indispensable Nonlinearities2018

    • Author(s)
      YOSHIDA Kazuki、SATOH Satoshi、SAEKI Masami
    • Journal Title

      SICE Journal of Control, Measurement, and System Integration

      Volume: 11 Issue: 1 Pages: 72-80

    • DOI

      10.9746/jcmsi.11.72

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A force regulation guaranteeing input-to-state stability for a robot manipulator in a potential field2017

    • Author(s)
      Satoh Satoshi、Ebimoto Ryusuke、Saeki Masami
    • Journal Title

      IEEJ Transactions on Electrical and Electronic Engineering

      Volume: 12 Issue: S2

    • DOI

      10.1002/tee.22565

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Input-to-state stability of stochastic port-Hamiltonian systems using stochastic generalized canonical transformations2017

    • Author(s)
      Satoh Satoshi
    • Journal Title

      International Journal of Robust and Nonlinear Control

      Volume: 27 Issue: 17 Pages: 3862-3885

    • DOI

      10.1002/rnc.3769

    • Related Report
      2017 Annual Research Report 2016 Research-status Report
    • Peer Reviewed
  • [Journal Article] An iterative method for nonlinear stochastic optimal control based on path integrals2017

    • Author(s)
      S. Satoh, H. J. Kappen and M. Saeki
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: 62 Issue: 1 Pages: 262-276

    • DOI

      10.1109/tac.2016.2547979

    • Related Report
      2016 Research-status Report 2015 Research-status Report
    • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] Transition to an optimal periodic gait by simultaneous input and parameter optimization method of Hamiltonian systems2016

    • Author(s)
      S. Satoh, K. Fujimoto and M. Saeki
    • Journal Title

      Artif Life Robotics

      Volume: - Issue: 3 Pages: 258-267

    • DOI

      10.1007/s10015-016-0294-5

    • Related Report
      2016 Research-status Report
    • Peer Reviewed
  • [Journal Article] Stability analysis of feedback systems with dead zone nonlinearities by circle and Popov criteria2016

    • Author(s)
      M. Saeki, N. Wada, S. Satoh
    • Journal Title

      Automatica

      Volume: 66 Pages: 96-100

    • DOI

      10.1016/j.automatica.2015.12.020

    • Related Report
      2016 Research-status Report 2015 Research-status Report
    • Peer Reviewed
  • [Journal Article] ボリュームレンダリングによる非線形フィルタのパラメータ空間設計2015

    • Author(s)
      佐伯正美・黒坂友亮・和田信敬・佐藤訓志
    • Journal Title

      システム制御情報学会論文誌

      Volume: 28 Pages: 419-425

    • NAID

      130005120932

    • Related Report
      2015 Research-status Report
    • Peer Reviewed
  • [Presentation] ハミルトン系のIFTにおける近似微分器を用いた散逸要素の最適調整2017

    • Author(s)
      佐藤訓志
    • Organizer
      第5回計測自動制御学会 制御部門マルチシンポジウム
    • Related Report
      2017 Annual Research Report
  • [Presentation] 非線形確率システムの考え方と応用2017

    • Author(s)
      佐藤訓志
    • Organizer
      第8回横幹連合コンファレンス
    • Related Report
      2017 Annual Research Report
  • [Presentation] 非線形フィルタと経路積分確率最適制御法の統合に関する検討2017

    • Author(s)
      佐藤訓志
    • Organizer
      第60回 自動制御連合講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] 劣駆動機械システムの確率有界安定化制御と2ロータヘリコプタへの応用2017

    • Author(s)
      田坂俊郎・佐藤訓志・佐伯正美
    • Organizer
      第61回システム制御情報学会研究発表講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] 確率的不確かさを考慮したシステム表現と最適制御2017

    • Author(s)
      佐藤訓志
    • Organizer
      ヒューマノイド・ロボティクス2017夏の学校
    • Related Report
      2017 Annual Research Report
    • Invited
  • [Presentation] Gait generation for a biped robot with knees and torso via trajectory learning and state-transition estimation2017

    • Author(s)
      S. Satoh and K. Fujimoto
    • Organizer
      2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Performance Analysis of Visual Feedback Leader-Following Pose Synchronization with Stochastic Uncertain Leader in Three Dimensions2017

    • Author(s)
      J. Yamauchi, K. Kizaki, T. Ibuki, T. Hatanaka, S. Satoh and M. Fujita
    • Organizer
      1st IEEE Conference on Control Technology and Applications
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 腰と脚の同期を利用した学習最適制御による受動走行ロボットの最適走行軌道への遷移2016

    • Author(s)
      佐藤訓志・佐伯正美
    • Organizer
      第17回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      札幌
    • Year and Date
      2016-12-15
    • Related Report
      2016 Research-status Report
  • [Presentation] 近似モデルの安定性に基づく厳密離散時間確率システムの実用確率漸近安定性2016

    • Author(s)
      佐藤訓志・片山仁志
    • Organizer
      第59回 自動制御連合講演会
    • Place of Presentation
      山口
    • Year and Date
      2016-11-10
    • Related Report
      2016 Research-status Report
  • [Presentation] Nonlinear stochastic H-infinity control using local quadratic approximation2016

    • Author(s)
      S. Satoh, T. Kamiike and M. Saeki
    • Organizer
      SICE International Symposium on Control Systems
    • Place of Presentation
      Nagoya, Japan
    • Year and Date
      2016-03-07
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] A unified framework for nonlinear stochastic control problems based on path integral analysis2016

    • Author(s)
      S. Satoh
    • Organizer
      SICE International Symposium on Control Systems
    • Place of Presentation
      Nagoya, Japan
    • Year and Date
      2016-03-07
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] 非線形性を考慮した車輪移動ロボットの詳細なモデル化2016

    • Author(s)
      吉田一貴・佐藤訓志・佐伯正美
    • 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
      名古屋
    • Year and Date
      2016-03-07
    • Related Report
      2015 Research-status Report
  • [Presentation] 学習最適制御を用いた軌道とパラメータの同時最適化による脚ロボットの最適歩・走行軌道生成2016

    • Author(s)
      佐藤訓志
    • Organizer
      適応学習制御調査研究会 第三回講義会
    • Place of Presentation
      東京
    • Related Report
      2016 Research-status Report
    • Invited
  • [Presentation] 駆動系のダイナミクスを考慮した二輪車両モデルのハミルトン系表現に基づく漸近安定化制御2016

    • Author(s)
      星川大輔・佐藤訓志・佐伯正美
    • Organizer
      第25回 計測自動制御学会中国支部学術講演会
    • Place of Presentation
      広島
    • Related Report
      2016 Research-status Report
  • [Presentation] ポテンシャル場におけるロボットマニピュレータの入力状態安定性を保証した力制御2016

    • Author(s)
      海老本龍佑・佐藤訓志・佐伯正美
    • Organizer
      第25回 計測自動制御学会中国支部学術講演会
    • Place of Presentation
      広島
    • Related Report
      2016 Research-status Report
  • [Presentation] 経路積分確率最適制御よるコンパス型二足歩行ロボットの不整地歩行2015

    • Author(s)
      佐藤訓志・佐伯正美
    • Organizer
      第16回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      名古屋
    • Year and Date
      2015-12-14
    • Related Report
      2015 Research-status Report
  • [Presentation] 過渡応答データを用いた雑音フィルタ付PID制御器の設計2015

    • Author(s)
      桧本昂希・飯田泰暉・佐伯正美・和田信敬・佐藤訓志
    • Organizer
      第24回 計測自動制御学会中国支部学術講演会
    • Place of Presentation
      岡山
    • Year and Date
      2015-11-28
    • Related Report
      2015 Research-status Report
  • [Presentation] 二足歩行ロボットへの実装を目的としたFSRセンサによる床反力作用点推定2015

    • Author(s)
      桑田大輔・佐藤訓志・佐伯正美
    • Organizer
      第24回 計測自動制御学会中国支部学術講演会
    • Place of Presentation
      岡山
    • Year and Date
      2015-11-28
    • Related Report
      2015 Research-status Report
  • [Presentation] 経路積分制御法のフィルタ問題への応用2015

    • Author(s)
      佐藤訓志・佐伯正美
    • Organizer
      第58回 自動制御連合講演会
    • Place of Presentation
      神戸
    • Year and Date
      2015-11-14
    • Related Report
      2015 Research-status Report
  • [Presentation] Transition to a passive walking gait via input and parameter optimization of Hamiltonian systems2015

    • Author(s)
      S. Satoh, K. Fujimoto and M. Saeki
    • Organizer
      the First International Symposium on Swarm Behavior and Bio-Inspired Robotics
    • Place of Presentation
      Kyoto, Japan
    • Year and Date
      2015-10-28
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Input and plant parameter optimization via learning optimal control of Hamiltonian systems2015

    • Author(s)
      S. Satoh, K. Fujimoto and M. Saeki
    • Organizer
      the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
    • Place of Presentation
      Lyon, France
    • Year and Date
      2015-07-04
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] A parameter space design method using simulation2015

    • Author(s)
      M. Saeki, Y. Kurosaka, N. Wada and S. Satoh
    • Organizer
      the 10th Asian Control Conference
    • Place of Presentation
      Sabah, Malaysia
    • Year and Date
      2015-05-31
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Stochastic performance analysis of visual motion observer and experimental verifications2015

    • Author(s)
      J. Yamauchi, S. Nakano, S. Satoh, T. Hatanaka and M. Fujita
    • Organizer
      the 10th Asian Control Conference
    • Place of Presentation
      Sabah, Malaysia
    • Year and Date
      2015-05-31
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] 安定制約つきモデルマッチング問題に基づくデータ駆動オンライン制御2015

    • Author(s)
      飯田泰暉・佐伯正美・和田信敬・佐藤訓志
    • Organizer
      第59回システム制御情報学会研究発表講演会
    • Place of Presentation
      大阪
    • Year and Date
      2015-05-20
    • Related Report
      2015 Research-status Report
  • [Presentation] 知的PID制御器の簡略化表現と制御系設計2015

    • Author(s)
      西野光哉・佐伯正美・和田信敬・佐藤訓志
    • Organizer
      第59回システム制御情報学会研究発表講演会
    • Place of Presentation
      大阪
    • Year and Date
      2015-05-20
    • Related Report
      2015 Research-status Report
  • [Book] ロボット制御学ハンドブック (※分担執筆)2017

    • Author(s)
      佐藤訓志(松野 文俊、大須賀 公一、松原 仁、野田 五十樹、稲見 昌彦 編集)
    • Total Pages
      1024
    • Publisher
      近代科学社
    • ISBN
      476490473X
    • Related Report
      2017 Annual Research Report
  • [Remarks] 佐藤 訓志

    • URL

      http://www-space.mech.eng.osaka-u.ac.jp/satoh/index_ja.html#Publications

    • Related Report
      2017 Annual Research Report
  • [Remarks] Satoshi SATOH

    • URL

      http://www-space.mech.eng.osaka-u.ac.jp/satoh/index.html

    • Related Report
      2017 Annual Research Report
  • [Remarks] 佐藤 訓志

    • URL

      http://home.hiroshima-u.ac.jp/satoh/index_ja.html

    • Related Report
      2016 Research-status Report
  • [Remarks] Satoshi Satoh

    • URL

      http://home.hiroshima-u.ac.jp/satoh/index.html

    • Related Report
      2016 Research-status Report 2015 Research-status Report
  • [Remarks] 佐藤 訓志

    • URL

      http://home.hiroshima-u.ac.jp/satoh/index_ja.html#Publications

    • Related Report
      2015 Research-status Report

URL: 

Published: 2015-04-16   Modified: 2022-02-22  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi