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Input allocation control using control Lyapuov function

Research Project

Project/Area Number 16H04380
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering/System engineering
Research InstitutionHokkaido University

Principal Investigator

Yamashita Yuh  北海道大学, 情報科学研究院, 教授 (90210426)

Co-Investigator(Kenkyū-buntansha) 小林 孝一  北海道大学, 情報科学研究科, 准教授 (50452115)
中村 文一  東京理科大学, 理工学部電気電子情報工学科, 准教授 (70362837)
Project Period (FY) 2016-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2018)
Budget Amount *help
¥16,380,000 (Direct Cost: ¥12,600,000、Indirect Cost: ¥3,780,000)
Fiscal Year 2018: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2017: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2016: ¥8,320,000 (Direct Cost: ¥6,400,000、Indirect Cost: ¥1,920,000)
Keywords入力分配制御 / 非線形制御理論 / 制御リアプノフ関数 / 省エネルギー / 制御工学 / 機械力学・制御 / 非線形制御 / 非線形システム
Outline of Final Research Achievements

The problem of selecting the optimum input under the constraint of guaranteeing the stability in redundant input systems is called the input allocation problem, and its quality is directly linked to energy saving. Instead of the conventional method of specifying the time derivative of the state, this research adopts the method of giving a state-dependent general input-candidate set using a control Lyapunov function, and gives a flexible and practical input alocation method to satisfy various requirements. In the method of constructing an additional potential function for the dynamic extented system, we got results on the derivation of continuous constraint set, two-stage constraints, setting of cost coefficients, omission of offset function, application to vehicle system etc. In addition, in the method of solving linear and quadratic programming probrem every instance, we got results of sparse-input stabilization, best-effort-type control, chattering prevention mechanism etc.

Academic Significance and Societal Importance of the Research Achievements

本研究の学術的意義は、これまでばらばらに考えられてきた入力に関する要求事項・制約・コストを統一的に考えることを可能にする枠組みを与えたことで、動特性を指定する状態依存の制約も他と統一的に扱えることを示したことである。それによって生じる社会的意義は、しばしばロジックで考えられていた入力分配を直観的設計で省エネ性を考慮したうえで簡単に実現することができ、制御系設計に掛かる設計期間短縮に寄与することである。

Report

(4 results)
  • 2018 Annual Research Report   Final Research Report ( PDF )
  • 2017 Annual Research Report
  • 2016 Annual Research Report
  • Research Products

    (35 results)

All 2019 2018 2017 2016

All Journal Article (7 results) (of which Peer Reviewed: 7 results) Presentation (28 results) (of which Int'l Joint Research: 14 results)

  • [Journal Article] Asymptotic Stabilization of Nonholonomic Four-Wheeled Vehicle with Steering Limitation2019

    • Author(s)
      Wataru HASHIMOTO, Yuh YAMASHITA, Koichi KOBAYASHI
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E102.A Issue: 1 Pages: 227-234

    • DOI

      10.1587/transfun.E102.A.227

    • NAID

      130007541779

    • ISSN
      0916-8508, 1745-1337
    • Year and Date
      2019-01-01
    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Distributed Estimation over Delayed Sensor Network with Scalable Communication2019

    • Author(s)
      Ryosuke Adachi, Yuh Yamashita, Koichi Kobayashi
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E102.A

    • NAID

      130007641100

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Delay-Compensated Maximum-Likelihood-Estimation Method and Its Application for Quadrotor UAVs2018

    • Author(s)
      Ryosuke, ADACHI, Yuh YAMASHITA
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E101.A Issue: 4 Pages: 678-684

    • DOI

      10.1587/transfun.E101.A.678

    • NAID

      130006601980

    • ISSN
      0916-8508, 1745-1337
    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Vibration Suppression of Hamiltonian Systems with Velocity and Force Disturbances using IDA-PBC2018

    • Author(s)
      Sheng Hao, Yuh Yamashita, Koichi Kobayashi
    • Journal Title

      IFAC-PapersOnLine

      Volume: 51 Issue: 13 Pages: 285-290

    • DOI

      10.1016/j.ifacol.2018.07.292

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Observer Design for Distributed Network Systems with Communication Delays2018

    • Author(s)
      Adachi Ryosuke, Yamashita Yuh, Kobayashi Koichi
    • Journal Title

      IFAC-PapersOnLine

      Volume: 51 Issue: 33 Pages: 115-120

    • DOI

      10.1016/j.ifacol.2018.12.103

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Local Minimum Connection for Static Smooth Control Lyapunov Function2018

    • Author(s)
      Masaki Takase, Hisakazu Nakamura, Soki Kuga
    • Journal Title

      IFAC-PapersOnLine

      Volume: 51 Issue: 13 Pages: 272-278

    • DOI

      10.1016/j.ifacol.2018.07.290

    • NAID

      130006251426

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Delay-Compensated Maximum-Likelihood-Estimation Method and Its Application for Quadrotor UAVs2018

    • Author(s)
      Ryosuke Adachi, Yuh Yamashita
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E101-A Pages: 678-684

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Presentation] 動的ネットワークシステムの重み付き次数に基づく安定解析2019

    • Author(s)
      足立亮介, 山下裕, 小林孝一
    • Organizer
      第6回計測自動制御学会制御部門マルチシンポジウム
    • Related Report
      2018 Annual Research Report
  • [Presentation] ランダム通信を行うコンセンサスフィルタに基づく分散オブザーバ2019

    • Author(s)
      隅田遥香, 山下裕, 足立亮介, 小林孝一
    • Organizer
      第6回計測自動制御学会制御部門マルチシンポジウム
    • Related Report
      2018 Annual Research Report
  • [Presentation] Asymptotically Stabilizing Controller Generating Sparse Input for Nonlinear Systems2018

    • Author(s)
      Yuh Yamashita, Kiminori Sakano, and Koichi Kobayashi
    • Organizer
      The 23rd International Symposium on Mathematical Theory of Networks and Systems
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Active Nonlinear Tuned Mass Damper via IDA-PBC2018

    • Author(s)
      Sheng Hao, Yuh Yamashita, and Koichi Kobayashi
    • Organizer
      2018 IEEE International Conference on Systems, Man, and Cybernetics
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 非線形系に対するスパース入力安定化と原点近傍での挙動改善2018

    • Author(s)
      坂野龍命, 山下裕, 小林孝一
    • Organizer
      第61回自動制御連合講演会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 確率伝搬法を用いた遅延センサネットワーク上のリアルタイムデータアグリゲーションの分散最適化2018

    • Author(s)
      足立亮介,山下裕,小林孝一
    • Organizer
      第61回自動制御連合講演会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 通信遅延のある異構造バイラテラルテレオペレーターの制御2018

    • Author(s)
      東野晃尚, 山下裕, 小林孝一
    • Organizer
      第62回システム制御情報学会研究発表講演会
    • Related Report
      2018 Annual Research Report
  • [Presentation] Etale synergistic hybrid control design for asymptotic stabilization on manifold via minimum projection method2018

    • Author(s)
      Hisakazu Nakamura, Yasuyuki Satoh
    • Organizer
      The 2018 IEEE Conference on Decision and Control
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Collision avoidance assist control for two-wheel vehicle robots by control barrier function2018

    • Author(s)
      Motoi Igarashi, Hisakazu Nakamura
    • Organizer
      The 2018 International Automatic Control Conference
    • Related Report
      2018 Annual Research Report
  • [Presentation] Input correction control of state constrained nonlinear system by using revived transformation2018

    • Author(s)
      Maki Takai, Hiroki Shudai, Hisakazu Nakamura, Yu Kunori
    • Organizer
      The 44th Annual Conference of the IEEE Industrial Electronics Society
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 外乱オブザーバを使用した埋込磁石同期電動機の電流制御2018

    • Author(s)
      太田 励,中村 文一
    • Organizer
      第50回計測自動制御学会北海道支部学術講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] Nonlinear System Identification by Affine Coordinate Unification of Locally Identified MIMO Linear Systems2018

    • Author(s)
      Kazuya Nomura, Yuh Yamashita, Koichi Kobayashi
    • Organizer
      2018 SICE International Symposium on Control Systems
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 巡回路を含むグラフ上のスケーラブルリアルタイム同期通信による分散状態推定2018

    • Author(s)
      足立亮介, 山下裕, 小林孝一
    • Organizer
      第5回制御部門マルチシンポジウム
    • Related Report
      2017 Annual Research Report
  • [Presentation] Vibration Suppression of Hamiltonian Systems with Velocity and Force Disturbances using IDA-PBC2018

    • Author(s)
      Sheng Hao, Yuh Yamashita, Koichi Kobayashi
    • Organizer
      The 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Asymptotically Stabilizing Controller Generating Sparse Input for Nonlinear Systems2018

    • Author(s)
      Yuh Yamashita, Kiminori Sakano, Koichi Kobayashi
    • Organizer
      The 23rd International Symposium on Mathematical Theory of Networks and Systems
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Global dynamic maximum torque per ampere control of interior permanent magnet synchronous motor by using nonsmooth control Lyapunov function2017

    • Author(s)
      Natsuki Hamano, Hisakazu Nakamura
    • Organizer
      20th IFAC World Congress
    • Place of Presentation
      Toulouse, France
    • Year and Date
      2017-07-09
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 動的拡張と制御リアプノフ関数を用いた四輪車両に対する入力分配制御2017

    • Author(s)
      鈴木大基, 山下裕, 小林孝一
    • Organizer
      第4回SICE制御部門マルチシンポジウム
    • Place of Presentation
      岡山大学
    • Year and Date
      2017-03-06
    • Related Report
      2016 Annual Research Report
  • [Presentation] QuadロータUAVの大域的CLFの構築について2017

    • Author(s)
      安達直人, 山下裕, 小林孝一
    • Organizer
      第4回SICE制御部門マルチシンポジウム
    • Place of Presentation
      岡山大学
    • Year and Date
      2017-03-06
    • Related Report
      2016 Annual Research Report
  • [Presentation] ヒステリシス機構を用いた4 輪車両の漸近安定化2017

    • Author(s)
      橋本航, 山下裕, 小林孝一
    • 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] 通信遅延を含むネットワーク上の分散制御系における状態推定2017

    • Author(s)
      足立亮介, 山下裕, 小林孝一
    • 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] Asymptotic Stabilization of Nonlinear Systems with Convex-Polytope Input Constraints and its Inverse Optimality2017

    • Author(s)
      Yuh Yamashita, Ryosuke Matsukizono, Koichi Kobayashi
    • Organizer
      The 20th IFAC World Congress
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Data Aggregation based Estimation for Sensor Network with Communication Delay2017

    • Author(s)
      Ryosuke Adachi, Yuh Yamashita, Koichi Kobayashi
    • Organizer
      The 20th IFAC World Congress
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A unification method of locally identified linear systems and reconstruction of nonlinear dynamical model2017

    • Author(s)
      Kazuya Nomura, Yuh Yamashita, Koichi Kobayashi
    • Organizer
      The 20th IFAC World Congress
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] CLF補間を用いた四輪車両系の障害物回避制御2017

    • Author(s)
      橋本航, 山下裕, 小林孝一
    • Organizer
      第60回自動制御連合講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] Asymptotic Stabilization of Nonholonomic Four-Wheeled Vehicle with Hysteresis Mechanism2017

    • Author(s)
      Wataru Hashimoto, Yuh Yamashita, Koichi Kobayashi
    • Organizer
      2017 International Symposium on Nonlinear Theory and Its Applications
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 入力制約付き多重積分系の大域的なImplicit Control Lyapunov Function設計2016

    • Author(s)
      安達直人, 山下裕, 野中涼, 小林孝一
    • Organizer
      第59回自動制御連合講演会
    • Place of Presentation
      北九州国際会議場
    • Year and Date
      2016-11-10
    • Related Report
      2016 Annual Research Report
  • [Presentation] Backstepping for Set-valued Upper Control Laws and Its Application to Control Allocation Problem2016

    • Author(s)
      Daiki Suzuki, Yuh Yamashita, Koichi Kobayashi
    • Organizer
      2016 IEEE International Conference on Systems, Man, and Cybernetics
    • Place of Presentation
      Budapest
    • Year and Date
      2016-10-09
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Asymptotic Stabilization of Nonholonomic Four-Wheeled Vehicle with Steering Limitation based on Lyapunov Function Approach2016

    • Author(s)
      Wataru Hashimoto, Yuh Yamashita, Ryo Nonaka, Koichi Kobayashi
    • Organizer
      10th IFAC Symposium on Nonlinear Control Systems
    • Place of Presentation
      Monterey, California, USA
    • Year and Date
      2016-08-23
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research

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Published: 2016-04-21   Modified: 2020-03-30  

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