Constrained control based on optimal resets of the controller state

• Project/Area Number: 17K06497
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Hiroshima University
• Principal Investigator: Wada Nobutaka 広島大学, 先進理工系科学研究科(工), 教授 (50335709)
• Project Period (FY): 2017-04-01 – 2021-03-31
• Project Status: Completed (Fiscal Year 2020)
• Budget Amount: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000); Fiscal Year 2019: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000); Fiscal Year 2018: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000); Fiscal Year 2017: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
• Keywords: モデル予測制御 / 状態リセット / 外乱抑圧 / 最適サーボ / 目標値追従 / 制御理論 / 最適制御 / 拘束システム / 追従制御 / ロバストネス / 操縦支援

Outline of Final Research Achievements

I have developed novel control algorithms which utilize state resets to enhance tracking performance and/or disturbance attenuation performance under state/input constraints. The effectiveness of the methods have been evaluated by experiments of a torque control problem of a permanent magnet synchronous motor and a collision avoidance assistance control problem of a vehicle.

Academic Significance and Societal Importance of the Research Achievements

本研究により，外乱抑圧性能やロバスト性の向上など，リセット制御に関する新たな可能性が拓かれた．また，本研究では，制御対象のクラスは線形システムあるいは線形時変系について検討を行ったが，ここで構築したリセット制御手法は，非線形システムやハイブリッドシステムに対しても拡張出来ると予想される．そのため，広いクラスの拘束システムに適用可能な，体系的リセット制御論の確立に寄与出来るものと予想され，その学術的意義は大きいと言える．また，提案法は，極めて短いサンプル周期での実機実装が可能であり，実用上の意義も大きい．

Research Products

• [Journal Article] Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC (2021)
  • Author(s): Nobutaka WADA and Takuya MATSUMOTO
  • Journal Title: Mechanical Engineering Journal Volume: 8 Issue: 1 Pages: 20-00361-20-00361
  • DOI: 10.1299/mej.20-00361
  • NAID: 130007986828
  • ISSN: 2187-9745
  • Peer Reviewed / Open Access
• [Journal Article] Driving force control for a vehicle considering slip ratio limitation (2019)
  • Author(s): Nobutaka Wada and Yuji Matsui
  • Journal Title: IEEJ Trans. Electrical and Electronic Engineering Volume: 14 Issue: 2 Pages: 297-302
  • DOI: 10.1002/tee.22809
  • Peer Reviewed
• [Journal Article] Online Optimization of l2 Gain Performance for Constrained Linear Systems by Model Predictive Control with State Reset (2019)
  • Author(s): Surajet Khonjun, Nobutaka Wada and Kotaro Inoue
  • Journal Title: IEEJ Trans. Electrical and Electronic Engineering Volume: 印刷中
  • Peer Reviewed
• [Journal Article] On the improvement of l2-performance by controller resets (2017)
  • Author(s): Nobutaka Wada
  • Journal Title: IEEJ Transactions on Electrical and Electronic Engineering Volume: 12 Issue: S1
  • DOI: 10.1002/tee.22447
  • Peer Reviewed
• [Journal Article] Permanent magnet synchronous motor torque control by gain-scheduled feedback with state resets (2017)
  • Author(s): Nobutaka Wada, Yi Li, Daichi Miyake, Surajet Khonjun
  • Journal Title: IEEJ Transactions on Electrical and Electronic Engineering Volume: 12 Issue: 5 Pages: 744-752
  • DOI: 10.1002/tee.22461
  • Peer Reviewed
• [Journal Article] A gain-scheduled control algorithm for input constrained systems to track time-varying references using controller state resets (2017)
  • Author(s): Nobutaka Wada, Naoki Kawaoka, Masami Saeki
  • Journal Title: IEEJ Transactions on Electrical and Electronic Engineering Volume: 12 Issue: 1 Pages: 87-95
  • DOI: 10.1002/tee.22348
  • Peer Reviewed
• [Journal Article] An LMI based controller design method for a discrete-time linear system with time-varying state delays (2016)
  • Author(s): Nobutaka Wada, Katsuya Satoh， Masami Saeki
  • Journal Title: IMA Journal of Mathematical Control and Information Volume: 印刷中 Pages: 405-424
  • DOI: 10.1093/imamci/dnv052
  • Peer Reviewed
• [Presentation] コントロールモーメントジャイロを搭載した宇宙機の姿勢制御－quasi-LPV NMPCによる方法－ (2020)
  • Author(s): 杉田佑介，和田信敬
  • Organizer: 計測自動制御学会中国支部学術講演会
• [Presentation] MPCによる車両旋回性能の最適化と障害物回避支援 (2020)
  • Author(s): 高疇大樹，和田信敬
  • Organizer: 日本機械学会中国四国支部学術講演会
• [Presentation] quasi-LPV NMPCによるロボットマニピュレータの追従制御 (2020)
  • Author(s): 山本隼也，和田信敬
  • Organizer: 日本機械学会中国四国支部学術講演会
• [Presentation] Robust drift control of a vehicle with lateral tire force saturation (2019)
  • Author(s): Kazuho Yamamura, Nobutaka Wada
  • Organizer: SICE Annual Conference
  • Int'l Joint Research
• [Presentation] Torque control of a PMSM using a reference governor with integrator resets (2019)
  • Author(s): Surajet Khonjun, Daichi Miyake, Nobutaka Wada
  • Organizer: SICE Annual Conference
  • Int'l Joint Research
• [Presentation] Online optimization of disturbance attenuation performance of input constrained systems by gain-scheduled control with state resets (2018)
  • Author(s): Surajet Khonjun and Nobutaka Wada
  • Organizer: SICE Annual Conference 2018
  • Int'l Joint Research
• [Presentation] Bounded stability of stochastic mechanical port-Hamiltonian systems under both deterministic and stochastic disturbances (2018)
  • Author(s): Satoshi Satoh, Toshiro Tasaka and Nobutaka Wada
  • Organizer: SICE Annual Conference 2018
  • Int'l Joint Research
• [Presentation] 状態リセット制御の振動抑圧制御への応用 (2018)
  • Author(s): 川内真，和田信敬
  • Organizer: 2018年度計測自動制御学会中国支部学術講演会
• [Presentation] モデル予測制御による車両の障害物回避支援-ドライビングシミュレータによる実験的検証- (2018)
  • Author(s): 松本拓也，和田信敬
  • Organizer: 2018年度計測自動制御学会中国支部学術講演会
• [Presentation] 制約付きモデル予測制御による障害物回避支援制御 (2017)
  • Author(s): 和田信敬，松本拓也，佐伯正美
  • Organizer: 計測自動制御学会中国支部学術講演会
• [Presentation] MPCによるPilot-Induced Oscillation の抑制 (2017)
  • Author(s): 中川直人，和田信敬，佐伯正美
  • Organizer: 計測自動制御学会中国支部学術講演会
• [Presentation] ヒートシーラーの温度制御系設計 (2017)
  • Author(s): 森本達哉，佐伯正美，和田信敬
  • Organizer: 計測自動制御学会中国支部学術講演会
• [Presentation] Driver assistance for collision avoidance by constrained MPC (2017)
  • Author(s): Nobutaka Wada, Takuya Matsumoto
  • Organizer: SICE Annual Conference
  • Int'l Joint Research