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Nonlinear Optimal Control for Constrained Systems based on Inverse problems of Convex Optimization

Research Project

Project/Area Number 17K17830
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Control engineering/System engineering
Dynamics/Control
Research InstitutionTokyo University of Science

Principal Investigator

Yasuyuki Satoh  東京理科大学, 工学部電気工学科, 助教 (40738803)

Project Period (FY) 2017-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2019: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2018: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2017: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywords非線形システム / 最適制御 / 入力・状態拘束 / 制御リアプノフ関数 / 制御バリア関数 / 凸最適化 / 制御理論 / 非線形制御 / 制御工学 / 最適化
Outline of Final Research Achievements

Regarding control of nonlinear systems subject to state and/or input constraints, we constructed a new stabilizing controller design method based on control Lyapunov functions (CLFs) and convex optimization theory. Owing to the equivalence between the Karush-Kuhn-Tucker (KKT) optimality conditions and the Hamilton-Jacobi-Bellman (HJB) equation, we proved some important properties such as continuity, inverse optimality, and robustness of the designed controllers. In terms of applications, we confirmed the effectiveness of the proposed method by attitude stabilization of a quadrotor unmanned aerial vehicle (UAV) and trajectory-tracking of a two-wheeled mobile robot.

Academic Significance and Societal Importance of the Research Achievements

本研究で開発した制御則設計法により,拘束条件を有するより広いクラスの非線形システムに対しても制御リアプノフ関数を用いて制御則設計を行うことが可能となった.得られた知見は,同種のシステムを対象とする非線形モデル予測制御(NMPC)の評価関数設計においても有用であると考えられる.また,本研究で得られたカルーシュ・クーン・タッカー条件(KKT条件)とハミルトンヤコビベルマン方程式(HJB方程式)のある種の等価性は,複数の制御則を融合させるためのアプローチとして有望であり,さらなる活用が期待される.応用面では,ロボットに代表されるメカトロニクス系の制御への適用が期待できる.

Report

(4 results)
  • 2019 Annual Research Report   Final Research Report ( PDF )
  • 2018 Research-status Report
  • 2017 Research-status Report
  • Research Products

    (28 results)

All 2019 2018 2017

All Journal Article (11 results) (of which Peer Reviewed: 11 results,  Open Access: 3 results) Presentation (17 results) (of which Int'l Joint Research: 8 results)

  • [Journal Article] Adaptive compensation for stability margin recovery of nonlinear trajectory tracking controllers2019

    • Author(s)
      Yasuyuki Satoh, Hisakazu Nakamura
    • Journal Title

      Proceedings of the 2019 International Symposium on Nonlinear Theory and Its Applications (NOLTA2019)

      Volume: - Pages: 509-512

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 最小射影法を使った微分フラットシステムに対す る静的状態フィードバック制御系設計2018

    • Author(s)
      久我創紀, 中村文一, 佐藤康之
    • Journal Title

      計測自動制御学会論文集

      Volume: 54

    • NAID

      130007525229

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Generalized sampling solutions for discontinuous stabilization of nonlinear systems2018

    • Author(s)
      Yasuyuki Satoh, Hisakazu Nakamura
    • Journal Title

      IFAC-PapersOnLine

      Volume: 51 Issue: 13 Pages: 192-197

    • DOI

      10.1016/j.ifacol.2018.07.276

    • Related Report
      2018 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Nonlinear Model Predictive Control for Systems with State-Dependent Switches and State Jumps Using a Penalty Function Method2018

    • Author(s)
      Sotaro Katayama, Yasuyuki, Satoh, Masahiro Doi, Toshiyuki Ohtsuka
    • Journal Title

      Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA)

      Volume: - Pages: 312-317

    • DOI

      10.1109/ccta.2018.8511448

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Path-following control of rigid body attitude by using minimum projection method2018

    • Author(s)
      Seiya Nomura, Yasuyuki Satoh, Hisakazu Nakamura, Kiyotaka kato
    • Journal Title

      Proceedings of the 2018 IEEE Conference on Control Technology and Applications (CCTA)

      Volume: - Pages: 1591-1596

    • DOI

      10.1109/ccta.2018.8511603

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Disturbance estimation and disturbance suppression control using intelligent amplifier for multi-Copter2018

    • Author(s)
      Takuya Kikuchi, Ryo Hisamoto, Hiroki Mizutani, Yasuyuki Satoh, Kiyotaka Kato
    • Journal Title

      Proceedings of the SICE Annual Conference 2018

      Volume: - Pages: 523-528

    • DOI

      10.23919/sice.2018.8492651

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Adaptive fault tolerant control of quadcopter by using minimum projection method2018

    • Author(s)
      Anan Tabata, Yasuyuki Satoh, Hisakazu Nakamura, Kiyotaka Kato
    • Journal Title

      Proceedings of the 44th Annual Conference of the IEEE Industrial Electronics Society (IECON2018)

      Volume: - Pages: 2201-2206

    • DOI

      10.1109/iecon.2018.8591587

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Disturbance rejection control of rigid body attitude based on nonsmooth control Lyapunov function2018

    • Author(s)
      Kota Ohno, Yasuyuki Satoh, Hisakazu Nakamura, Kiyotaka Kato
    • Journal Title

      Proceedings of the 44th Annual Conference of the IEEE Industrial Electronics Society (IECON2018)

      Volume: - Pages: 2293-2298

    • DOI

      10.1109/iecon.2018.8592731

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Etale synergistic hybrid control design for asymptotic stabilization on manifold via minimum projection method2018

    • Author(s)
      Hisakazu nakamura, Yasuyuki Satoh
    • Journal Title

      Proceedings of the 2018 IEEE Conference on Decision and Control

      Volume: - Pages: 2354-2359

    • DOI

      10.1109/cdc.2018.8619075

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] マルチコプタと移動物体の非線形Receding-Horizon微分ゲーム2018

    • Author(s)
      廣田 一貴, 佐藤 康之, 元岡 範純, 浅野 雄太, 亀岡 翔太, 大塚 敏之
    • Journal Title

      システム制御情報学会論文誌

      Volume: 31 Pages: 150-157

    • NAID

      40021220163

    • Related Report
      2017 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Etale backstepping for control Lyapunov function design on manifold2017

    • Author(s)
      Hisakazu Nakamura, Yasuyuki Satoh
    • Journal Title

      Automatica

      Volume: 83 Pages: 100-107

    • DOI

      10.1016/j.automatica.2017.05.010

    • Related Report
      2017 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] 一般化サンプル解に基づいた入力状態安定性について2019

    • Author(s)
      佐藤康之, 中村文一
    • 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
      2018 Research-status Report
  • [Presentation] 局所半凹制御リヤプノフ関数を用いた一般化サンプ リング解の有限時間安定性2019

    • Author(s)
      林拓哉, 佐藤康之, 中村文一
    • 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
      2018 Research-status Report
  • [Presentation] On nite time stability of homogeneous P-PI controller for robot manipulator orientation control2018

    • Author(s)
      Yasuyuki Satoh, Hisakazu Nakamura
    • Organizer
      2018 UKACC 12th International Conference on Control
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Three-dimensional position-measurement dystem for indoor ying robot that uses ultrasonic harmonic waves2018

    • Author(s)
      Keita Nakano, Itaru Jinbu, Yasuyuki Satoh, Kiyotaka Kato
    • Organizer
      SICE Annual Conference 2018
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Direct-data driven control using data conversion method2018

    • Author(s)
      Tetsurou Nakayama, Fumiya Sato, Yasuyuki Satoh, Kiyotaka Kato
    • Organizer
      SICE Annual Conference 2018
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] エタールバックステッピング法の一般化について2018

    • Author(s)
      佐藤康之, 中村文一
    • Organizer
      第61回自動制御連合講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] 動的にデカップリングされる線形システムに対する 逆最適線形二次制御則2018

    • Author(s)
      久我創紀, 佐藤康之, 中村文一
    • Organizer
      第61回自動制御連合講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] 多様体上における非線形システム安定化のためのエタールシナジーハイブリッド制御2018

    • Author(s)
      中村文一, 佐藤康之
    • Organizer
      第61回自動制御連合講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] サンプル入力状態安定性に基づく剛体姿勢の外乱抑制制御2018

    • Author(s)
      大野孝太, 佐藤康之, 中村文一, 加藤清敬
    • Organizer
      第4 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 Research-status Report
  • [Presentation] アクチュエータ故障時におけるクアッドコプターの非線形適応制御2018

    • Author(s)
      田端亜南, 佐藤康之, 中村文一, 加藤清敬
    • Organizer
      第4 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 Research-status Report
  • [Presentation] Optimization of limb reaching movement for climbing humanoid robots2017

    • Author(s)
      Kai Fukushima, Yasuyuki Satoh, Masahiro Doi, Toshiyuki Ohtsuka
    • Organizer
      11th Asian Control Conference
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Nonlinear model predictive control for systems with autonomous state jumps using a penalty function method2017

    • Author(s)
      Sotaro Katayama, Yasuyuki Satoh, Masahiro Doi, Toshiyuki Ohtsuka
    • Organizer
      11th Asian Control Conference
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Nonlinear receding-horizon differential game between a multi-rotor UAV and a moving object2017

    • Author(s)
      Kazuki Hirota, Yasuyuki Satoh, Norizumi Motooka, Yuta Asano, Shota Kameoka, Toshiyuki Ohtsuka
    • Organizer
      11th Asian Control Conference
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] 多様体上の制御システムに対する一般化サンプル解とその漸近安定性について2017

    • Author(s)
      佐藤康之, 中村文一
    • Organizer
      第60 回自動制御連合講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] 最小射影法によるSO(3)上の軌道追従制御2017

    • Author(s)
      野村誠也, 佐藤康之, 中村文一, 加藤清敬
    • Organizer
      第60 回自動制御連合講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] Adaptive control of interior permanent magnet synchronous motor by minimum projection of dynamic copper loss minimization and null stabilization2017

    • Author(s)
      Yutaro Ishikawa, Hisakazu Nakamura, Yasuyuki Satoh
    • Organizer
      SICE Annual Conference 2017
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Static smooth path-following control Lyapunov function design via minimum projection method2017

    • Author(s)
      Yuta Tsurumoto, Hisakazu Nakamura, Yasuyuki Satoh
    • Organizer
      SICE Annual Conference 2017
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research

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Published: 2017-04-28   Modified: 2021-02-19  

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