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

Robust control system synthesis for constrained systems and its experimental validation

Research Project

Project/Area Number 20860064
Research Category

Grant-in-Aid for Young Scientists (Start-up)

Allocation TypeSingle-year Grants
Research Field Control engineering
Research InstitutionOsaka Prefecture University

Principal Investigator

HARA Naoyuki  Osaka Prefecture University, 工学研究科, 助教 (10508386)

Project Period (FY) 2008 – 2009
Project Status Completed (Fiscal Year 2009)
Budget Amount *help
¥2,626,000 (Direct Cost: ¥2,020,000、Indirect Cost: ¥606,000)
Fiscal Year 2009: ¥1,378,000 (Direct Cost: ¥1,060,000、Indirect Cost: ¥318,000)
Fiscal Year 2008: ¥1,248,000 (Direct Cost: ¥960,000、Indirect Cost: ¥288,000)
Keywords制御工学 / モデル予測制御 / 拘束系 / ロバスト性 / 特異値分解
Research Abstract

Real control systems have constraints such as limitations on input and output signals. It is important to take into account system constraints since a control system may be destabilized or expected performance would be lost if system constraints are neglected in control system design. This research focused on robust control system design for constrained systems, in particular, 1) model predictive control with disturbance attenuation, 2) compensation law for constrained systems, and we have the following results. 1) We first introduce a min-max type objective function for systems with additive disturbance and characterize the maximizing disturbance sequence. Based on this result, we have obtained a reduced order model predictive control with disturbance attenuation property for input constrained linear systems. We further derived an MPC for systems with both input and state constraints by assuming the bounded disturbance. 2) We have investigated the relationship between the pair of a continuous-time input signal and controller state and corresponding output for a closed-loop system. We then clarified the pairs which have dominant effect on input-output relationship of the system. A compensation law that satisfies systems constraints is obtained based on this result.

Report

(3 results)
  • 2009 Annual Research Report   Final Research Report ( PDF )
  • 2008 Annual Research Report
  • Research Products

    (11 results)

All 2010 2009 2008

All Journal Article (7 results) (of which Peer Reviewed: 7 results) Presentation (4 results)

  • [Journal Article] Compensation law for constrained systems with initial state uncertainty based on piecewise affine function2010

    • Author(s)
      N. Hara, K. Konishi
    • Journal Title

      Proc. of 18th Mediterranean Conference on Control and Automation (採択決定)

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Reduced order model predictive control for constrained linear systems with disturbance attenuation2009

    • Author(s)
      M. Takahashi, N. Hara, H. Kokame, K. Konishi
    • Journal Title

      Proc. of ICROS-SICE International Joint Conference 2009

      Pages: 2154-2157

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Compensation law for constrained systems based on a decomposition of finite-horizon linear systems2009

    • Author(s)
      N. Hara, H. Kokame, K. Konishi
    • Journal Title

      Proc. of ICROS-SICE International Joint Conference 2009

      Pages: 3072-3076

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Compensation law for constrained systems based on a decomposition of finite-horizon linear systems2009

    • Author(s)
      N.Hara, H.Kokame, K.Konishi
    • Journal Title

      Proc.of ICROS-SICE International Joint Conference 2009 (CD-ROM)

      Pages: 3072-3076

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Reduced order model predictive control for constrained linear systems with disturbance attenuation2009

    • Author(s)
      M.Takahashi, N.Hara, H.Kokame, K.Konishi
    • Journal Title

      Proc.of ICROS-SICE International Joint Conference 2009 (CD-ROM)

      Pages: 2154-2157

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Constrained control based on a decomposition of finite-horizon linear systems2008

    • Author(s)
      N. Hara, A. Kojima
    • Journal Title

      Proc. of the SICE annual Conference 2008

      Pages: 3137-3142

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Constrained Control based on a Decomposition of Finite-horizon Linear Systems2008

    • Author(s)
      N. Hara, A. Kojima
    • Journal Title

      Proc. of SICE Annual Conference 2008 (CD-ROM)

      Pages: 3137-3142

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Presentation] モデル予測制御の低次元化に関する検討-外乱抑制および入力・状態制約を考慮した場合-2010

    • Author(s)
      原
    • Organizer
      平成22年電気学会全国大会
    • Place of Presentation
      札幌
    • Year and Date
      2010-03-17
    • Related Report
      2009 Final Research Report
  • [Presentation] モデル予測制御の低次元化に関する検討-外乱抑制および入力・状態制約を考慮した場合-2010

    • Author(s)
      高橋正明
    • Organizer
      平成22年電気学会全国大会
    • Place of Presentation
      東京
    • Year and Date
      2010-03-17
    • Related Report
      2009 Annual Research Report
  • [Presentation] 最悪外乱を考慮したモデル予測制御の低次元化に関する一検討2009

    • Author(s)
      原
    • Organizer
      平成21年電気学会全国大会
    • Place of Presentation
      東京
    • Year and Date
      2009-03-19
    • Related Report
      2009 Final Research Report
  • [Presentation] 最悪外乱を考慮したモデル予測制御の低次元化に関する一検討2009

    • Author(s)
      高橋 正明
    • Organizer
      平成21年電気学会全国大会
    • Place of Presentation
      札幌
    • Year and Date
      2009-03-19
    • Related Report
      2008 Annual Research Report

URL: 

Published: 2008-04-01   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi