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Machine Learning under Differential Equations: An Approach by Non-smooth Optimal Control

Research Project

Project/Area Number 20H02172
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Review Section Basic Section 21040:Control and system engineering-related
Research InstitutionThe University of Kitakyushu

Principal Investigator

Nagahara Masaaki  北九州市立大学, 環境技術研究所, 教授 (90362582)

Project Period (FY) 2020-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥17,680,000 (Direct Cost: ¥13,600,000、Indirect Cost: ¥4,080,000)
Fiscal Year 2022: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2021: ¥5,980,000 (Direct Cost: ¥4,600,000、Indirect Cost: ¥1,380,000)
Fiscal Year 2020: ¥6,630,000 (Direct Cost: ¥5,100,000、Indirect Cost: ¥1,530,000)
Keywordsスパースモデリング / 機械学習 / 最適制御 / サイバーフィジカルシステム / COVID19 / データ駆動型制御 / モビリティ / 最適化 / スパース制御 / IoT / スプライン / パンデミック / COVID-19 / 数値最適化 / ニューラルODE / ノンパラメトリック回帰
Outline of Research at the Start

ニューラルネットワークを微分方程式(ODE)で表現した「無限の深さの」深層学習(ニューラルODE)や,IoTにおける物理系センサデータからのノンパラメトリック回帰など,微分方程式の制約をもつ機械学習が近年,重要性を増している.しかし,従来の機械学習の手法では,それら微分方程式を陽に扱うことはできない.本研究の目的は,(1)微分方程式を制約にもつ機械学習を非平滑最適制御問題として再定式化し,(2)微分方程式を陽に考慮した無限次元の最適化を効率よく解く手法を提案,そして(3)電動車いすを用いた実証実験により提案手法の有効性を示すことである.

Outline of Final Research Achievements

In this study, we investigated methods to integrate the estimation of dynamic systems into machine learning, and formulated constrained nonparametric regression problems as problems of optimal control. Specifically, we developed a new algorithm for solving the smoothing spline problem, which seeks the optimal curve from a dataset. We also analyzed the robustness of optimal control problems under environments with noise and explored solutions for sparse control problems. Furthermore, we examined real-world applications such as control problems related to COVID-19 suppression and the development of control algorithms for electric wheelchairs to avoid obstacles. These achievements have been presented at international conferences and published in academic journals.

Academic Significance and Societal Importance of the Research Achievements

本研究では、動的システムの理論と機械学習を融合した新しいフレームワークを提案した。これにより、データ駆動の手法が制御理論に効果的に統合され、システムの理解と予測の精度が向上した。また、スパース性を持つ最適制御問題の研究は、計算負荷の軽減と効率的なリソース利用を可能にし、これは大規模なシステムやデータセットを扱う現代の科学技術において極めて重要である。また、COVID-19の抑制に関する制御問題や電動車いすの制御アルゴリズムの開発など、実世界での問題も取り扱った。これらは公衆衛生への対応や高齢化社会における移動支援技術の進化に対する重要な貢献となる。

Report

(4 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Annual Research Report
  • 2020 Annual Research Report
  • Research Products

    (53 results)

All 2023 2022 2021 2020 Other

All Int'l Joint Research (9 results) Journal Article (19 results) (of which Int'l Joint Research: 5 results,  Peer Reviewed: 19 results,  Open Access: 10 results) Presentation (20 results) (of which Int'l Joint Research: 10 results,  Invited: 1 results) Book (2 results) Remarks (3 results)

  • [Int'l Joint Research] Indian Institute of Technology Bombay(インド)

    • Related Report
      2022 Annual Research Report
  • [Int'l Joint Research] Queensland University of Technology(オーストラリア)

    • Related Report
      2022 Annual Research Report
  • [Int'l Joint Research] Technical University Berlin/Paderborn University(ドイツ)

    • Related Report
      2022 Annual Research Report
  • [Int'l Joint Research] Indian Institute of Technology Bombay(インド)

    • Related Report
      2021 Annual Research Report
  • [Int'l Joint Research] Queensland University of Technology(オーストラリア)

    • Related Report
      2021 Annual Research Report
  • [Int'l Joint Research] Indian Institute of Technology Bombay/Indian Institute of Technology Hyderabad(インド)

    • Related Report
      2020 Annual Research Report
  • [Int'l Joint Research] University of Southern California(米国)

    • Related Report
      2020 Annual Research Report
  • [Int'l Joint Research] Paderborn University(ドイツ)

    • Related Report
      2020 Annual Research Report
  • [Int'l Joint Research] Melbourne University/Queensland University of Technology(オーストラリア)

    • Related Report
      2020 Annual Research Report
  • [Journal Article] Risk-Aware Maximum Hands-Off Control Using Worst-Case Conditional Value-At-Risk2023

    • Author(s)
      Masako Kishida, Masaaki Nagahara
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: - Issue: 10 Pages: 1-8

    • DOI

      10.1109/tac.2023.3235246

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Sparse control for continuous-time systems2023

    • Author(s)
      Masaaki Nagahara
    • Journal Title

      International Journal of Robust and Nonlinear Control

      Volume: - Issue: 1 Pages: 6-22

    • DOI

      10.1002/rnc.5858

    • Related Report
      2022 Annual Research Report 2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] A new perspective on cooperative control of multi-agent systems through different types of graph Laplacians2023

    • Author(s)
      Kai Cai, Masaaki Nagahara
    • Journal Title

      Advanced Robotics

      Volume: 37 Issue: 1-2 Pages: 2-11

    • DOI

      10.1080/01691864.2022.2093616

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Distributed Sparse Optimization for Source Localization over Diffusion Fields with Cooperative Spatiotemporal Sensing2023

    • Author(s)
      Naoki Hayashi, Masaaki Nagahara
    • Journal Title

      Advanced Robotics

      Volume: 37 Issue: 3 Pages: 183-197

    • DOI

      10.1080/01691864.2022.2099764

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Hypertracking and Hyperrejection: Control of Signals beyond the Nyquist Frequency2022

    • Author(s)
      Kaoru Yamamoto, Yamamoto Yamamoto, Masaaki Nagahara
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: - Issue: 10 Pages: 1-8

    • DOI

      10.1109/tac.2022.3230599

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Projection onto the Set of Rank-Constrained Structured Matrices for Reduced-Order Controller Design2022

    • Author(s)
      Nagahara Masaaki、Iwai Yu、Sebe Noboru
    • Journal Title

      Algorithms

      Volume: 15 Issue: 9 Pages: 322-322

    • DOI

      10.3390/a15090322

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Platooning control of drones with real-time deep learning object detection2022

    • Author(s)
      Dai Xin、Nagahara Masaaki
    • Journal Title

      Advanced Robotics

      Volume: 37 Issue: 3 Pages: 220-225

    • DOI

      10.1080/01691864.2022.2119888

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Controller tuning with Bayesian optimization and its acceleration: Concept and experimental validation2022

    • Author(s)
      Fujimoto Yusuke、Sato Hiroki、Nagahara Masaaki
    • Journal Title

      Asian Journal of Control

      Volume: 25 Issue: 3 Pages: 2408-2414

    • DOI

      10.1002/asjc.2847

    • Related Report
      2022 Annual Research Report 2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Resource-aware time-optimal control with multiple sparsity measures2022

    • Author(s)
      Ikeda Takuya、Nagahara Masaaki
    • Journal Title

      Automatica

      Volume: 135 Pages: 109957-109957

    • DOI

      10.1016/j.automatica.2021.109957

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Constrained Smoothing Splines by Optimal Control2022

    • Author(s)
      Ikeda Takuya、Nagahara Masaaki、Chatterjee Debasish、Srikant Sukumar
    • Journal Title

      IEEE Control Systems Letters

      Volume: 6 Pages: 1298-1303

    • DOI

      10.1109/lcsys.2021.3092638

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Iterative Greedy LMI for Sparse Control2022

    • Author(s)
      Nagahara Masaaki、Ogura Masaki、Yamamoto Yutaka
    • Journal Title

      IEEE Control Systems Letters

      Volume: 6 Pages: 986-991

    • DOI

      10.1109/lcsys.2021.3087964

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Control of a quadrotor group based on maximum hands-off distributed control2021

    • Author(s)
      Motonaka Kimiko、Watanabe Takuya、Kwon Yuhwan、Nagahara Masaaki、Miyoshi Seiji
    • Journal Title

      International Journal of Mechatronics and Automation

      Volume: 8 Issue: 4 Pages: 200-200

    • DOI

      10.1504/ijma.2021.120377

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Fast hands-off control using ADMM real-time iterations2021

    • Author(s)
      Schulzedarup Moritz、Book Gerrit、Quevedo Daniel E.、Nagahara Masaaki
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: NA Issue: 10 Pages: 1-1

    • DOI

      10.1109/tac.2021.3121255

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Sparse optimal control problems with intermediate constraints: Necessary conditions2021

    • Author(s)
      Kumar Yogesh、Srikant Sukumar、Chatterjee Debasish、Nagaraha Masaaki
    • Journal Title

      Optimal Control Applications and Methods

      Volume: 43 Issue: 2 Pages: 369-385

    • DOI

      10.1002/oca.2807

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Control, intervention, and behavioral economics over human social networks against COVID-192021

    • Author(s)
      Nagahara M.、Krishnamachari B.、Ogura M.、Ortega A.、Tanaka Y.、Ushifusa Y.、Valente T. W.
    • Journal Title

      Advanced Robotics

      Volume: 35 Issue: 11 Pages: 733-739

    • DOI

      10.1080/01691864.2021.1928553

    • Related Report
      2021 Annual Research Report 2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Majority Determination in Binary-valued Communication Networks2021

    • Author(s)
      Azuma Shun-Ichi、Nagahara Masaaki
    • Journal Title

      IEEE Transactions on Control of Network Systems

      Volume: - Issue: 2 Pages: 1-1

    • DOI

      10.1109/tcns.2020.3038839

    • Related Report
      2021 Annual Research Report 2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Maximum Hands-Off Control With Time-Space Sparsity2021

    • Author(s)
      Ikeda Takuya、Nagahara Masaaki
    • Journal Title

      IEEE Control Systems Letters

      Volume: 5 Issue: 4 Pages: 1213-1218

    • DOI

      10.1109/lcsys.2020.3023265

    • Related Report
      2021 Annual Research Report 2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] LPV-FIR Modeling of Wheelchair Dynamics and Its Application to Model Predictive Control2021

    • Author(s)
      TOKUSHIGE Tatsuki、FUJIMOTO Yusuke、NAGAHARA Masaaki
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 57 Issue: 3 Pages: 156-161

    • DOI

      10.9746/sicetr.57.156

    • NAID

      130007999529

    • ISSN
      0453-4654, 1883-8189
    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] CLOT norm minimization for continuous hands-off control2020

    • Author(s)
      Nagahara Masaaki、Chatterjee Debasish、Challapalli Niharika、Vidyasagar Mathukumalli
    • Journal Title

      Automatica

      Volume: 113 Pages: 108679-108679

    • DOI

      10.1016/j.automatica.2019.108679

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] Sparse system identification with kernel regularization2022

    • Author(s)
      Masaaki Nagahara, Yusuke Fujimoto, Yutaka Yamamoto
    • Organizer
      25th International Symposium on Mathematical Theory of Networks and Systems (MTNS2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Compressed Sensing and Maximum Hands-Off Control2022

    • Author(s)
      Masaaki Nagahara
    • Organizer
      25th International Symposium on Mathematical Theory of Networks and Systems (MTNS2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Discrete-time Hands-off Feedback Control with Real-time Optimization2022

    • Author(s)
      Masaaki Nagahara, Daniel Quevedo, Moritz Schulze Darup
    • Organizer
      25th International Symposium on Mathematical Theory of Networks and Systems (MTNS2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Feedback stabilization robust against communication constraints for disturbed linear plants via sparse packetized predictive control2022

    • Author(s)
      Mohsen Barforooshan, Jan Ostergaard, and Masaaki Nagahara
    • Organizer
      IFAC ROCOND 2022
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Reduced-order controller design via sparse optimization2022

    • Author(s)
      M. Nagahara and N. Sebe
    • Organizer
      Asian Control Conference (ASCC2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Constrained smoothing splines by optimal control2021

    • Author(s)
      T. Ikeda, M. Nagahara, D. Chatterjee, and S. Srikant
    • Organizer
      60th IEEE Conference on Decision and Control (CDC2021)
    • Related Report
      2021 Annual Research Report
  • [Presentation] Iterative greedy LMI for sparse control2021

    • Author(s)
      M. Nagahara, M. Ogura, Y. Yamamoto
    • Organizer
      60th IEEE Conference on Decision and Control (CDC2021)
    • Related Report
      2021 Annual Research Report
  • [Presentation] Application of maximum hands-off distributed control to a quadrotor group2021

    • Author(s)
      K. Motonaka, T. Watanabe, Y. Kwon, M. Nagahara, S. Miyoshi
    • Organizer
      IEEE International Conference on Mechatronics and Automation (IEEE ICMA2021)
    • Related Report
      2021 Annual Research Report
  • [Presentation] Control and intervention over human social networks in COVID-192021

    • Author(s)
      M. Nagahara
    • Organizer
      IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)
    • Related Report
      2021 Annual Research Report
  • [Presentation] Maximum hands-off control with time-space sparsity2021

    • Author(s)
      T. Ikeda and M. Nagahara
    • Organizer
      IEEE L-CSS presentation, American Control Conference (ACC)
    • Related Report
      2021 Annual Research Report
  • [Presentation] Linear quadratic tracking control with sparsity-promoting regularization2021

    • Author(s)
      Z. Zhang and M. Nagahara
    • Organizer
      American Control Conference (ACC)
    • Related Report
      2021 Annual Research Report
  • [Presentation] 合意形成の数理: 個の振る舞いと全体最適化2021

    • Author(s)
      永原
    • Organizer
      第2回新学術領域合同シンポジウム-ソフトロボット学と発動分子科学の融合-
    • Related Report
      2021 Annual Research Report
  • [Presentation] 超スマート社会をつくるサイバーフィジカルシステム2021

    • Author(s)
      永原
    • Organizer
      第194回産学交流サロン(ひびきのサロン)「AIの新たな地平を切り拓く」
    • Related Report
      2021 Annual Research Report
  • [Presentation] スパースモデリングの基礎と応用2021

    • Author(s)
      永原
    • Organizer
      応用物理学会光波センシング技術研究会
    • Related Report
      2021 Annual Research Report
  • [Presentation] マルチエージェントシステムの制御とソフトロボティックス2021

    • Author(s)
      永原
    • Organizer
      ROBOMECH2021ソフトロボットシンポジウム,日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] Maximum hands-off control with time-space sparsity2021

    • Author(s)
      T. Ikeda and M. Nagahara
    • Organizer
      American Control Conference
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Linear quadratic tracking control with sparsity-promoting regularization2021

    • Author(s)
      Z. Zhang and M. Nagahara
    • Organizer
      American Control Conference
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] An Approach to Minimum Attention Control by Sparse Derivative2020

    • Author(s)
      Masaaki Nagahara, and Dragan Nesic
    • Organizer
      59th IEEE Conference on Decision and Control (CDC2020)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] The turnpike property in the maximum hands-off control2020

    • Author(s)
      Noboru Sakamoto, and Masaaki Nagahara
    • Organizer
      59th IEEE Conference on Decision and Control (CDC2020), 2020
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Maximum hands-off feedback control for finite-time stabilization2020

    • Author(s)
      Yogesh Kumar, Sukumar Srikant, Masaaki Nagahara, Debasish Chatterjee, and Daniel E. Quevedo
    • Organizer
      59th IEEE Conference on Decision and Control (CDC2020)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Book] 線形システム同定の基礎2021

    • Author(s)
      田中 聡久、藤本 悠介、永原 正章
    • Total Pages
      256
    • Publisher
      コロナ社
    • ISBN
      9784339014037
    • Related Report
      2021 Annual Research Report
  • [Book] Sparsity Methods for Systems and Control2020

    • Author(s)
      Masaaki Nagahara
    • Total Pages
      200
    • Publisher
      Now Publishers
    • ISBN
      9781680837247
    • Related Report
      2020 Annual Research Report
  • [Remarks] Masaaki Nagahara

    • URL

      https://nagahara-masaaki.github.io/

    • Related Report
      2022 Annual Research Report
  • [Remarks] Masaaki Nagaharaのホームページ

    • URL

      https://nagahara-masaaki.github.io/

    • Related Report
      2021 Annual Research Report
  • [Remarks] Masaaki Nagahara's Web Page

    • URL

      https://nagahara-masaaki.github.io/

    • Related Report
      2020 Annual Research Report

URL: 

Published: 2020-04-28   Modified: 2024-01-30  

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