Learning control of nonlinear systems based on a statistical approach

• Project/Area Number: 21760327
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Control engineering
• Research Institution: Nagoya University (2009-2010, 2012); Kyoto University (2011)
• Principal Investigator: FUJIMOTO Kenji 名古屋大学, 工学研究科, 准教授 (10293903)
• Project Period (FY): 2009 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2012: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000); Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2010: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2009: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
• Keywords: 学習制御 / 統計的学習 / 最適制御 / ベイズ学習 / 確率システム / 確率最適制御 / 非線形システム / 統計学習 / ベイズ推定

Research Abstract

The objective of this research is to provide a novel control theory of system identification, state feedback optimal control and state estimation for systems with stochastic parameters. Furthermore, their effectiveness is evaluated through numerical simulations.

Research Products

• [Journal Article] 時変の確率最適制御を用いた板厚制御におけるばらつき抑制 (2013)
  • Author(s): 藤本 健治, 渡邉 敏章, 橋本 芳宏, 西田 吉晴
  • Journal Title: 鉄と鋼 Volume: Vol.99, No.1 Pages: 12-19
  • NAID: 130003372491
  • Peer Reviewed
• [Journal Article] Optimal trajectory generation for linear systems based on double generating functions (2013)
  • Author(s): Z. Hao, K. Fujimoto and Y. Hayakawa
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Volume: 6
  • NAID: 10031174216
  • Peer Reviewed
• [Journal Article] Passivity based control of a class of Hamiltonian systems with nonholonomic constraints (2012)
  • Author(s): K. Fujimoto, S. Sakai and T. Sugie
  • Journal Title: Automatica Volume: Vol.48 Pages: 3054-3063
  • Peer Reviewed
• [Journal Article] 変分ベイズ法に基づいた状態空間モデルのシステム同定 (2012)
  • Author(s): 藤本 健治, 佐藤 彰記, 福永 修一
  • Journal Title: 計測自動制御学会論文集 Volume: Vol.48, No.2
  • NAID: 10030597208
  • Peer Reviewed
• [Journal Article] Nonlinear receding horizon control of thickness and tension in a tandem cold mill with a variable rolling speed (2012)
  • Author(s): K. Ozaki, T. Ohtsuka, K. Fujimoto, A. Kitamura and M. Nakayama
  • Journal Title: ISIJ International Volume: Vol.52, No.1 Pages: 87-95
  • NAID: 10030746161
  • Peer Reviewed
• [Journal Article] Nonlinear Receding Horizon Control of Thickness and Tension in a Tandem Cold Mill with a Variable Rolling Speed (2012)
  • Author(s): Ozaki, K., Ohtsuka, T., Fujimoto, K., Kitamura, A., Nakayama, M.
  • Journal Title: ISIJ International Volume: 52 Issue: 1 Pages: 87-95
  • DOI: 10.2355/isijinternational.52.87
  • NAID: 10030746161
  • ISSN: 0915-1559, 1347-5460
  • Peer Reviewed
• [Journal Article] 変分ベイズ法に基づいた状態空間モデルのシステム同定 (2012)
  • Author(s): 藤本 健治・佐藤 彰記・福永 修一
  • Journal Title: 計測自動制御学会論文集 Volume: 48 Pages: 102-108
  • NAID: 10030597208
  • Peer Reviewed
• [Journal Article] Singular value analysisof nonlinear symmetric systems (2011)
  • Author(s): T. C. Ionescu, K. Fujimoto and J. M. A. Scherpen
  • Journal Title: IEEE Trans. Automatic Control Volume: Vol.56, No.9 Pages: 2073-2086
  • Peer Reviewed
• [Journal Article] Repetitive control of Hamiltonian systems based on variational symmetry (2011)
  • Author(s): S. Satoh and K. Fujimoto
  • Journal Title: Systems and Control Letters Volume: Vol.60, No.9 Pages: 763-770
  • NAID: 10019523718
  • Peer Reviewed
• [Journal Article] 確率パラメータをもつ線形系の分散抑制最適制御 (2011)
  • Author(s): 藤本 健治, 小川 空記, 太田 祐平, 中山 万希志
  • Journal Title: 計測自動制御学会論文集 Volume: Vol.47, No.7 Pages: 301-309
  • NAID: 10029470763
  • Peer Reviewed
• [Journal Article] 不連続な状態遷移を考慮した学習最適制御による歩行軌道の生成手法 (2011)
  • Author(s): 佐藤 訓志, 藤本 健治, 玄 相昊
  • Journal Title: 日本ロボット学会誌 Volume: Vol.29, No.2 Pages: 212-222
  • NAID: 10027810533
  • Peer Reviewed
• [Journal Article] 確率パラメータを持つ線形系の分散抑制最適制御 (2011)
  • Author(s): 藤本健治・小川空記・太田祐平・中山万希志
  • Journal Title: 計測自動制御学会論文集 Volume: 47 Pages: 301-309
  • Peer Reviewed
• [Journal Article] Balanced realization and model order reduction for nonlinear systems based on singular value analysis (2010)
  • Author(s): K. Fujimoto and J. M. A. Scherpen
  • Journal Title: SIAM Journal on Optimization and Control Volume: Vol.48, No.7 Pages: 4591-4623
  • Peer Reviewed
• [Journal Article] オブザーバに基づく機械系の確率的軌道追従制御について (2010)
  • Author(s): 佐藤 訓志, 藤本 健治
  • Journal Title: 計測自動制御学会論文集 Volume: Vol.46, No.2 Pages: 106-113
  • NAID: 10026207810
  • Peer Reviewed
• [Journal Article] Dissipativity preserving balancing for nonlinear systems: a Hankel operator approach (2010)
  • Author(s): T. C. Ionescu, K. Fujimoto and J. M. A. Scherpen
  • Journal Title: Systems & Control Letters Volume: Vol.59, Nos.3-4 Pages: 180-194
  • Peer Reviewed
• [Journal Article] 板速可変な冷間圧延機における板厚と張力の非線形Receding Horizon制御 (2010)
  • Author(s): 尾崎・大塚・藤本・北村・中山
  • Journal Title: 鉄と鋼 Volume: 96 Pages: 459-467
  • NAID: 130000308109
  • Peer Reviewed
• [Journal Article] Balanced realization and model order reduction for nonlinear systems based on singular value analysis (2010)
  • Author(s): K.Fujimoto, J.M.A.Scherpen
  • Journal Title: SIAM Journal on Optimization and Control Volume: 48 Pages: 4591-4623
  • Peer Reviewed
• [Journal Article] 分散合意における収束性能について (2010)
  • Author(s): 藤本・長谷川
  • Journal Title: 計測自動制御学会論文集 Volume: 46 Pages: 783-790
  • NAID: 10027621745
  • Peer Reviewed
• [Journal Article] Variational symmetry of discrete time Hamiltonian systems and learning optimal control (2010)
  • Author(s): K.Fujimoto, S.Ogawa
  • Journal Title: Proceedings of Mathematical Theory on Networks and Systems Pages: 1153-1158
  • Peer Reviewed
• [Journal Article] Balanced truncation for linear interconnected systems : the state feedback case (2010)
  • Author(s): K.Fujimoto, S.Ono, Y.Hayakawa
  • Journal Title: Proceedings of Mathematical Theory on Networks and Systems Pages: 1977-1982
  • Peer Reviewed
• [Journal Article] Controller reduction for linear systems based on subspace balanted realization (2010)
  • Author(s): K.Fujimoto, S.Ono, Y.Hayakawa
  • Journal Title: Proceedings of IEEE Conference on Decision and Control Pages: 5362-5367
  • Peer Reviewed
• [Journal Article] Asymmetric structure of variational and adjoint systems of stochastic Hamiltonian systems (2010)
  • Author(s): S.Satoh, K.Fujimoto
  • Journal Title: Proceedings of IEEE Conference on Decision and Control Pages: 1423-1428
  • Peer Reviewed
• [Journal Article] Modification of learning optimal gait generation method in considering discontinuous velocity transitions (2010)
  • Author(s): S.Satoh, M.Ikeda, K.Fujimoto, Y.Hayakawa
  • Journal Title: Proceedings of SICE Annual Conference Pages: 2794-2799
  • Peer Reviewed
• [Journal Article] ポート・ハミルトン系の漸近的経路追従制御 (2010)
  • Author(s): 藤本健治・谷口充
  • Journal Title: 計測自動制御学会論文集 46 Pages: 83-90
  • NAID: 10026207769
  • Peer Reviewed
• [Journal Article] オブザーバに基づく機械系の確率的軌道追従制御について (2010)
  • Author(s): 佐藤訓志・藤本健治
  • Journal Title: 計測自動制御学会論文集 46 Pages: 106-113
  • NAID: 10026207810
  • Peer Reviewed
• [Journal Article] Asymptotic path following and velocity control of port-Hamiltonian systems (2009)
  • Author(s): M.Taniguchi, K.Fujimoto
  • Journal Title: Proceedings of European Control Conference Pages: 236-241
  • Peer Reviewed
• [Journal Article] The cross operator and the singular value analysis for nonlinear symmetric systems (2009)
  • Author(s): T.C.Ionescu, K.Fujimoto, J.M.A.Scherpen
  • Journal Title: Proceedings of European Control Conference Pages: 1565-1570
  • Peer Reviewed
• [Journal Article] Time-varying path following control for port-Hamiltonian systems (2009)
  • Author(s): M.Taniguchi, K.Fujimoto
  • Journal Title: Proceedings of IEEE Conference on Decision and Control Pages: 3323-3328
  • NAID: 10028213558
  • Peer Reviewed
• [Journal Article] Positive and bounded real balancing for nonlinear systems : a controllability and observability function aproach (2009)
  • Author(s): T.C.Ionescu, K.Fujimoto, J.M.A.Scherpen
  • Journal Title: Proceedings of IEEE Conference on Decision and Control Pages: 4310-4315
  • Peer Reviewed
• [Presentation] Optimal trajectory generation for linear systems based on double generating functions (2012)
  • Author(s): Z. Hao and K. Fujimoto
  • Organizer: Proceedings of IEEE Conference on Decision and Control
  • Place of Presentation: Maui, Hawaii, USA
• [Presentation] On subspace balanced realization and model order reduction for nonlinear interconnected systems (2012)
  • Author(s): K. Fujimoto
  • Organizer: Proceedings of IEEE Conference on Decision and Control
  • Place of Presentation: Maui, Hawaii, USA
• [Presentation] Stability analysis of tacit learning based on environmental signal accumulation (2012)
  • Author(s): S. Shimoda, K. Fujimoto, T. Yamamoto, I. Maeda and H. Kimura
  • Organizer: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Vilamoura, Algarve, Portugal
• [Presentation] Variance suppression for gauge control via stochastic optimal control (2012)
  • Author(s): T. Watanabe, K. Fujimoto, Y. Hashimoto and Y. Nishida
  • Organizer: Proceedings of IFAC Workshop on Automation in the Mining, Mineral and Metal Industries
  • Place of Presentation: Gifu, Japan
• [Presentation] Approximate solutions to the Hamilton-Jacobi Equations for generating functions with a quadratic cost function with respect to the input (2012)
  • Author(s): Z. Hao and K. Fujimoto
  • Organizer: Proceedings of IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
  • Place of Presentation: Bertinoro, Italy
• [Presentation] Approximate solutions to the Hamilton-Jacobi Equations for generating functions with a quadratic cost function with respect to the input (2012)
  • Author(s): Z. Hao and K. Fujimoto
  • Organizer: IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
  • Place of Presentation: University of Bologna (Bertinolo, Italy)
• [Presentation] Variance suppression for gauge control via stochastic optimal control (2012)
  • Author(s): T. Watanabe, K. Fujimoto, Y. Hashimoto and Y. Nishida
  • Organizer: IFAC Workshop on Automation in the Mining, Mineral and Metal Industries
  • Place of Presentation: Nagaragawa Convention Center (Gifu, Japan)
• [Presentation] Stability analysis of tacit learning based on environmental signal accumulation (2012)
  • Author(s): S. Shimoda, K. Fujimoto, T. Yamamoto, I. Maeda and H. Kimura
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Hotel Tivoli Marina Vilamoura (Algarve, Portugal)
• [Presentation] On subspace balanced realization and model order reduction for nonlinear interconnected systems (2012)
  • Author(s): K. Fujimoto
  • Organizer: IEEE Conference on Decision and Control
  • Place of Presentation: The Grand Wailea Waldorf Astoria Resort (Maui, USA)
• [Presentation] Optimal trajectory generation for linear systems based on double generating functions (2012)
  • Author(s): Z. Hao and K. Fujimoto
  • Organizer: IEEE Conference on Decision and Control
  • Place of Presentation: The Grand Wailea Waldorf Astoria Resort (Maui, USA)
• [Presentation] System identification based on variational Bayes method and the invariance under coordinate transformations (2011)
  • Author(s): K. Fujimoto, A. Satoh and S. Fukunaga
  • Organizer: Proceedings of IEEE Conference on Decision and Control and European Control Conference
  • Place of Presentation: Orlando, USA
• [Presentation] Optimal control for linear systems with stochastic parameters for variance suppression (2011)
  • Author(s): K. Fujimoto, Y. Ota and M. Nakayama
  • Organizer: Proceedings of IEEE Conference on Decision and Control and European Control Conference
  • Place of Presentation: Orlando, USA
• [Presentation] Periodic gait generation via repetitive optimal control of Hamiltonian systems (2011)
  • Author(s): S. Satoh, K. Fujimoto and S.-H. Hyon
  • Organizer: Proceedings of the 18th IFAC World Congress
  • Place of Presentation: Milan, Italy
• [Presentation] Optimal control of linear systems with stochastic parameters for variance suppression: The finite time horizon case (2011)
  • Author(s): K. Fujimoto, S. Ogawa, Y. Ota and M. Nakayama
  • Organizer: Proceedings of the 18th IFAC World Congress
  • Place of Presentation: Milan, Italy
• [Presentation] On convergence rate of distributed consensus for homogeneous graphs (2011)
  • Author(s): K. Fujimoto and Y. Hasegawa
  • Organizer: Proceedings of the 18th IFAC World Congress
  • Place of Presentation: Milan, Italy
• [Presentation] Path following control for a class of electro-mechanical systems and its application (2011)
  • Author(s): M. Taniguchi and K. Fujimoto
  • Organizer: 2011 International Conference on Mechatronics and Information Technology
  • Place of Presentation: Shenyang, China
• [Presentation] On convergence rate of distributed consensus for homogeneous graphs (2011)
  • Author(s): K. Fujimoto and Y. Hasegawa
  • Organizer: 18th IFAC World Congress
  • Place of Presentation: Milan, Italy
• [Presentation] Periodic gait generation via repetitive optimal control of Hamiltonian systems (2011)
  • Author(s): S. Satoh, K. Fujimoto and S.-H. Hyon
  • Organizer: 18th IFAC World Congress
  • Place of Presentation: Milan, Italy
• [Presentation] Optimal control for linear systems with stochastic parameters for variance suppression (2011)
  • Author(s): K. Fujimoto, Y. Ota and M. Nakayama
  • Organizer: IEEE Conference on Decision and Control and European Control Conference
  • Place of Presentation: Orlando, USA
• [Presentation] ベイズ推定のための確率最適制御 (2010)
  • Author(s): 小川空記・藤本健治・中山万希志
  • Organizer: 第10回計測自動制御学会制御部門大会
  • Place of Presentation: 熊本大学(熊本県)
  • Year and Date: 2010-03-18
• [Presentation] 大規模ネットワーク系の収束性能について (2010)
  • Author(s): 長谷川祐子・藤本健治
  • Organizer: 第10回計測自動制御学会制御部門大会
  • Place of Presentation: 熊本大学(熊本県)
  • Year and Date: 2010-03-17
• [Presentation] A symmetric structure of variational and adjoint systems of stochastic Hamiltonian systems (2010)
  • Author(s): S. Satoh and K. Fujimoto
  • Organizer: Proceedings of IEEE Conference on Decision and Control
  • Place of Presentation: Atlanta, USA
• [Presentation] Controller reduction for linear systems based on subspace balanced realization (2010)
  • Author(s): K. Fujimoto, S. Ono and Y. Hayakawa
  • Organizer: Proceedings of IEEE Conference on Decision and Control
  • Place of Presentation: Atlanta, USA
• [Presentation] Stabilization of Time-varying Stochastic Port-Hamiltonian Systems Based on Stochastic Passivity (2010)
  • Author(s): S. Satoh and K. Fujimoto
  • Organizer: Proceedings of IFAC Symposium on Nonlinear Control Systems
  • Place of Presentation: Bologna, Italy
• [Presentation] Modification of learning optimal gait generation method in considering discontinuous velocity transitions (2010)
  • Author(s): S. Satoh, M. Ikeda, K. Fujimotoand Y. Hayakawa
  • Organizer: Proceedings of SICE Annual Conference
  • Place of Presentation: Taipei, Taiwan
• [Presentation] Variational symmetry of discrete-time Hamiltonian systems and learning optimal control (2010)
  • Author(s): K. Fujimoto and S. Ogawa
  • Organizer: Proceedings of Mathematical Theory on Networks and Systems
  • Place of Presentation: Budapest, Hungary
• [Presentation] 力学系の性質に基づく歩行制御について (2009)
  • Author(s): 佐藤訓志・藤本健治・久場景太郎
  • Organizer: 第10回計測自動制御学会システムインテグレーション部門講演会(SI2009)
  • Place of Presentation: 芝浦工業大学(東京都)
  • Year and Date: 2009-12-25
• [Presentation] 確率ポート・ハミルトン系の変分過程と随伴過程について (2009)
  • Author(s): 佐藤訓志・藤本健治
  • Organizer: 第38回制御理論シシポジウム
  • Place of Presentation: コスモスクエア国際交流センター(大阪府)
  • Year and Date: 2009-09-16
• [Presentation] ポート・ハミルトン系の経路追従制御-電気機械系への適用- (2009)
  • Author(s): 谷口充・藤本健治
  • Organizer: 第38回制御理論シンポジウム
  • Place of Presentation: コスモスクエア国際交流センター(大阪府)
  • Year and Date: 2009-09-15
• [Presentation] Positive and bounded real balancing for nonlinear systems: a controllability and observability function aproach (2009)
  • Author(s): T. C. Ionescu, K. Fujimoto and J. M. A. Scherpen
  • Organizer: Proceedings of IEEE Conference on Decision and Control
  • Place of Presentation: Shanghai, R.P. China
• [Presentation] The cross operator and the singular value analysis for nonlinear symmetric systems (2009)
  • Author(s): T. C. Ionescu, K. Fujimoto and J. M. A. Scherpen
  • Organizer: Proceedings of European Control Conference
  • Place of Presentation: Budapest, Hungary
• [Remarks]
  • URL: http://control.kuaero.kyoto-u.ac.jp/