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A systematic framework from modeling to control for systems including stochastic uncertainty based on statistical models and stochastic control systems theory

Research Project

Project/Area Number 21K04106
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 21040:Control and system engineering-related
Research InstitutionOsaka University

Principal Investigator

Satoh Satoshi  大阪大学, 大学院工学研究科, 教授 (60533643)

Project Period (FY) 2021-04-01 – 2024-03-31
Project Status Completed (Fiscal Year 2023)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2023: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2022: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2021: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywordsガウス過程回帰システム / 離散時間確率システム / 確率サンプル値制御 / 確率システム / 確率微分方程式 / 統計モデル / ガウス過程回帰
Outline of Research at the Start

システムに存在する確率的不確かさを考慮した解析・制御法は有用であり,申請者は,確率微分方程式で表される確率システムに対する一連の手法を開発してきた.一方で,系統的なモデル構築法はこれまでのところなかった.
ガウス過程回帰は,入出力データからノンパラメトリックモデルを推定できるだけでなく,モデルの統計的不確かさも表現できる利点をもつ一方,その統計的特徴を全て考慮した動的システムに対する制御器設計の枠組はなかった.
本研究では,ガウス過程回帰によるシステムの統計的特徴と同一の特徴をもつ確率システムの対応関係を導き,確率システム制御理論に基づくモデル化から解析・制御までの一貫した新たな枠組みを構築する.

Outline of Final Research Achievements

This study established a method that can handle the entire process from modeling to control for systems including stochastic uncertainty, based on stochastic systems control theory and the Gaussian process regression model. There have been no conventional control methods that stochastically consider the variance of Gaussian process regression models. Thus, we formulated discrete-time stochastic systems that correspond to the statistical features of Gaussian process regression models. Using this correspondence, we developed a systematic framework for modeling, analyzing, and controlling the Gaussian process regression models based on stochastic systems control theory. Furthermore, we proposed a control methodology guaranteeing the stability of the behavior between sample points of the training data based on stochastic sampled-data control theory and performed experimental verification.

Academic Significance and Societal Importance of the Research Achievements

①ガウス過程回帰により得られるシステムと統計的対応を有する確率システムを定式化したことで,これまでに培われた確率システム制御理論に基づく系統的な解析・制御が可能となった. ②実験データからのモデル表現において利点をもつ一方で制御系設計を困難にしていたガウス過程回帰システムに対して,モデル化から制御までの一貫した解析・制御器設計を可能とする枠組みを構築し,実機検証による有効性の確認も行った. ③実システムは連続時間システムであっても,実験データの取得は離散的となるため,ガウス過程回帰により得られるモデルは離散時間システムとなるが,本研究によりサンプル点間の挙動の安定性も保証した制御法を与えた.

Report

(4 results)
  • 2023 Annual Research Report   Final Research Report ( PDF )
  • 2022 Research-status Report
  • 2021 Research-status Report
  • Research Products

    (19 results)

All 2024 2023 2022 2021 Other

All Int'l Joint Research (3 results) Journal Article (4 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 3 results,  Open Access: 2 results) Presentation (10 results) (of which Int'l Joint Research: 5 results) Remarks (2 results)

  • [Int'l Joint Research] Politecnico di Torino(イタリア)

    • Related Report
      2023 Annual Research Report
  • [Int'l Joint Research] Politecnico di Torino(イタリア)

    • Related Report
      2022 Research-status Report
  • [Int'l Joint Research] Politecnico di Torino(イタリア)

    • Related Report
      2021 Research-status Report
  • [Journal Article] Stochastic stabilization based on kinetic-potential energy shaping for stochastic mechanical port-Hamiltonian systems2024

    • Author(s)
      Satoh Satoshi、Fujimoto Kenji
    • Journal Title

      Advanced Robotics

      Volume: 未定 Issue: 9-10 Pages: 1-9

    • DOI

      10.1080/01691864.2024.2340543

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Formation Tracking Control Using Generalized Canonical Transformations and Sliding Mode Control of Port-Hamiltonian Systems2024

    • Author(s)
      I. Tabuchi, S. Satoh, and K. Yamada
    • Journal Title

      Journal of Evolving Space Activities

      Volume: 1 Issue: 0 Pages: n/a

    • DOI

      10.57350/jesa.105

    • ISSN
      2758-1802
    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Attitude Tracking Control of Spacecraft with CMGs Using Stochastic System Model and Stochastic Backstepping Method2022

    • Author(s)
      佐藤 訓志、田坂 直也
    • Journal Title

      Journal of The Society of Instrument and Control Engineers

      Volume: 61 Issue: 2 Pages: 127-132

    • DOI

      10.11499/sicejl.61.127

    • NAID

      130008159309

    • ISSN
      0453-4662, 1883-8170
    • Year and Date
      2022-02-10
    • Related Report
      2021 Research-status Report
  • [Journal Article] Design and validation of an MPC controller for CMG-based testbed2021

    • Author(s)
      Matteo Facchino, Atsushi Totsuka, Elisa Capello, Satoshi Satoh, Giorgio Guglieri, Katsuhiko Yamada
    • Journal Title

      Optimization and Engineering

      Volume: 1 Pages: 1-37

    • DOI

      10.1007/s11081-021-09633-z

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] 非線形確率サンプル値制御に基づくガウス過程回帰により表された確率システムの一安定化法2024

    • Author(s)
      佐藤訓志・宮澤実央
    • Organizer
      第10回計測自動制御学会 制御部門マルチシンポジウム
    • Related Report
      2023 Annual Research Report
  • [Presentation] Formation Trajectory Tracking Control of Port-Hamiltonian Systems with Gain Scheduling on the Tracking Error2023

    • Author(s)
      T. Yabe, and S. Satoh
    • Organizer
      Proceedings of the 34th International Symposium on Space Technology and Science
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Formation Tracking Control Based on Generalized Canonical Transformation with Adaptive Mechanism for Atmospheric Drag2023

    • Author(s)
      Y. Hamanaka, and S. Satoh
    • Organizer
      Proceedings of the 34th International Symposium on Space Technology and Science
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Design and Stability Analysis of Attitude Tracking Control System for Spacecraft Considering Stochastic Disturbances2023

    • Author(s)
      M. Miyazawa, and S. Satoh
    • Organizer
      Proceedings of the 34th International Symposium on Space Technology and Science
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 軌道要素を用いた非線形確率システムモデルと確率最適制御による宇宙機フォーメーションフライト制御2023

    • Author(s)
      橋本瞭・佐藤訓志
    • Organizer
      第67回宇宙科学技術連合講演会
    • Related Report
      2023 Annual Research Report
  • [Presentation] A study on extension of kinetic potential energy shaping to a class of stochastic port-Hamiltonian systems2023

    • Author(s)
      S. Satoh and K. Fujimoto
    • Organizer
      第10回計測自動制御学会 制御部門マルチシンポジウム
    • Related Report
      2022 Research-status Report
  • [Presentation] Landing guidance control combining powered descending with nonlinear optimization and vertical descending with model prediction2022

    • Author(s)
      Y. Nakatsuka, S. Satoh, and K. Yamada
    • Organizer
      the 33rd International Symposium on Space Technology and Science
    • Related Report
      2022 Research-status Report
    • Int'l Joint Research
  • [Presentation] 確率微分動的計画法を用いた空気抗力を考慮したドローンの最適制御2022

    • Author(s)
      佐藤訓志・孫芸萍
    • Organizer
      第65回自動制御連合講演会
    • Related Report
      2022 Research-status Report
  • [Presentation] 熱駆動釣糸アクチュエータの非線形オブザーバの設計と局所漸近安定化2022

    • Author(s)
      佐藤訓志
    • Organizer
      第65回自動制御連合講演会
    • Related Report
      2022 Research-status Report
  • [Presentation] Design of sliding mode techniques for a CMG-based testbed attitude control system2021

    • Author(s)
      A. D'Ortona, E. Capello, and S. Satoh
    • Organizer
      The 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research
  • [Remarks] Satoshi SATOH

    • URL

      http://www-space.mech.eng.osaka-u.ac.jp/satoh/index.html

    • Related Report
      2023 Annual Research Report 2022 Research-status Report 2021 Research-status Report
  • [Remarks] 佐藤訓志

    • URL

      http://www-space.mech.eng.osaka-u.ac.jp/satoh/index_ja.html

    • Related Report
      2023 Annual Research Report 2021 Research-status Report

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Published: 2021-04-28   Modified: 2025-01-30  

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