Synthesis of a high performance reconfigurable control system based on on-line optimization

• Project/Area Number: 22760319
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Control engineering
• Research Institution: Hiroshima University (2011-2012); Tottori University (2010)
• Principal Investigator: WADA Nobutaka 広島大学, 大学院・工学研究院, 准教授 (50335709)
• Project Period (FY): 2010 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000); Fiscal Year 2012: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2011: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000); Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
• Keywords: 実時間最適化 / 再構成可能 / フィードバック / 軌道計画 / 時変拘束 / 制御工学

Research Abstract

In this research project, we have developed a control system design method that is robust against actuator failures. The proposed control law consists of a dual-mode model predictive control law and a target recalculation mechanism. The control algorithm is reduced to an on-line optimization problem under linear matrix inequality constraints. The control algorithm has been applied to a fault-tolerant control problem of a vehicle

Research Products

• [Journal Article] Model predictive tracking control for a linear system under time-varying input constraints (2013)
  • Author(s): Nobutaka Wada, Hiroyuki Tomosugi, Masami Saeki
  • Journal Title: International Journal of Robust and Nonlinear Control Volume: Vol.23, No.9 Pages: 945-964
  • Peer Reviewed
• [Journal Article] Gain Estimation with Filterbank Using a Transient Response and Extension Theorem (2013)
  • Author(s): Masami Saeki, Nobutaka Wada, Satoshi Sato
  • Journal Title: Trans. of the Society of Instrument and Control Engineers Volume: Vol.49, No.4 Pages: 425-431
  • NAID: 10031166603
  • Peer Reviewed
• [Journal Article] Model predictive tracking control for a linear system under time-varying input constraints (2013)
  • Author(s): Nobutaka Wada
  • Journal Title: International Journal of Robust and Nonlinear Control Volume: Vol.23 Issue: 9 Pages: 945-964
  • DOI: 10.1002/rnc.2806
  • Peer Reviewed
• [Journal Article] Robust Performance Design of a State Predictive Controller on Parameter Space (2013)
  • Author(s): Masami Saeki
  • Journal Title: IEEJ Transactions on Electrical and Electronic Engineering Volume: 印刷版未確定
  • Peer Reviewed
• [Journal Article] Model predictive tracking control for a linear system under time-varying input constraints (2012)
  • Author(s): Nobutaka Wada, Hiroyuki Tomosugi, Masami Saeki
  • Journal Title: International Journal of Robust and Nonlinear Control Volume: (in press)
  • Peer Reviewed
• [Journal Article] Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces (2011)
  • Author(s): Nobutaka Wada, Akihiro Takahashi, Masami Saeki, Masaharu Nishimura
  • Journal Title: Journal of Robotics and Mechatronics Volume: Vol.23, No.1 Pages: 83-93
  • NAID: 110009957736
  • Peer Reviewed
• [Journal Article] Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces" (2011)
  • Author(s): Nobutaka Wada, Akihiro Takahashi, Masami Saeki, Masaharu Nishimura
  • Journal Title: Journal of Robotics and Mechatronics Volume: 23[1] Pages: 83-93
  • NAID: 110009957736
  • Peer Reviewed
• [Journal Article] Tracking Control of Input Constrained Discrete-Time Systems Considering Transient Response (2010)
  • Author(s): Nobutaka Wada, Masayuki Minami, Masami Saeki, Masaharu Nishimura
  • Journal Title: Trans. of the Japan Society of Mechanical Engineers C Volume: Vol.76, No.772 Pages: 3612-3621
  • Peer Reviewed
• [Journal Article] A Design Method of an Active Front Steering Controller Using Measurement of Lateral Tire Forces (2010)
  • Author(s): Nobutaka Wada, Akihiro Takahashi, Izumi Masubuchi, Masami Saeki
  • Journal Title: Trans. of the Japan Society of Mechanical Engineers C Volume: Vol.76, No.770 Pages: 2528-2535
  • Peer Reviewed
• [Journal Article] Model Predictive Tracking Control Using State-dependent Gain-scheduled Feedback (2010)
  • Author(s): Nobutaka Wada, Hiroyuki Tomosugi, Masami Saeki, Masaharu Nishimura
  • Journal Title: Journal of System Design and Dynamics Volume: Vol.4, No. 4 Pages: 590-600
  • NAID: 130000335867
  • Peer Reviewed
• [Journal Article] Design of Static Anti-Windup Compensator Considering Controller State (2010)
  • Author(s): Shunsuke Takamatsu, Unggul Wasiwitono, Masami Saeki, Nobutaka Wada
  • Journal Title: Trans. of the Japan Society of Mechanical Engineers C Volume: Vol.76, No.769 Pages: 2248-2254
  • Peer Reviewed
• [Journal Article] Low order H-infinity controller design on the frequency domain by partial optimization (2010)
  • Author(s): Masami Saeki, Masashi Ogawa, Nobutaka Wada
  • Journal Title: International Journal of Robust and Nonlinear Control Volume: Vol. 20, Issue 3 Pages: 323-333
  • Peer Reviewed
• [Journal Article] Unggul Wasiwitono, Shunsuke Takamatsu, Masami Saeki, Kiyoshi Ochi, Nobutaka Wada (2010)
  • Author(s): Unggul Wasiwitono, Shunsuke Takamatsu, Masami Saeki, Kiyoshi Ochi, Nobutaka Wada
  • Journal Title: Journal of System Design and Dynamics Volume: Vol.4, No.4 Pages: 601-615
  • Peer Reviewed
• [Journal Article] 過渡応答を考慮した入力拘束システムの目標信号追従制御 (2010)
  • Author(s): 和田信敬, 南昌行, 佐伯正美, 西村正治
  • Journal Title: 日本機械学会論文集C編 Volume: 76[772] Pages: 3612-3621
  • Peer Reviewed
• [Journal Article] 後輪横力情報を用いたアクティブ前輪操舵制御系の設計 (2010)
  • Author(s): 和田信敬, 高橋亮裕, 増淵泉, 佐伯正美
  • Journal Title: 日本機械学会論文集C編 Volume: 76[770] Pages: 2528-2535
  • Peer Reviewed
• [Journal Article] 制御器の状態を考慮した静的アンチワインドアップ補償器の設計 (2010)
  • Author(s): 高松俊輔, Unggul Wasiwitono, 佐伯正美, 和田信敬
  • Journal Title: 日本機械学会論文集C編 Volume: 76[769] Pages: 2248-2254
  • Peer Reviewed
• [Journal Article] Dynamic Anti-windup Compensator Design Considering Behavior of Controller State (2010)
  • Author(s): Unggul Wasiwitono, Shunsuke Takamatsu, Masami Saeki, Kiyoshi Ochi, Nobutaka Wada
  • Journal Title: Journal of System Design and Dynamics Volume: 4[4] Pages: 601-615
  • Peer Reviewed
• [Journal Article] Low Order H_∞ Controller Design on the Frequency Domain by Partial Optimization (2010)
  • Author(s): Masami Saeki, Masashi Ogawa, Nobutaka Wada
  • Journal Title: International Journal of Robust and Nonlinear Control Volume: 20[3] Pages: 323-333
  • Peer Reviewed
• [Journal Article] Reconfigurable Fault-tolerant Controller Synthesis for a Steer-by-wire Vehicle Using Independently Driven Wheels
  • Author(s): Nobutaka Wada, Kosuke Fujii, Masami Saeki
  • Journal Title: Vehicle System Dynamics Volume: (to appear)
  • Peer Reviewed
• [Journal Article] Speeding Up of Calculation for mu-synthesis of Low Order H-infinity Controllers
  • Author(s): Takuma Iwamoto, Masami Saeki, Satoshi Satoh, Nobutaka Wada
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Volume: (to appear)
  • Peer Reviewed
• [Journal Article] Robust Performance Design of a State Predictive Controller on Parameter Space
  • Author(s): Masami Saeki, Assi Mouhammad, Nobutaka Wada
  • Journal Title: IEEJ Transactions on Electrical and Electronic Engineering Volume: (to appear)
  • Peer Reviewed
• [Presentation] Application of data-driven loop-shaping method to multi-loop control design of benchmark PID 2012 (2012)
  • Author(s): Masami Saeki, Kyosuke Ogawa, Nobutaka Wada
  • Organizer: IFAC Conference on Advances in PID Control
  • Place of Presentation: Brescia, ITALY
  • Year and Date: 2012-03-29
• [Presentation] 実時間最適化に基づく耐故障車両制御 (2012)
  • Author(s): 和田信敬, 藤井孝祐, 佐伯正美
  • Organizer: 計測自動制御学会部門大会
  • Place of Presentation: 奈良市
  • Year and Date: 2012-03-14
• [Presentation] Reconfigurable Fault-tolerant Control of a Vehicle with a Steer-by-wire System (2012)
  • Author(s): Nobutaka Wada, Kosuke Fujii, Masami Saeki
  • Organizer: International Conference on Advanced Mechatronics
  • Place of Presentation: Tokyo
• [Presentation] Model predictive tracking control for a linear system under time-varying input constraints (2011)
  • Author(s): Nobutaka Wada, Hiroyuki Tomosugi, Masami Saeki
  • Organizer: 計測自動制御学会制御理論シンポジウム
  • Place of Presentation: 大阪市
  • Year and Date: 2011-09-26
• [Presentation] A Search Method for a Fixed-Order Controller of H_2/H_∞ Control Problems (2010)
  • Author(s): Masami Saeki, Keisuke Kawanishi, Nobutaka Wada
  • Organizer: SICE Annual Conference
  • Place of Presentation: Taipei
  • Year and Date: 2010-08-18
• [Presentation] Basic Study on Active Acoustic Shielding : Phase 2 Noise Reducing Performance for a Small Open Window (2010)
  • Author(s): Masaharu Nishimura, Tatsuya Murao, Nobutaka Wada
  • Organizer: International Congress and Exposition on Noise Control Engineering
  • Place of Presentation: Lisbon
  • Year and Date: 2010-06-13
• [Presentation] Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces (2010)
  • Author(s): Nobutaka Wada, Akihiro Takahashi, Masami Saeki, Masaharu Nishimura
  • Organizer: International Conference on Advanced Mechatronics
  • Place of Presentation: Osaka
• [Presentation] Anti-Windup Compensator Design Considering Behavior of Controller State (2010)
  • Author(s): Shunsuke Takamatsu, Unggul Wasiwitono, Masami Saeki, Nobutaka Wada
  • Organizer: IEEE Multi-conference on Systems and Control
  • Place of Presentation: Yokohama
• [Presentation] Model Predictive Tracking Control Using a State-dependent Gain-scheduled Feedback (2010)
  • Author(s): Nobutaka Wada, Hiroyuki Tomosugi, Masami Saeki, Masaharu Nishimura
  • Organizer: International Conference on Modelling, Identification and Control
  • Place of Presentation: Okayama
• [Presentation] A Search Method for a Fixed-Order Controller of H2/H ∞Control Problems (2010)
  • Author(s): Masami Saeki, Keisuke Kawanishi, Nobutaka Wada
  • Organizer: SICE Annual Conference
  • Place of Presentation: Taiwan
• [Presentation] Basic Study on Active Acoustic Shielding : Phase 2 Noise Reducing Performance for a Small Open Window (2010)
  • Author(s): Masaharu Nishimura, Tatsuya Murao, Nobutaka Wada
  • Organizer: International Congress and Exposition on Noise Control Engineering
  • Place of Presentation: Portugal
• [Presentation] Model Predictive Tracking Control Using a State-dependent Gain-scheduled Feedback (2010)
  • Author(s): Nobutaka Wada, Hiroyuki Tomosugi, Masami Saeki, Masaharu Nishimura
  • Organizer: International Conference on Identification, Modeling and Control
  • Place of Presentation: Okayama
• [Presentation] Reconfigurable Fault-tolerant Control of a Vehicle with a Steer-by-wire System
  • Author(s): Nobutaka Wada
  • Organizer: International Conference on Advanced Mechatronics
  • Place of Presentation: Tokyo
• [Remarks]
  • URL: http://home.hiroshima-u.ac.jp/nwada/