| Project/Area Number |
26820167
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Kyushu Institute of Technology |
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Principal Investigator |
Nishida Takeshi 九州工業大学, 大学院工学研究院, 准教授 (30346861)
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| Project Period (FY) |
2014-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2015: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2014: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Keywords | パーティクルフィルタ / センサノイズ / 状態フィードバック / 制御系 / 確率分布 / センサ信号 / 点推定 / 最小平均二乗誤差推定 / 最大事後確率推定 |
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| Outline of Final Research Achievements |
The purpose of this research is to establish an estimation method of probabilistic distribution of noise included in sensor signals and a quantification method of abnormal signals by using particle filters (PF). The structure of point estimation from particle distribution of the PF, the structure of evaluation of the reliability of the estimate, and the method to incorporate them into a state feedback control system had been developed. In addition, we developed a visualizer to observe the transition in time for particle distribution of the PF. It was confirmed by simulations that the developed method enables separation of abnormal sensor signal selectively and executes the state estimation and state feedback control appropriately.
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