Development of topological control theory for decision making

2017 Fiscal Year Final Research Report

• Project/Area Number: 15H04022
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Tokyo University of Science
• Principal Investigator: Nakamura Hisakazu 東京理科大学, 理工学部電気電子情報工学科, 准教授 (70362837)
• Co-Investigator(Kenkyū-buntansha): 石川 将人 大阪大学, 工学研究科, 教授 (20323826) ; 西村 悠樹 鹿児島大学, 理工学域工学系, 准教授 (20549018) ; 福井 善朗 立命館大学, 情報理工学部, 助教 (30710652) ; 山下 裕 北海道大学, 情報科学研究科, 教授 (90210426) ; 佐藤 康之 東京理科大学, 理工学部電気電子情報工学科, 研究員 (40738803)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 制御理論 / 非線形制御理論 / トポロジー / リヤプノフ関数 / 制御バリア関数 / 意思決定 / 局所半凹関数

Outline of Final Research Achievements

This research aims to design a framework of combining decision and control from the view point of topology. The major achievements are as follows. Development of a control strategy that dynamically identifies the desired state by the minimum projection method, development of the local minimum connection method for static control Lyapunov function design, and development of a human safety assist control strategy by using control barrier functions. By the preceding achievements, this research elucidates that a control Lyapunov function and a control barrier function are effective for the combination of decision and control.

Free Research Field

制御工学