2016 Fiscal Year Final Research Report
Design of super-distributed control systems for unreliable multi-agents and its application to disaster area survey
| Project/Area Number |
15K14006
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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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 | The University of Kitakyushu (2016)
Kyoto University (2015) |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Keywords | 分散制御 / 分散最適化 / マルチエージェント / スパースモデリング / IoT |
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| Outline of Final Research Achievements |
In this research, we proposed a super-distributed control that uses multiple agents with low reliability to enhance the control performance of the system by sacrificing the stability of a few agents. By using the idea of sparse optimal control, or dynamic sparse modeling, sparse distributed control for multi agent system was established for the purpose.
We derive a sparse distributed control law based on L1 norm optimization with stability conditions. We also devised an algorithm of distributed optimization as an application of the control theory for multi-agents. Experiments using a drone and a robot were carried out to verify the effectiveness of the proposed super-distributed control.
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| Free Research Field |
自動制御，スパースモデリング，人工知能
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