2022 Fiscal Year Final Research Report
Analysis and Synthesis of Discontinuous Dynamical Systems Based on Finite-Time Reachable Set
| Project/Area Number |
19K04444
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | Meiji University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
澤田 賢治 電気通信大学, i－パワードエネルギー・システム研究センター, 准教授 (80550946)
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| Project Period (FY) |
2019-04-01 – 2023-03-31
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| Keywords | 制御系設計 / 可到達集合 / 不連続システム |
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| Outline of Final Research Achievements |
This research aims to design control systems with discontinuous inputs and outputs based on reachable sets of dynamical systems. The main result of this research is the introduction of reachability sets for error systems that consider time-varying uncertainties and disturbances and the proposal of self-triggered model predictive control. In particular, we have shown the recursive feasibility of model predictive control. We also considered model predictive control with chance constraints for systems with uncertainty. In doing so, we estimated the uncertainty from the Gaussian regression process, introduced a stochastic reachability set, and finally reduced it to a second-order cone programming problem that can be solved efficiently.
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| Free Research Field |
制御工学
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| Academic Significance and Societal Importance of the Research Achievements |
動的なシステムには，モデル化の際の不確かさや外乱が存在しており，精度の高い制御系設計の妨げとなっている．本研究では可到達集合に着目し，不確かさや外乱のもとで状態や入力に制約のある制御系の保守性低減を達成することができた点に学術的な意義がある．また，機械学習手法を利用して可到達集合を見積もることができた点にも意義がある．これらの成果は，自動運転をはじめとする物理的な接触や衝突を回避する制御系に応用できる可能性があることに社会的な意義がある．制御系設計の際の計算量を低減できたことから，ある程度の規模の制御系にも適用が可能である．
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