2021 Fiscal Year Final Research Report
Fault tolerant control of distributed cooperative systems with dithering methods
| Project/Area Number |
19K15011
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | Gifu University |
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Principal Investigator |
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| Project Period (FY) |
2019-04-01 – 2022-03-31
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| Keywords | ディザリング / 量子化制御 / マルチエージェントシステム / ネットワーク化システム |
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| Outline of Final Research Achievements |
We analyzed multi-agent systems where artificial additive noises called dither signals are used for identification keys. As a result, we showed that the system with an irregular agent could be detected. For communication between agents, we showed that the combination of quantization and frequency modulation enables us to control systems by extracting desired signals from mixed and compressed signals. In addition, we presented a new dither signal generation method that predicts the future quantization effects using a system model. We showed that the proposed method improves control performance under signal quantization. Furthermore, we developed an algorithm for quadcopters to avoid collisions and demonstrated its effectiveness through experiments.
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| Free Research Field |
制御工学
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| Academic Significance and Societal Importance of the Research Achievements |
本研究の結果は，今後の普及が見込まれている，複数の小型デバイスがネットワークを形成して作られるIoTシステムに対して用いられる技術への貢献が期待される．本研究の結果をベースとして，不正なデバイスが仕掛けられた場合や，デバイスの故障の検知への応用が期待できる．デバイス間の通信の情報量の削減にも応用可能であり，通信方法そのものの新たな創出も期待できる．また，周波数変調を量子化制御と組み合わせた点については，アナログ通信の時代の古い技術を再注目させる点で重要な成果であり，社会的のみならず，学術的にも今後新たな視点が生まれることが期待できる．
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