Model representation and data-driven estimation with simple parameters for control of dynamic systems

2021 Fiscal Year Final Research Report

• Project/Area Number: 19K23511
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Multi-year Fund
• Review Section: 0302:Electrical and electronic engineering and related fields
• Research Institution: Shinshu University
• Principal Investigator: Tanemura Masaya 信州大学, 学術研究院工学系, 助教 (10846885)
• Project Period (FY): 2019-08-30 – 2022-03-31
• Keywords: データ駆動制御 / 受動性 / 安定余裕 / 人間とロボット群の協調制御系

Outline of Final Research Achievements

For unknown linear systems, we proposed a method to obtain system parameters based on the input-output data of the system without obtaining a mathematical model. Specifically, we show that the method can estimate the level of the passivity and the lower bound of stability margins of the system. We also show that our method is effective for cooperative control of humans-robot networks. We developed a method to discriminate the stability of the cooperative control system by estimating the passivity of the human.

Free Research Field

データ駆動制御

Academic Significance and Societal Importance of the Research Achievements

制御系設計を行う場合，一般には制御対象の数学モデルが必要となる．しかし，大規模なシステムにおいて正確な数学モデルを求めることが難しい場合が多い．本研究では，数学モデルを用いずに入出力データのみを用いて，システムのパラメータを推定し，その値に基づいて安定化制御器の設計を可能にした．これにより，データ駆動制御の有効性の拡大に成功したと考えている．