2010 Fiscal Year Final Research Report
Hierarchical and distributed optimal control and its application to a motor control model
| Project/Area Number |
20560421
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Control engineering
|
|---|
| Research Institution | Yamaguchi University |
|---|
Principal Investigator |
WAKASA Yuji Yamaguchi University, 大学院・理工学研究科, 准教授 (60263620)
|
|---|
| Project Period (FY) |
2008 – 2010
|
| Keywords | 最適制御 / 双対分解 / 運動制御モデル |
|---|
| Research Abstract |
In this study, we have applied a primal or dual decomposition technique for large-scale optimization problems into control problems such as formation and consensus problems for multi-agent systems and have proposed control algorithms with hierarchical and distributed structures. Moreover, we have proposed an algorithm in which primal and dual decomposition algorithms are simultaneously performed, so that the stability of the overall system is guaranteed and the computational burden is reduced. Exploiting the analogy between dual decomposition and motor control systems, we have a novel motor control model that contains hierarchical and distributed structures.
|
