Construction of controller design for a system that "coheres" with people: an approach based on nonlinear control and ambiguity

2023 Fiscal Year Final Research Report

• Project/Area Number: 20K14767
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 21040:Control and system engineering-related
• Research Institution: Toyama Prefectural University
• Principal Investigator: Yuki OKURA 富山県立大学, 工学部, 講師 (20842777)
• Project Period (FY): 2020-04-01 – 2024-03-31
• Keywords: 非線形制御 / 人間機械系 / 協調運搬システム

Outline of Final Research Achievements

Decision-making by humans is ambiguous and nonlinear from the perspective of machine systems. Phenomena caused by such ambiguity can lead to discomfort and disadvantageous work results for humans, making the design of control systems for human-machine collaboration difficult. Therefore, the objective of this research was to construct a theoretical system of control that incorporates not only system performance such as efficiency, but also values such as comfort that people feel, that is, a control system that is friendly to people. To this end, we will carry out the following three tasks: (1) construction of a control model, (2) integration of the model and theoretical analysis, and (3) verification of the effectiveness of the control model through numerical simulation.

Free Research Field

システム制御

Academic Significance and Societal Importance of the Research Achievements

日本では現在少子高齢化社会が着々と進んでおり，工場での作業や農作業，物資の運送など，現在の日常を支える様々な場面で深刻な人手不足に陥る可能性がある．このような人手不足によって起こる社会の問題に対しての解決策の一つとして，人と機械とがうまく協働・共存することのできる社会の実現が望まれる．本研究で得られた制御モデルは将来的に，協働することをうまく考慮にいれた，機械の制御システムを実現するための基盤技術のための基礎理論の一部として貢献できると期待される．