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多分解能動的システムのモデル化と解析

Research Project

Project/Area Number 19656104
Research Category

Grant-in-Aid for Exploratory Research

Allocation TypeSingle-year Grants
Research Field Control engineering
Research InstitutionThe University of Tokyo

Principal Investigator

原 辰次  The University of Tokyo, 大学院・情報理工学系研究科, 教授 (80134972)

Co-Investigator(Kenkyū-buntansha) 井村 順一  東京工業大学, 大学院・情報理工学研究科, 教授 (50252474)
児島 晃  首都大学東京, システムデザイン学部, 教授 (80234756)
津村 幸治  東京大学, 大学院・情報理工学系研究科, 准教授 (80241941)
Project Period (FY) 2007 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 2008: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 2007: ¥1,800,000 (Direct Cost: ¥1,800,000)
Keywords動的システム / 分解能 / システム表現 / 制御性能 / マルチスケールシステム
Research Abstract

本研究の目的は,複雑で多様なシステムに対する制御系設計を実現するために「分解能」に着目にした新しい制御理論に向けた基礎理論を構築することにある.特に本研究では,時間,空間,レベル,周波数等異なる性質の分解能に着目した多分解能動的システムのモデル化とその解析に焦点を当てる.
本年度は,主に「多分解能動的システムのモデル化」に焦点を当てて研究を実施した.また,SICE Annual Conference 2009において,オアーガナイズドセッション「Multi-Resolved Dynamical System(MRDS)」を企画した.主たる成果は,以下の通りである.
1.階層化動的システムの表現と大規模系の近似モデリング:階層化動的マルチエージェントシステムの比較的一般的な表現を提案し,階層間接続行列の役割を明らかにした.また,気象モデルなどの大規模複雑系の,階層構造に着目した近似モデルの導出法を与えた.2.階層化動的システムの基本解析:同一ダイナミクスを持つ非常に多くの動的要素が結合された大規模系を対象に,その階層化表現を提案し,安定性など基本特性の解析を行った.さらにマルチロボットによる巡回追従型の協調捕獲の解析・設計や遺伝子制御ネットワークの解析への適用を通じてその有効性を確認した.3.モデル予測制御の性能解析の多分解能的アプローチ:モデル予測制御の閉ループ系である区分的アファインシステムの制御性能や安定性を解析する手段として,時間を遡って解を発展させることで状態空間を各時間ステッブごとに多分解能化し,制御性能値やリアプノフ関数を求める手法を提案した.4.状態設定,離散時間系の制御法:前年度導かれた有限時間線形系の特異値分解法を発展させ,制御系の状態設定,補償入力の設計問題を扱う分解表現を導いた.また,結果の一部が離散時間系においても有用であることを示した.5.ネットワーク構造と性能特性:複雑な構造を有するネットワークド制御系を対象とし,ネットワークの構造および通信容量とシステム全体の特性について解析した.

Report

(2 results)
  • 2008 Annual Research Report
  • 2007 Annual Research Report
  • Research Products

    (23 results)

All 2009 2008 2007

All Journal Article (7 results) (of which Peer Reviewed: 7 results) Presentation (16 results)

  • [Journal Article] 循環的追跡法に基づく協調捕獲行動のためのフォーメーション制御2009

    • Author(s)
      原辰次,堀豊,金泰亨
    • Journal Title

      計測自動制御学会論文集 45

      Pages: 160-167

    • NAID

      10024758011

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] パケットロスを伴う量子化信号による離散時間線形システムの安定化2008

    • Author(s)
      星名寛人,津村幸治,石井秀明
    • Journal Title

      計測自動制御学会論文集 44

      Pages: 234-242

    • NAID

      10021990097

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Performance analysis of control systems under limited data rates2008

    • Author(s)
      H. Ishii, C. Ohyama, K. Tsumura
    • Journal Title

      Trans. Of the Society of Instrument and Control Engineers 44

      Pages: 396-404

    • NAID

      10021990401

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] State Value compensation of controller for constrained systems2008

    • Author(s)
      N. Hara and A. Kojima
    • Journal Title

      Electronics and Communications in Japan 91

      Pages: 1-10

    • NAID

      210000163290

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Exact Cost Performance of Piecewise Affine Systems2008

    • Author(s)
      R. Gondhalekar and J. Imura
    • Journal Title

      IEICE Trans. Fundamentals E91-A

      Pages: 3253-3260

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 離散時間線形系の分解と低次元化モデル予測制御への応用2008

    • Author(s)
      原尚之,児島晃
    • Journal Title

      計測自動制御学会論文集 44

      Pages: 1017-1026

    • NAID

      10024594396

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Performance Measures in Model Predictive Control with Non-Linear Prediction Horizon Time-Discretization2007

    • Author(s)
      R. Gondhalekar, J. Imura
    • Journal Title

      計測自動制御学会論文集 43

      Pages: 883-891

    • NAID

      10019769818

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Presentation] Stabolizing reduced order model predictive control for constrained linear systems2008

    • Author(s)
      N. Hara, A. Kojima
    • Organizer
      Proc. of 17th IFAC World Congress
    • Place of Presentation
      Seoul, Korea
    • Related Report
      2008 Annual Research Report
  • [Presentation] Least Restrictive Move-Blocking Model Predictive Control2008

    • Author(s)
      R. Gondhalekar, J. Imura
    • Organizer
      Proc. Of 17th IFAC World Congress
    • Place of Presentation
      Seoul, Korea
    • Related Report
      2008 Annual Research Report
  • [Presentation] Performance and Stability Analysis of PWA Systems by Piecing together PWQ Functions2008

    • Author(s)
      R. Gondhalekar, J. Imura
    • Organizer
      Proc. Of 17th IFAC World Congress
    • Place of Presentation
      Seoul, Korea
    • Related Report
      2008 Annual Research Report
  • [Presentation] Multi-resolved dynamical system theory for large scale complex systems2008

    • Author(s)
      S. Hara, J. Imura, K. Tsumura
    • Organizer
      Proc. of SICE Annual Conference 2008
    • Place of Presentation
      調布
    • Related Report
      2008 Annual Research Report
  • [Presentation] Cyclic Pursuit Strategy for Multi-agent Dynamical Systems with Sampled Communication2008

    • Author(s)
      T-H. Kim, S. Hara
    • Organizer
      Proc. of SICE Annual Conference 2008
    • Place of Presentation
      調布
    • Related Report
      2008 Annual Research Report
  • [Presentation] Cyclic Pursuit Behavior for Hierarchical Multi-agent Systems with Low-rank Interconnection2008

    • Author(s)
      H. Shimizu. S. Hara
    • Organizer
      Proc. of SICE Annual Conference 2008
    • Place of Presentation
      調布
    • Related Report
      2008 Annual Research Report
  • [Presentation] Hierarchical structure and multi time-scale in large scale dynamical systems2008

    • Author(s)
      K. Tojo, K. Tsumura
    • Organizer
      Proc. of SICE Annual Conference 2008
    • Place of Presentation
      調布
    • Related Report
      2008 Annual Research Report
  • [Presentation] Constrained control based on a decomposition of finite-horizon linear systems2008

    • Author(s)
      N. Hara, A. Kojima
    • Organizer
      Proc. of SICE Annual Conference 2008
    • Place of Presentation
      調布
    • Related Report
      2008 Annual Research Report
  • [Presentation] Stabilization of Multi-Agent Dynamlical Systems for Cyclic Pursuit Behavior2008

    • Author(s)
      T-H. Kim, S. Hara
    • Organizer
      Proc. of 47th IEEE Conference on Decision and Control
    • Place of Presentation
      Cancun, Mexico
    • Related Report
      2008 Annual Research Report
  • [Presentation] Performance Measures in Model Predictive Control withNon-Linear Prediction Horizon Time-Discretization2007

    • Author(s)
      R. Gondhalekar, J. Imura
    • Organizer
      Proc. of European Control Conference
    • Place of Presentation
      Kos, Greece
    • Related Report
      2007 Annual Research Report
  • [Presentation] Strong Feasibility in Input-Move-Blocking Model Predictive Control2007

    • Author(s)
      R. Gondhalekar, J. Imura
    • Organizer
      Proc. of IFAC Symposium on Nonlinear Control Systems (NOLCOS'07)
    • Place of Presentation
      Pretoria, South Africa
    • Related Report
      2007 Annual Research Report
  • [Presentation] Reduced order model predictive control -an approach based on system decomposition-2007

    • Author(s)
      N. Hara, A. Kojima
    • Organizer
      Proc. of SICE Annual Conference 2007
    • Place of Presentation
      高松
    • Related Report
      2007 Annual Research Report
  • [Presentation] Stability Analysis of Linear Systems with Generalized Frequenev Variables and Its Applications to Formation Control2007

    • Author(s)
      S. Hara, T. Hayakawa, H. Sugata
    • Organizer
      Proc. of 46th IEEE Conference on Decision and Control
    • Place of Presentation
      New Orleans, USA
    • Related Report
      2007 Annual Research Report
  • [Presentation] Recursive Feasibility Guarantees in Move-Blocking MPC2007

    • Author(s)
      R. Gondhalekar, J. Imura
    • Organizer
      Proc. of 46th IEEE Conference on Decision and Control
    • Place of Presentation
      New Orleans, USA
    • Related Report
      2007 Annual Research Report
  • [Presentation] Reduced order model predictive control method based on decomposition of discrete-time linear svstents2007

    • Author(s)
      N. Hara, A. Kojima
    • Organizer
      Proc. of 46th IEEE Conference on Decision and Control
    • Place of Presentation
      New Orleans, USA
    • Related Report
      2007 Annual Research Report
  • [Presentation] The coarsest logarithmic quantizers for stabilization of linear systems with packet losses2007

    • Author(s)
      H. Hoshina, K. Tsumura, H. Ishii
    • Organizer
      Proc. of 46th IEEE Conference on Decision and Control
    • Place of Presentation
      New Orleans, USA
    • Related Report
      2007 Annual Research Report

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Published: 2007-04-01   Modified: 2016-04-21  

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