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Sparse optimization theory for formation control of multi-agent systems

Research Project

Project/Area Number 19K23519
Research Category

Grant-in-Aid for Research Activity Start-up

Allocation TypeMulti-year Fund
Review Section 0302:Electrical and electronic engineering and related fields
Research InstitutionThe University of Kitakyushu

Principal Investigator

Ikeda Takuya  北九州市立大学, 国際環境工学部, 講師 (00848319)

Project Period (FY) 2019-08-30 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2020: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2019: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Keywordsマルチエージェントシステム / 分散制御 / スパースモデリング / 最適制御 / 凸最適化 / ネットワーク化制御 / スパース制御 / 最適制御理論 / 省エネルギー / 最適化理論 / 超スマート社会
Outline of Research at the Start

本研究では,分散制御系のための新しい省エネルギー技術として,制御入力の休止時間量(制御の値が0である時間区間の長さ)に注目したスパース分散最適制御を提案する.具体的には,以下の研究計画に基づき,その理論の構築と実機実験による有効性の検証を行う.
(1)フォーメーション制御問題に対するスパース分散最適制御の理論的設計
(2)スパース分散最適制御のための高速アルゴリズムの開発
(3)無人航空機を用いた省エネルギーの検証実験

Outline of Final Research Achievements

This research investigates a sparse optimal control problem for multi-agent systems. The novel control approach minimizes the L0 control cost, i.e., the length of the support of control input. This enables us to find an effective activation schedule. Particularly, we have investigated a distributed bearing-constrained formation control of continuous-time multi-agent systems based on sampled bearing information. The problem is considered in arbitrary dimensional spaces. Our proposed method penalizes the control effort by L0 control cost, and hence the obtained distributed control is enhanced to take exactly zero value. The proposed method tracks a distributed control for an associated discrete-time multi-agent system. The analysis relies on the recently developed bearing rigidity theory. We have shown the feasibility, closed form, and stability of the proposed control.

Academic Significance and Societal Importance of the Research Achievements

本研究で提案する分散制御則の一つの特徴として,エージェント間の角度情報に注目していることが挙げられる.これにより,周囲の状況に応じて柔軟にスケールを制御することが可能である.また,本研究活動を通じて,時間的スパース性と空間的スパース性を同時に考慮した,学術的に新しい最適化問題を提案している.その最適解の必要条件や,効率的な数値計算手法の獲得に成功している.

Report

(3 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Research-status Report
  • Research Products

    (12 results)

All 2021 2020 2019 Other

All Int'l Joint Research (1 results) Journal Article (4 results) (of which Peer Reviewed: 4 results,  Open Access: 2 results) Presentation (7 results) (of which Int'l Joint Research: 5 results)

  • [Int'l Joint Research] Technion, Israel Institute of Technology(イスラエル)

    • Related Report
      2019 Research-status Report
  • [Journal Article] Maximum Hands-Off Control With Time-Space Sparsity2021

    • Author(s)
      Ikeda Takuya、Nagahara Masaaki
    • Journal Title

      IEEE Control Systems Letters

      Volume: 5 Issue: 4 Pages: 1213-1218

    • DOI

      10.1109/lcsys.2020.3023265

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Sparse Optimal Stochastic Control2021

    • Author(s)
      Kaito Ito, Takuya Ikeda, Kenji Kashima
    • Journal Title

      Automatica

      Volume: 125 Pages: 109438-109438

    • DOI

      10.1016/j.automatica.2020.109438

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] On Sparse Optimal Control for General Linear Systems2019

    • Author(s)
      Ikeda Takuya、Kashima Kenji
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: 64 Issue: 5 Pages: 2077-2083

    • DOI

      10.1109/tac.2018.2863220

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Maximum Hands-off Distributed Control for Consensus of Multi-Agent Systems with Sampled-data State Observation2019

    • Author(s)
      Ikeda Takuya、Nagahara Masaaki、Kashima Kenji
    • Journal Title

      IEEE Transactions on Control of Network Systems

      Volume: 印刷中 Issue: 2 Pages: 852-862

    • DOI

      10.1109/tcns.2018.2880296

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] 複数のスパース性制約下における最適ノードスケジューリング2021

    • Author(s)
      粟ヶ窪陸, 池田卓矢
    • Organizer
      第8回 制御部門マルチシンポジウム
    • Related Report
      2020 Annual Research Report
  • [Presentation] Optimal control node scheduling with multiple sparsity constraints2021

    • Author(s)
      T. Ikeda and K. Kashima
    • Organizer
      International Symposium on Mathematical Theory of Networks and Systems
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Sparse optimal control with application to node selection problem2020

    • Author(s)
      Takuya Ikeda
    • Organizer
      IEEE Conference on Decision and Control (workshop)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 複数のスパース性制約を有する時変ノード選択問題2020

    • Author(s)
      池田卓矢
    • Organizer
      Web講演会「真なるダイナミクスの追求による次世代システム制御理論の構築」
    • Related Report
      2020 Annual Research Report
  • [Presentation] Continuity of the value function for stochastic sparse optimal control2020

    • Author(s)
      K. Ito, T. Ikeda, and K. Kashima
    • Organizer
      IFAC World Congress
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Sparse optimal feedback control for continuous-time systems2019

    • Author(s)
      T. Ikeda and K. Kashima
    • Organizer
      European Control Conference
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Maximum hands-off distributed bearing-based formation control2019

    • Author(s)
      T. Ikeda, D. Zelazo, and K. Kashima
    • Organizer
      IEEE Conference on Decision and Control
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research

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Published: 2019-09-03   Modified: 2022-01-27  

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