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Contraction理論に基づく実用的な制御器設計

基于契约理论的实用控制器设计

基本信息

批准号：
21K14185
负责人：
河野佑
金额：
$ 2.91万
依托单位：
Hiroshima University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Early-Career Scientists
财政年份：
2021
资助国家：
日本
起止时间：
2021-04-01 至 2025-03-31
项目状态：
未结题

项目摘要

非線形システムに対してでも制御系設計を凸計画問題に帰着できるというContraction理論の強みを利活用しつつ非線形制御器を設計するために，ガウス過程回帰を援用した制御器設計手法を構築した．具体的には，状態空間上の各点ごとに得た凸計画問題の解をガウス過程回帰で適切に繋ぐことで，Contraction理論に基づく非線形制御器設計で現れる可積分性問題の回避に成功した．さらに，状態空間上のサンプル点数を増やすことで，安定性を保証できることを理論的に証明した．また，制御対象のモデルが未知の場合でも，ガウス過程回帰を用いてモデルを学習することで提案手法が適用可能なことも示した．この場合にはガウス過程回帰が学習誤差を確率的に評価できる利点を活かして，制御性能を確率的に保証できることを明らかにした．一蓮の成果をシステム制御分野のトップジャーナルであるAutomaticaから出版した．他方，当初計画していたContraction理論に基づくDCコンバータの制御についても研究の見通しを立てることができた．また，単調性に基づく制御器設計についても引き続き検討し，大規模ネットワークを安定化するための分散制御条件の導出に取り組んだ．このアイデアを発展させて，ネットワークの構成要素・結合方法が未知な場合における適応分散制御則の設計を進めている．加えて，複数の海外研究者との議論を出発点とし，設計した安定化制御器から安定化制御器の集合の特徴付けや，時間遅れシステムの安定化などにも研究の方向性を広げることができた．

Non-linear control system design and convex planning problems are discussed in detail in the context of the strong application of Contract theory in non-linear control system design. Concretely, every point in the state space can be solved by convex programming problem, and the procedure of solving convex programming problem can be solved by contract theory. The number of points in the state space increases. The stability is guaranteed. For example, if you want to learn from the game, you can use the game to learn from it. In this case, the evaluation of the accuracy of the learning error is carried out, and the control performance is guaranteed. Ichiren's achievements were published by Automatica in the division of the Sistem system. The other side, originally planned to contract theory, based on the DC control system, to study and understand. In addition, the basic control device design of the single adjustment is divided into two groups: the first group is composed of three groups: the second group is composed of three groups: the first group is composed of four groups: the second group is composed of four groups: the first group is composed of four groups: the first group is composed of four groups: the second group is composed of four groups: the first group is composed of four groups: the first group is composed of four groups: the second group is composed of four groups: the first group is composed of four groups: the second group is composed of four groups: the third group is composed of four groups: the first group is composed of four groups: the second group is composed of four groups: the third group is composed of four groups: the third group is composed of four groups: the first group is composed of four groups: the second group is composed of four groups: the first group is composed of four groups: the third group is composed of four groups: the first group is composed of four The design of distributed control rules is developed in the process of development, the constituent elements of production, the combination method, the unknown situation, the appropriate situation and the design of distributed control rules. In addition, a number of overseas researchers discussed the issue of design of stabilization controllers, the characteristics of stabilization controllers, and the direction of research in time and space.