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Disturbance Attenuation Type Distributed Control for Identical Decoupled Linear Systems
Jun Araki,Kenko Uchida 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
We propose a design method of disturbance attenuation type distributed control for identical decoupled linear systems together with conditions for stability of the closed loop global system. Using a simple example of formation flight corrupted by disturbances, we compare the design by the proposed method with that by the LQ control method in Borrelli and Keviczky (2006); we consider two kinds of disturbances, system disturbances and parameter variation. And we demonstrate that proposed method has superior robustness against disturbances.
Mixed H₂/H<SUB>∞</SUB> Robust Control With Diagonal Structured Uncertainty
Riyanto BAMBANG,Kenko UCHIDA,Etsujiro SHIMEMURA 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
Mixed H₂/H∞ robust control synthesis is considered for finite dimensional linear time-invariant systems under the presence of diagonal structured uncertainties. Such uncertainties arise for instance when there is real perturbation in the nominal model of the state space system or when modeling multiple (unstructured) uncertainty at different locations in the feedback loop. This synthesis problem is reduced to convex optimization problem over a bounded subset of matrices as well as diagonal matrix having certain structure. For computational purpose, this convex optimization problem is further reduced into Generalized Eigenvalue Minimization Problem where a powerful algorithm based on interior point method has been recently developed.
Model Predictive Sensor Scheduling
Eriko Iwasa,Kenko Uchida 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
The sensor scheduling is to select a sensor (or a group of sensors) from multiple sensors at each time step so as to perform optimally a task based on the sensed data. In this paper, we pose a model predictive type deterministic/ stochastic sensor scheduling problem for discrete-time linear Gaussian time-varying systems, and develop an approach to solve these problems based on the dynamic programming recursion. We show first that, in a special case of deterministic scheduling where the Riccati recursion of error covariance satisfies a specific structural condition, the online optimization using the dynamic programming is reduced to a static optimization, so that the model predictive sensor scheduling can be easily implemented online. Next, we discuss the stochastic scheduling problem, and show an alternative condition of optimization reduction, which lead to a stochastic sensor scheduling easily implemented online. Finally, we propose two practical sensor schedulings for deterministic and stochastic case, and discuss an example to illustrate the two sensor schedulings.
Ming-Hui Wang,Kenko Uchida 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper investigates the consensus problem of the second-order multi-agent systems with communication channel constraint on signal amplitude. Communication delays as one kind of channel constraints in the second-order multi-agent systems have been discussed in the recent literature while in this paper consensus problem of second-order multi-agent systems with communication channel constraint on signal amplitude is investigated. A state-dependent switching parameter is introduced into the consensus protocol. A sufficient condition is obtained for the consensus problem of the second-order multi-agent systems with communication channel constraint based on our early work. A simple example is also given to verify the effectiveness of the proposed theorem.
International Environmental Agreements as an Equilibrium Choice in a Di¤erential Game
( Ken-ichi Akao ),( Kenko Uchida ),( Yasuaki Wasa ) 한국환경경제학회·한국자원경제학회(구 한국환경경제학회) 2018 한국환경경제학회 학술발표논문집 Vol.2018 No.하계
In a differential game for international pollution control, Dockner and Long (Dockner, E.J. and N.V. Long (1993) .International Pollution Control: Cooperative versus Noncooperative Strategies,. Journal of Environmental Economics and Management 25: 13-29) show the existence of multiple Markov Nash equilibria and suggest the interpretation that an international environmental negotiation may be a preplay communication to choose a better Nash equilibrium. Following their idea, we examine the payoff dominant equilibrium in Markov perfect Nash equilibria (MPNEs) and open-loop Nash equilibria (OLNEs). By allowing a discontinuous strategy, we reproduce the Dockner and Long’s most efficient equilibrium as an MPNE (the DL MPNE), with the globally asymptotically stable steady state which converges to an efficient steady state as the discount rate goes to zero. We show that the DL MPNE is payoff dominant over the pollution levels greater than or equal to the steady state in the MPNEs. When an open-loop strategy is also available, there is a unique OLNE and it may dominate the DL MPNE if the pollution level is high. This indicates that a renegotiation to switch from the OLNE to the DL MPNE may occur when pollution is improved.