伝達情報の変換による遠隔制御法と検証実験

摘要

This paper proposes a remote control method for a linear system with pointwise-in-time state and/or control constraints. Our technique guarantees achievement of tracking performance and constraint fulfillment under simultaneous occurrence of some phenomena over communication links, such as arbitrary and unforeseeable delays and lots of packet losses. Our ideas are to feedback information about not a state but a state-existing area and to share maximal output admissible sets with reference governor and switching control strategy that consist of the proposed technique. Through numerical and experimental examples, we demonstrate effectiveness of the proposed method.%本論文では,通信路上にて遅延と損失が任意に発生する(通信路が永遠に切断されない状況の)もとで,系に内在する拘束条件の達成を満足し,かつ,参照値に追従する遠隔制御法を提案する.そして,数値例と実際のインターネットを介した遠隔制御実験をとおして,提案法の有効性を検証する.提案する遠隔制御系は,最大出力許容集合を共有するリファレンスガバナとスイツチング制御則で実現される.