Title:
システムを制御する装置及び方法
Document Type and Number:
Japanese Patent JP7019037
Kind Code:
B2
Abstract:
An apparatus for controlling a system includes a memory to store a model of the system including a motion model of the system subject to process noise and a measurement model of the system subject to measurement noise, such that one or combination of the process noise and the measurement noise forms an uncertainty of the model of the system with unknown probabilistic parameters, wherein the uncertainty of the model of the system causes a state uncertainty of the system with unknown probabilistic parameters. The apparatus also includes a sensor to measure a signal to produce a sequence of measurements indicative of a state of the system, a processor to estimate a Gaussian distribution representing the state uncertainty, and a controller to determine a control input to the system using the model of the system with state uncertainty represented by the Gaussian distribution and control the system according to the control input. The processor is configured to estimate, using at least one or combination of the motion model, the measurement model, and the measurements of the state of the system, a first Student-t distribution representing the uncertainties of the model and a second Student-t distribution representing the state uncertainty of the system, the estimation is performed iteratively until a termination condition is met, and fit a Gaussian distribution representing the state uncertainty into the second Student-t distribution.
Inventors:
Burnt toe, curl
Di Cairano, Stefano
Di Cairano, Stefano
Application Number:
JP2020518554A
Publication Date:
February 14, 2022
Filing Date:
May 23, 2018
Export Citation:
Assignee:
Mitsubishi Electric Corporation
International Classes:
G05B13/04
Domestic Patent References:
| JP2019513613A |
Foreign References:
| US8583470 |
Other References:
Yulong HUANG ET AL,A Novel Robust Student's t-Based Kalman Filter,IEEE Transactions on Aerospace and Electronic Systems,米国,IEEE,2017年06月,Vol. 53, Issue 3,p. 1545-1554
Attorney, Agent or Firm:
Michiharu Soga
Kajinami order
Kazuhiro Oya
Shunichi Ueda
Junichiro Yoshida
Kajinami order
Kazuhiro Oya
Shunichi Ueda
Junichiro Yoshida