Patent ID: 11886196
Assignee: MITSUBISHI ELECTRIC RESEARCH LABORATORIES, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 11:
12. The controller of claim 10, wherein for determining the first values of the states and the control inputs, the controller is configured to
determine a region in a space described by combinations of values of the state of the machine and the state of the environment based on the acquired information of the environment;
determine a reduction coefficient based on the uncertainty of the state of the environment and the sensitivity of the interaction constraint to the state of the environment;
modify the reduction coefficient based on the probability distribution of the uncertainty of the state of the environment and the confidence for satisfying the interaction constraint;
reduce the region based on the modified reduction coefficient; and
transform the reduced region into the constraint for the state and the control inputs of the machine being controlled.