アンダーソン教授 シリーズ講義のご案内
オーストラリア国立大学名誉教授 Brian D. O. Anderson 先生によります、シリーズ講義
を下記の要領で開催いたします。適応制御とフォーメーションについて御講演いただき、ディスカッションを行います。なお、先着２０名様の参加とさせていただきます。
また、翌３月２０日（金）には、名古屋大学グローバルＣＯＥプログラム マイクロ・
ナノメカトロニクス教育研究拠点 若手研究者発表会が開催されます。こちらは参加自由となっており、事前申し込み、人数制限等はございませんので、皆様のご参加お待ちしております。
奮ってご参加くださるよう、ご案内申し上げます。
● Ｂrian Anderson 教授 シリーズ講義
１．Adaptive Control 1: Historical origins and early linear system results
２．Adaptive Control 2: Practical approaches and Generic problems
３．Adaptive Control 3: Topical problems
４．Control and information architectures for formations
期日
平成２１年３月１８日（水） １３：００ 〜 １５：３０
１９日（木） １０：００ 〜 １７：００
会場
名古屋大学 工学部２号館２階 ２２１講義室（464-8603 愛知県名古屋市千種区不老町）
講師
オーストラリア国立大学名誉教授 Brian D. O. Anderson 先生
主催
名古屋大学 グローバルＣＯＥプログラム
マイクロ・ナノメカトロニクス教育研究拠点
協賛
社団法人 計測自動制御学会中部支部
定員２０名（定員になり次第，締め切ります）
参加費
無料

関連ホームページ
http://www.micro-nano.jp
問合せ先大日方 五郎／名古屋大学エコトピア科学研究所
電話０５２−７８９−５０３０，ＦＡＸ０５２−７８９−５５８９
Ｅ−ｍａｉｌ： obinata@mech.nagoya-u.ac.jp
講師紹介
Brian D. O. Anderson 先生
・オーストラリア国立大学 名誉教授
（Professor emeritus of The Australian National University）
・オーストラリア科学アカデミー 元院長（Former director of Australian Academy of Science Society）・国際自動制御学会 元会長（Former President of International Federation of Automatic Control）
・代表的著書Brian D. O. Anderson and John B. Moore
Optimal Control: Linear Quadratic Methods. (Prentice-Hall)

講義概要
March 18, 13:30 〜15:30
Adaptive Control 1: Historical origins and early linear system results

TopicsHistorical origins of adaptive control
MIT rule
Systematic approach based on linear-in-parameters models
The bursting problem
General structure of adaptive controller
Understanding some reasons for adaptive control failure (MIT rule, Bitmead et al)

SummaryThe historical origins of adaptive control will be introduced, as well the early
successful and unsuccessful attempts associated with the MIT rule, and a generalapproach to adaptive control with linear-in-parameters models, such as transfer
functions with unknown coefficients. The general structure of adaptive controllers will
be exhibited, and the crucial existence of three underlying time scales exposed.
Understanding these time scales often is the key to explaining non-performance ofproposed adaptive controllers.
March 19, 10:00 〜11:30
Adaptive Control 2: Practical approaches and Generic problems

Topics

Iterative Identification and Controller Redesign
Generic problems, impractical control objectives, transient instability, and changing
experimental conditions
Windsurfer approach to adaptive control
Problem of sudden instability

Summary

The notion of iterative identification and controller redesign, as a tool for separating theinteraction of identification and control loops, will be described, together with thepossibility of failures using the method. Generic problems associated with mostadaptive control tasks will be displayed—impractical control objectives, transient
instability and changing experimental conditions. The windsurfer approach to adaptive
control attempts to address these difficulties, and it will be outlined. One major
practical problem remains elusive, that of dealing with suddent instability.,
March 19, 13:30 〜15:00
Adaptive Control 3: Topical problems

Topics

Iterative Feedback tuning
Multiple Model Adaptive control.
Validating of safety with a new controller.
Open issues

Summary

Iterative feedback tuning is a recent approach to adaptive control, based on making
modest adjustments to controller parameters in the light of experimental data collected.
The collection of this experimental data generally involves injecting special chosen
signals into the plant. Multiple model adaptive control (MMAC), based on working witha finite collection of plants, is another recently developed approach, which has appeal
both with linear and nonlinear plants. Satisfactory use of MMAC requires advance ofthe safety of replacing an existing controller by a proposed controller, and methods are
becoming available for this; in the case of linear systems, they rely on Nyquist sorts ofideas.
March 19, 15:30 〜17:00
Control and information architectures for formations
Formations of robots, underwater vehicles and autonomous airborne vehicles areprogressively being deployed to tackle problems of surveillance, bush fire control, andthe like. Much formation behaviour mimics the behaviour of formations of livingorganisms, such as birds and fish.
A number of prototypical problems will be considered, starting with rendezvous andconsensus. The presentation will consider the types of control, communications andsensing architecture that allow scalability for formations with many individual agents,
and allow preservation of the formation shape, as well as merging, splitting, or closing
ranks in the event of loss of one or more agents. The scalability requirement imposes aneed for significant decentralization of information and control structures, and, just as
in a formation of birds or fish, no one bird or fish can be expected to sense all other birds
or fish and compute its own trajectory using even partial knowledge of the trajectoriesof all other individual birds or fish, so the amount of sensing, communication andcontrol computation by any one agent has to be limited.

●名古屋大学グローバルＣＯＥ

若手研究者発表会のご案内

期日
平成２１年３月２０日（金） １３：００ 〜 １７：３０
会場
名古屋大学 工学部ＩＢ館１階 ０１１室、０１２室、０１３室（464-8603 愛知県名古屋市千種区不老町）
講演内容
・ Robot Control・ Sensing and Application
・ Medicine and Engineering・ Micro Nano Fluids
・ Micro Nano Materials
定員
定員なし
参加費無料
関連ホームページ
http://www.micro-nano.jp
問合せ先名古屋大学グローバルＣＯＥ マイクロ・ナノメカトロニクス教育研究拠点 事務局
電話０５２−７８８−６０４１，ＦＡＸ０５２−７８８−６０４１
Ｅ−ｍａｉｌ： gcoe_office@mech.nagoya-u.ac.jp