{"created":"2025-01-19T01:28:04.216095+00:00","updated":"2025-01-19T11:39:54.829880+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00228939","sets":["1164:2592:11085:11360"]},"path":["11360"],"owner":"44499","recid":"228939","title":["高次制御バリア関数を用いた計算遅延を考慮した離散時間安全制御"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-11-09"},"_buckets":{"deposit":"edb3867b-7134-4855-a3ff-099245bd371d"},"_deposit":{"id":"228939","pid":{"type":"depid","value":"228939","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"高次制御バリア関数を用いた計算遅延を考慮した離散時間安全制御","author_link":["614844","614845"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"高次制御バリア関数を用いた計算遅延を考慮した離散時間安全制御"},{"subitem_title":"Discrete-time Safe Control with Computational Delay Using High-order Control Barrier Function","subitem_title_language":"en"}]},"item_type_id":"4","publish_date":"2023-11-09","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"南山大学理工学部"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Faculty of Science and Technology, Nanzan University","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/228939/files/IPSJ-AL23195019.pdf","label":"IPSJ-AL23195019.pdf"},"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-AL23195019.pdf","filesize":[{"value":"958.9 kB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"0","billingrole":"9"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_login","version_id":"b958cc54-a1b2-4af3-b9d1-acd504ce18e5","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2023 by the Institute of Electronics, Information and Communication Engineers This SIG report is only available to those in membership of the SIG."}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"潮, 俊光"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Toshimitsu, Ushio","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN1009593X","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8566","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"安全なデジタル制御において計算遅延による安全性への影響は重要な問題である．本報告では，まず，計算遅延を考慮した離散時間システムの相対次数が考慮しない場合よりも遅延時間だけ大きくなることを示す．この結果から，従来の制御バリア関数を用いた設計法では，計算遅延を考慮した安全制御器を設計するためには，考慮しない場合よりも高次のバリア関数を考えることになる．この問題を解決するために，計算遅延を考慮しない場合の制御バリア関数を用いて，計算遅延を考慮した安全制御器を設計する方法を提案する．安全制御器は予測器，制御器，およびシールドからなる．シミュレーションにより，制御された軌道が安全集合に留まることを示す．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"In safe digital control, an effect of a computational delay on the safety is an important problem. In this report, it is shown that the relative degree of a digital control system with a computational delay is larger than that of the system without the delay by the computational delay. Thus, we use a control barrier function whose order is larger than that for the system without the computational delay when we apply a conventional design method based on the control barrier function. To overcome this problem, we propose a novel design method using a control barrier function for the system without the computational delay. The proposed safe controller consists of a predictor, a controller, and a shield. By simulation, it is shown that a controlled trajectory by the proposed safe controller stays in the safe set.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"6","bibliographic_titles":[{"bibliographic_title":"研究報告アルゴリズム（AL）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2023-11-09","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"19","bibliographicVolumeNumber":"2023-AL-195"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":228939,"links":{}}