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Impact\u306f\u9023\u7acb\u5fae\u5206\u4ee3\u6570\u65b9\u7a0b\u5f0f\u3092\u89e3\u304d\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30b3\u30fc\u30c9\u3092\u81ea\u52d5\u7684\u306b\u751f\u6210\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u307e\u305f\u3001\u5404\u7269\u7406\u5909\u6570\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d50\u679c\u306e\u8a08\u7b97\u3068\u30d7\u30ed\u30c3\u30c8\u3082\u53ef\u80fd\u3067\u3059\u3002Modelica\u30c4\u30fc\u30eb\u306f\u3001\u30e2\u30c7\u30eb\u306e\u52d5\u7684\u6319\u52d5\u3092\u793a\u3059\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3\u7d50\u679c\u306e\u4f5c\u6210\u3082\u5bb9\u6613\u306b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-\u5236\u5fa1\u30b9\u30ad\u30fc\u30e0\"><strong>\u5236\u5fa1\u30b9\u30ad\u30fc\u30e0<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/Fig.-2-Control-scheme-1024x594.png\" alt=\"\" class=\"wp-image-12143\" style=\"width:696px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u56f32. \u63d0\u6848\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u5236\u5fa1\u65b9\u5f0f<\/p>\n\n\n\n<p>\u672c\u30d9\u30f3\u30c1\u30de\u30fc\u30af\u30b3\u30f3\u30da\u30c6\u30a3\u30b7\u30e7\u30f3\u306e\u305f\u3081\u306b\u63d0\u6848\u3057\u305f\u5236\u5fa1\u65b9\u5f0f\u3092\u56f32\u306b\u307e\u3068\u3081\u307e\u3059\u3002\u307e\u305a\u3001PID\u5236\u5fa1\u5668\u3092\u7528\u3044\u3066\u30e9\u30f3\u30c0\u30e0\u306a\u8def\u9762\u5916\u4e71\u304b\u3089\u751f\u3058\u308b\u4ed8\u52a0\u7684\u306a\u4e0a\u4e0b\u529b\u3001\u30d4\u30c3\u30c1\u3001\u30ed\u30fc\u30eb\u30e2\u30fc\u30e1\u30f3\u30c8\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002\u6b21\u306b\u30013\u81ea\u7531\u5ea6\u8eca\u4e21\u30e2\u30c7\u30eb\u3068\u30ac\u30a6\u30b9\u904e\u7a0b\u56de\u5e30\uff08GPR\uff09\u3092\u63a1\u7528\u3057\u3001\u5b66\u7fd2\u30d9\u30fc\u30b9\u306e\u4e88\u6e2c\u30e2\u30c7\u30eb\u3092\u7528\u3044\u3066\u3001\u6240\u671b\u306e\u901f\u5ea6\u3068\u8ecc\u9053\u306b\u8ffd\u5f93\u3059\u308bMPC\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3092\u958b\u767a\u3057\u307e\u3059\u3002\u6700\u5f8c\u306b\u3001\u6240\u671b\u306e\u529b\u3068\u30e2\u30fc\u30e1\u30f3\u30c8\u3092\u3001\u30c8\u30eb\u30af\u5206\u914d\u3092\u901a\u3057\u3066\u5404\u99c6\u52d5\u8f2a\u306e\u30c8\u30eb\u30af\u306b\u5909\u63db\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-mpc\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u8a2d\u8a08\"><strong>MPC\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u8a2d\u8a08 <\/strong><\/h3>\n\n\n\n<p>\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\uff08Model Predictive Control\uff1aMPC\uff09\u3068\u306f\u3001\u6709\u9650\u306e\u5c06\u6765\u30db\u30e9\u30a4\u30ba\u30f3\uff08\u6642\u9593\u8ef8\uff09\u4e0a\u3067\u5236\u7d04\u306e\u3042\u308b\u529b\u5b66\u7cfb\u306b\u5bfe\u3057\u3066\u3001\u8a08\u7b97\u3055\u308c\u305f\u5236\u5fa1\u52d5\u4f5c\u304c\u30b3\u30b9\u30c8\u95a2\u6570\u3092\u6700\u5c0f\u5316\u3059\u308b\u6700\u9069\u5236\u5fa1\u624b\u6cd5\u3067\u3059\u3002\u56f33\u306b\u793a\u3059\u3088\u3046\u306b\u3001MPC\u306f\u4e88\u6e2c\u30e2\u30c7\u30eb\u3092\u5229\u7528\u3057\u3066\u8eca\u4e21\u306e\u5c06\u6765\u306e\u6319\u52d5\u3092\u4e88\u6e2c\u3057\u3001\u305d\u308c\u306b\u5fdc\u3058\u3066\u6700\u9069\u306a\u5236\u5fa1\u52d5\u4f5c\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002\u3053\u308c\u306f\u3001\u8eca\u4e21\u306e\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u304c\u8907\u96d1\u3067\u3001\u74b0\u5883\u304c\u4e0d\u78ba\u5b9f\u306a\u5834\u5408\u306b\u7279\u306b\u6709\u52b9\u3067\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/Fig.-3-Scheme-of-MPC.png\" alt=\"\" class=\"wp-image-12142\" style=\"width:573px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u56f33.MPC\u306e\u30b9\u30ad\u30fc\u30e0<\/p>\n\n\n\n<p>\u6700\u9069\u5316\u554f\u984c\u306f\u6b21\u306e\u3088\u3046\u306b\u5b9a\u5f0f\u5316\u3067\u304d\u307e\u3059\u3002\u5236\u5fa1\u76ee\u7684\u306f\u3001\u6240\u671b\u306e\u901f\u5ea6\u3068\u8ecc\u9053\u306e\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u30a8\u30e9\u30fc\u3092\u6700\u5c0f\u5316\u3059\u308b\u3053\u3068\u3067\u3059\u3002\u76ee\u7684\u95a2\u6570\u306f\u3001\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u8aa4\u5dee\u306e2\u30ce\u30eb\u30e0\u30da\u30ca\u30eb\u30c6\u30a3\u3068\u5236\u5fa1\u5165\u529b\u304b\u3089\u69cb\u6210\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/Equation-1-1024x411.png\" alt=\"\" class=\"wp-image-12150\" style=\"width:560px;height:auto\"\/><\/figure>\n\n\n\n<p>where<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/Equation-2.png\" alt=\"\" class=\"wp-image-12149\" style=\"width:447px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-left\">4\u8f2aIWD\u8eca\u4e21\u306e\u30e2\u30c7\u30ea\u30f3\u30b0\u306b\u306f\u30013\u81ea\u7531\u5ea6\u306e\u975e\u7dda\u5f62\u8eca\u4e21\u30e2\u30c7\u30eb\u3092\u4f7f\u3044\u307e\u3059\u3002MPC\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u6027\u80fd\u3092\u78ba\u4fdd\u3059\u308b\u305f\u3081\u306b\u3001GPR\u306b\u57fa\u3065\u304f\u30e2\u30c7\u30eb\u4e0d\u4e00\u81f4\u63a8\u5b9a\u30e2\u30c7\u30ebd( Zk )\u3092\u958b\u767a\u3057\u3001\u4e88\u6e2c\u3055\u308c\u305f\u8eca\u4e21\u72b6\u614b\u306e\u8aa4\u5dee\u3092\u88dc\u6b63\u3059\u308b\u305f\u3081\u306b\u4f7f\u7528\u3057\u307e\u3059\u3002\u3057\u305f\u304c\u3063\u3066\u3001\u30e2\u30c7\u30eb\u30df\u30b9\u30de\u30c3\u30c1\u5b66\u7fd2\u3092\u7528\u3044\u305f\u4e88\u6e2c\u30e2\u30c7\u30eb\u306f\u6b21\u5f0f\u3067\u8868\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/predictive-model-equation.png\" alt=\"\" class=\"wp-image-12148\" style=\"width:301px;height:auto\"\/><\/figure>\n\n\n\n<p>\u3053\u306e\u6700\u9069\u5316\u554f\u984c\u3092\u7e70\u308a\u8fd4\u3057\u89e3\u304f\u3053\u3068\u3067\u3001\u6240\u671b\u306e\u64cd\u8235\u89d2\u3068\u30e8\u30fc\u30e2\u30fc\u30e1\u30f3\u30c8\u304c\u5f97\u3089\u308c\u307e\u3059\u3002\u6240\u671b\u306e\u30e8\u30fc\u30e2\u30fc\u30e1\u30f3\u30c8\u304c\u5f97\u3089\u308c\u308c\u3070\u3001\u5404\u30a4\u30f3\u30db\u30a4\u30fc\u30eb\u30e2\u30fc\u30bf\u306e\u6240\u671b\u306e\u99c6\u52d5\u529b\uff0f\u5236\u52d5\u529b\u306f\u3001\u4ee5\u4e0b\u306e\u30c8\u30eb\u30af\u5206\u914d\u884c\u5217\u3092\u7528\u3044\u3066\u8a08\u7b97\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/Torque-Distribution-Matrix.png\" alt=\"\" class=\"wp-image-12147\" style=\"width:587px;height:auto\"\/><\/figure>\n\n\n\n<p>\u30c8\u30eb\u30af\u5206\u914d\u30de\u30c8\u30ea\u30c3\u30af\u30b9\u306f\u3001\u8eca\u8f2a\u306e\u7e26\u65b9\u5411\u3068\u5782\u76f4\u65b9\u5411\u306e\u529b\u306e\u95a2\u4fc2\u306b\u3088\u3063\u3066\u5c0e\u304d\u51fa\u3055\u308c\u3001\u56f34\u306b\u793a\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/Fig.-4.png\" alt=\"\" class=\"wp-image-12141\" style=\"width:589px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u56f34. \u8eca\u8f2a\u306e\u7e26\u529b\u3068\u5782\u76f4\u529b\u306e\u95a2\u4fc2<em>&nbsp;<\/em><\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d50\u679c\"><strong>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d50\u679c<\/strong><\/h3>\n\n\n\n<p>\u4eca\u56de\u3001\u63d0\u6848\u3057\u305f\u5b66\u7fd2MPC\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u6027\u80fd\u306f\u3001Modelon Impact\u3092\u7528\u3044\u305f\u5fb9\u5e95\u7684\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u3088\u3063\u3066\u793a\u3055\u308c\u307e\u3057\u305f\u3002\u4ee5\u4e0b\u306e\u56f3\u306f\u3001\u5404\u30bf\u30b9\u30af\u306b\u95a2\u3059\u308b\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u6027\u80fd\u3068\u72b6\u614b\u5236\u7d04\u60c5\u5831\u3092\u793a\u3057\u3066\u3044\u307e\u3059\u3002LMPC\uff08\u5b66\u7fd2\u30e2\u30c7\u30eb\u306b\u3088\u308bMPC\uff09\u30a2\u30d7\u30ed\u30fc\u30c1\u3092\u691c\u8a3c\u3059\u308b\u305f\u3081\u306b\u3001\u5f93\u6765\u306eMPC\u3068\u30d9\u30fc\u30b9\u30e9\u30a4\u30f3\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3092\u6bd4\u8f03\u5bfe\u8c61\u3068\u3057\u3066\u9078\u629e\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p><strong>Task1<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/Figure-5.png\" alt=\"\" class=\"wp-image-12139\" style=\"width:589px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u56f35. \u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u6027\u80fd<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/Fig.-6.png\" alt=\"\" class=\"wp-image-12140\" style=\"width:571px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u56f36.\u8eca\u4e21\u72b6\u614b\u5236\u7d04<\/p>\n\n\n\n<p><strong>Task2<\/strong><\/p>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" src=\"blob:https:\/\/modelon.com\/7d97fb8d-e673-4196-bfb7-cd48d35ef330\" style=\"width: 1px;\"><\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/Fig.-7-Controller-performance.jpg\" alt=\"\" class=\"wp-image-12145\" style=\"width:522px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\"><em>\u56f3\uff17. \u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u30d1\u30d5\u30a9\u30fc\u30de\u30f3\u30b9<\/em><\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/modelon.com\/wp-content\/uploads\/2024\/02\/Fig.-8-State-constraints.jpg\" alt=\"\" class=\"wp-image-12146\" style=\"width:490px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u56f36.\u8eca\u4e21\u72b6\u614b\u5236\u7d04<\/p>\n\n\n\n<p>\u56f35\u3068\u56f36\u306f\u3001\u30bf\u30b9\u30af1\u306b\u5bfe\u3059\u308b\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u6027\u80fd\u3068\u72b6\u614b\u5236\u7d04\u3092\u793a\u3057\u3066\u3044\u307e\u3059\u3002MPC\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3068LMPC\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306f\u3068\u3082\u306b\u52b9\u679c\u7684\u3067\u3042\u308b\u304c\u3001LMPC\u306e\u65b9\u304c\u512a\u308c\u305f\u6027\u80fd\u3092\u793a\u3057\u3001\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u3068\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u8aa4\u5dee\u3092\u6700\u5c0f\u5316\u3057\u3066\u3044\u307e\u3059\u3002\u901f\u5ea6\u8ffd\u5f93\u306e\u7d2f\u7a4d\u8aa4\u5dee\u306f4.5059\u3001\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u306f6.4139x104J\u3068\u3001\u5f93\u6765\u306eMPC\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306b\u6bd4\u3079\u3066\u7d047%\u5c11\u306a\u304f\u3001\u72b6\u614b\u5236\u7d04\u306e\u9055\u53cd\u3082\u6700\u5c0f\u9650\u3067\u3059\u3002\u56f37\u3068\u56f38\u306f\u3001\u30bf\u30b9\u30af2\u306b\u5bfe\u3059\u308b\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u6027\u80fd\u3068\u72b6\u614b\u5236\u7d04\u3092\u793a\u3057\u3066\u3044\u307e\u3059\u3002\u30bf\u30b9\u30af2\u306b\u304a\u3044\u3066\u3082\u3001\u7d50\u679c\u306f\u540c\u69d8\u3067\u3042\u308a\u3001\u8ecc\u9053\u8ffd\u8de1\u306e\u7d2f\u7a4d\u8aa4\u5dee\u306f0.0743\u3067\u3042\u308a\u3001MPC\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306b\u6bd4\u3079\u3066\u5927\u5e45\u306b\u524a\u6e1b\u3055\u308c\u3001\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u306f1.5482x104J\u3067\u3042\u308a\u3001MPC\u306b\u6bd4\u3079\u3066\u7d0410%\u524a\u6e1b\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30bf\u30b9\u30af2\u3067\u306f\u3001\u63d0\u6848\u65b9\u5f0f\u306f\u5782\u76f4\u52a0\u901f\u5ea6\u3001\u30ed\u30fc\u30eb\u89d2\u3001\u30d4\u30c3\u30c1\u89d2\u3092\u6307\u5b9a\u3055\u308c\u305f\u7bc4\u56f2\u5185\u306b\u7dad\u6301\u3059\u308b\u3053\u3068\u306b\u6210\u529f\u3057\u3001\u305d\u306e\u6709\u52b9\u6027\u304c\u78ba\u8a8d\u3055\u308c\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h3 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Impact\u306e\u30b3\u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c6\u30b9\u30c8\u3092\u5b9f\u65bd\u3057\u307e\u3057\u305f\u3002\u30d9\u30fc\u30b9\u30e9\u30a4\u30f3\u306e\u7d50\u679c\u3068\u6bd4\u8f03\u3059\u308b\u3068\u3001\u901f\u5ea6\u3068\u8ecc\u9053\u306e\u8ffd\u5f93\u8aa4\u5dee\u304c\u5927\u5e45\u306b\u6e1b\u5c11\u3057\u3066\u3044\u308b\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002Modelon Impact\u3068Simulink\u306e\u7d44\u307f\u5408\u308f\u305b\u306f\u3001\u6027\u80fd\u306e\u5411\u4e0a\u3060\u3051\u3067\u306a\u304f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u9ad8\u901f\u5316\u3082\u5b9f\u73fe\u3057\u307e\u3059\u3002\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u958b\u767a\u306b\u5b66\u7fd2MPC\u3092\u63a1\u7528\u3059\u308b\u3053\u3068\u3067\u3001\u69d8\u3005\u306a\u9769\u65b0\u7684\u306a\u8a2d\u8a08\u3092\u8fc5\u901f\u306b\u691c\u8a0e\u3057\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u6027\u80fd\u3092\u5411\u4e0a\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002Modelon\u306f\u3001\u5c06\u6765\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u305f\u3081\u306b\u3053\u306e\u6280\u8853\u3092\u7d99\u7d9a\u7684\u306b\u5f37\u5316\u30fb\u62e1\u5f35\u3057\u3001\u30b7\u30b9\u30c6\u30e0\u8a2d\u8a08\u3068\u5236\u5fa1\u306e\u5206\u91ce\u3092\u3055\u3089\u306b\u767a\u5c55\u3055\u305b\u308b\u3053\u3068\u3092\u7d04\u675f\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-\u540c\u6e08\u5927\u5b66\u30c1\u30fc\u30e0\u306b\u3064\u3044\u3066\">\u540c\u6e08\u5927\u5b66\u30c1\u30fc\u30e0\u306b\u3064\u3044\u3066<\/h3>\n\n\n\n<p>Zongxuan Li \u6c0f\u306f2023\u5e74\u3001\u5409\u6797\u5927\u5b66\uff08\u4e2d\u56fd\u30fb\u9577\u6625\u5e02\uff09\u3067\u7406\u5b66\u58eb\u53f7\u3092\u53d6\u5f97\u3002\u73fe\u5728\u3001\u540c\u6e08\u5927\u5b66\u4e0a\u6d77\u77e5\u80fd\u81ea\u5f8b\u30b7\u30b9\u30c6\u30e0\u7814\u7a76\u6240\u306b\u3066\u4fee\u58eb\u53f7\u53d6\u5f97\u3092\u76ee\u6307\u3057\u3066\u3044\u307e\u3059\u3002\u4e3b\u306a\u7814\u7a76\u30c6\u30fc\u30de\u306f\u5b66\u7fd2\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\u3002<\/p>\n\n\n\n<p>Qiao Kang \u6c0f\u306f2023\u5e74\u3001\u5409\u6797\u5927\u5b66\uff08\u4e2d\u56fd\u30fb\u9577\u6625\u5e02\uff09\u3067\u7406\u5b66\u58eb\u53f7\u3092\u53d6\u5f97\u3002\u73fe\u5728\u3001\u540c\u6e08\u5927\u5b66\u4e0a\u6d77\u77e5\u80fd\u81ea\u5f8b\u30b7\u30b9\u30c6\u30e0\u7814\u7a76\u6240\u306b\u3066\u4fee\u58eb\u53f7\u53d6\u5f97\u306b\u5411\u3051\u7814\u7a76\u4e2d\u3002\u4e3b\u306a\u7814\u7a76\u30c6\u30fc\u30de\u306f\u904b\u52d5\u8a08\u753b\u3068\u8eca\u4e21\u5236\u5fa1\u3002<\/p>\n\n\n\n<p>Zhenghao Li \u6c0f\u306f2021\u5e74\u3001\u540c\u6e08\u5927\u5b66\uff08\u4e2d\u56fd\u30fb\u4e0a\u6d77\uff09\u306b\u3066\u81ea\u52d5\u8eca\u5de5\u5b66\u5b66\u58eb\u53f7\u3092\u53d6\u5f97\u3057\u3001\u73fe\u5728\u540c\u5927\u5b66\u3067\u4fee\u58eb\u53f7\u53d6\u5f97\u306b\u5411\u3051\u7814\u7a76\u4e2d\u3002\u4e3b\u306a\u7814\u7a76\u30c6\u30fc\u30de\u306f\u81ea\u5f8b\u8d70\u884c\u8eca\u306e\u30d7\u30e9\u30f3\u30cb\u30f3\u30b0\u3068\u5236\u5fa1\u3002<\/p>\n\n\n\n<p>Bingzhao Gao \u6c0f\uff08IEEE\u306e\u30e1\u30f3\u30d0\u30fc\uff09\u306f\u30011998\u5e74\u306b\u5409\u6797\u5927\u5b66\uff08\u4e2d\u56fd\u30fb\u9577\u6625\u5e02\uff09\u3067\u8eca\u4e21\u5de5\u5b66\u306e\u5b66\u58eb\u53f7\u30012002\u5e74\u306b\u4fee\u58eb\u53f7\u3092\u30012009\u5e74\u306b\u6a2a\u6d5c\u56fd\u7acb\u5927\u5b66\uff08\u65e5\u672c\u30fb\u6a2a\u6d5c\u5e02\uff09\u3067\u6a5f\u68b0\u5de5\u5b66\u306e\u535a\u58eb\u53f7\u3001\u5409\u6797\u5927\u5b66\uff08\u4e2d\u56fd\u30fb\u5409\u6797\u5e02\uff09\u3067\u5236\u5fa1\u5de5\u5b66\u306e\u535a\u58eb\u53f7\u3092\u53d6\u5f97\u30022013\u5e74\u3088\u308a\u5409\u6797\u5927\u5b66\u6559\u6388\u3002\u73fe\u5728\u306f\u540c\u6e08\u5927\u5b66\u6559\u6388\u3002\u7814\u7a76\u30c6\u30fc\u30de\u306f\u8eca\u4e21\u30d1\u30ef\u30fc\u30c8\u30ec\u30a4\u30f3\u5236\u5fa1\u3068\u8eca\u4e21\u5b89\u5b9a\u6027\u5236\u5fa1\u3002<\/p>\n\n\n\n<p>Hong Chen\u6c0f\uff08IEEE\u30d5\u30a7\u30ed\u30fc\uff09\u306f\u30011983\u5e74\u306b\u6d59\u6c5f\u5927\u5b66\uff08\u4e2d\u56fd\u30fb\u676d\u5dde\uff09\u3067\u30d7\u30ed\u30bb\u30b9\u5236\u5fa1\u306e\u5b66\u58eb\u53f7\u3092\u30011986\u5e74\u306b\u4fee\u58eb\u53f7\u3092\u53d6\u5f97\u3057\u30011997\u5e74\u306b\u30b7\u30e5\u30c8\u30a5\u30c3\u30c8\u30ac\u30eb\u30c8\u5927\u5b66\uff08\u30c9\u30a4\u30c4\u30fb\u30b7\u30e5\u30c8\u30a5\u30c3\u30c8\u30ac\u30eb\u30c8\uff09\u3067\u30b7\u30b9\u30c6\u30e0\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u3068\u5236\u5fa1\u5de5\u5b66\u306e\u535a\u58eb\u53f7\u3092\u53d6\u5f97\u30021986\u5e74\u3001\u4e2d\u56fd\u30fb\u9577\u6625\u306e\u5409\u6797\u5de5\u696d\u5927\u5b66\u306b\u52e4\u52d9\u30021993\u5e74\u304b\u30891997\u5e74\u307e\u3067\u3001\u30b7\u30e5\u30c8\u30a5\u30c3\u30c8\u30ac\u30eb\u30c8\u5927\u5b66\u30b7\u30b9\u30c6\u30e0\u529b\u5b66\u30fb\u5236\u5fa1\u5de5\u5b66\u7814\u7a76\u6240\uff08Institut fuer Systemdynamik und Regelungstechnik\uff09\u306e\u7814\u7a76\u54e1\u30021999\u5e74\u3088\u308aTang Aoqing\u6559\u6388\u306e\u5f8c\u3092\u7d99\u3044\u3067\u5409\u6797\u5927\u5b66\u9577\u6625\u6821\u6559\u6388\u30022015\u5e74\u304b\u30892019\u5e74\u307e\u3067\u5409\u6797\u5927\u5b66\u81ea\u52d5\u8eca\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5236\u5fa1\u56fd\u5bb6\u91cd\u70b9\u5b9f\u9a13\u5ba4\u4e3b\u4efb\u3002\u73fe\u5728\u306f\u540c\u6e08\u5927\u5b66\uff08\u4e2d\u56fd\u30fb\u4e0a\u6d77\uff09\u306b\u7279\u5225\u6559\u6388\u3068\u3057\u3066\u7740\u4efb\u3002\u7814\u7a76\u30c6\u30fc\u30de\u306f\u3001\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\u3001\u975e\u7dda\u5f62\u5236\u5fa1\u3001\u81ea\u52d5\u8eca\u30b7\u30b9\u30c6\u30e0\u3092\u4e2d\u5fc3\u3068\u3057\u305f\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u30b7\u30b9\u30c6\u30e0\u306b\u304a\u3051\u308b\u5fdc\u7528\u3002<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u3053\u306e\u6295\u7a3f\u306f\u3001\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1(MPC)\u306e\u9769\u65b0\u7684\u306a\u4f7f\u7528\u306b\u3088\u308b\u3001\u8eca\u4e21\u306e\u52d5\u7684\u30b7\u30b9\u30c6\u30e0\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u958b\u767a\u306b\u3064\u3044\u3066\u8a73\u8ff0\u3057\u305f\u3082\u306e\u3067\u3059\u3002\u63d0\u6848\u3055\u308c\u305f\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306f\u3001\u7b2c62\u56deIEEE Conference on Decision and Control (CDC 2023) Benchmark Challenge for Autonomous Driving 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