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Sequential inspection using loitering

Sequential inspection using loitering

引用

7th International Conference on Cooperative control and Optimization

作者： Pachter, Meir Darbha, Swaroop Chandler, P. Texas A&M Univ Dept Elect & Comp Engn College Stn TX 77843 USA Texas A&M Univ Dept Mach Engn College Stn TX USA Air Force Res Lab Dept Elect & Comp Engn College Stn TX USA

ISBN: (纸本)9783540743545

A set of objects of interest is to be sequentially inspected by a Micro Aerial Vehicle (MAV) equipped with a camera. Upon arriving at an object of interest, an image of the object is sent to a human operator, who, upon inspecting the image, sends his feedback to the MAV. The feedback from the operator may consist of the pose angle of the object and whether he has seen any distinguishing features of the object. Upon receiving the feedback, the MAV uses this information to decide whether it should perform a secondary inspection of the object of interest or continue to the next object. A secondary inspection has a reward (or value or information gain) that is dependent on the operator's feedback. There is an associated cost of reinspection and it depends on the delay of the operator's feedback. It seems reasonable to let the MAV loiter for a while near the most recently inspected object of interest so that it expends a small amount of endurance from the reserve after receiving the feedback from the operator. The objective is to increase the information and hence, the total expected reward about the set of objects of interest. Since the endurance of the MAVs is limited, the loiter time near each object of interest must be carefully determined. This paper addresses the determination of the optimal loiter time through the use of Stochastic dynamic programming. Numerical results are presented that show the optimal loiter time is a function of the maximum expected operator delay.

关键词： Inspection

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controller design through random sampling: An example

引用

Meeting on Advances in control Theory and Applications

作者： Prandini, Maria Campi, Marco C. Garatti, Simone Politecn Milan Dipartimento Elettron & Informat P Zza Leonardo Vinci 32 I-20133 Milan Italy Univ Brescia Dipartimento Elettron & Automat I-25123 Brescia Italy

ISBN: (纸本)9783540707004

In this chapter, we present the scenario approach, an innovative technology for solving convex optimization problems with an infinite number of constraints. This technology relies on random sampling of constraints, and provides a powerful means for solving a variety of design problems in systems and control. Specifically, the virtues of this approach are here illustrated by focusing on optimal control design in presence of input saturation constraints.

关键词： constrained control noise rejection convex optimization scenario optimization randomized methods

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Coordination of networked dynamical systems

Coordination of networked dynamical systems

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Casavola, Alessandro Famularo, Domenico Franze, Giuseppe Univ Calabria DEIS I-87036 Arcavacata Di Rende CS Italy Univ Reggio Calabria DIAMET I-89100 Reggio Di Calabria Italy

ISBN: (纸本)9783540726982

In this paper we present a nonlinear predictive control strategy for the supervision of networked control systems subject to coordination constraints. Such a system paradigm, referred hereafter to as constrained dynamic network, is characterized by a set of spatially distributed dynamic systems, connected via communication channels, with possible dynamical coupling and constraints amongst them which need to be controlled and coordinated in order to accomplish their overall objective. The significance of the method is that it is capable of ensuring no constraints violation and loss of stability regardless of any, possibly unbounded, time-delay occurrence. An application to the coordination of. two autonomous vehicles under input-saturation and formation accuracy constraints is presented.

关键词： Networked control systems

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Distributed cooperative systems with human operator-in-the-loop

Distributed cooperative systems with human operator-in-the-l...

引用

7th International Conference on Cooperative control and Optimization

作者： Krokhmal, Pavlo A. Jeffcoat, David E. Univ Iowa Dept Mech & Ind Engn Iowa City IA 52242 USA Air Force Res Lab Eglin AFB FL USA

ISBN: (纸本)9783540743545

We study the evolution of distributed multi-agent search systems where the autonomous agents may cooperate among each other, and/or with a human operator, in order to achieve the system's objective. The cooperation is facilitated by means of information sharing among the autonomous agents and/or human operator, which has the purpose of improving the effectiveness of the autonomous agents. The evolution of cooperative systems is modeled using discrete-state, continuous-time Markov chains, and a technique for measuring and quantification of cooperation within such systems is proposed.

关键词： cooperation Markov chains target detection

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Non-linear model predictive control of the Hashimoto simulated moving bed process

Non-linear model predictive control of the Hashimoto simulat...

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Kuepper, Achim Engell, Sebastian Univ Dortmund Proc Control Lab Dept Chem & Biochem Engn Emil Figge Str 70 D-44221 Dortmund Germany

ISBN: (纸本)9783540726982

In recent years, continuous chromatographic processes have been established as an efficient separation technology in industry, especially when temperature sensitive components or species with similar thermodynamic properties are involved. In SMB processes, a counter-current movement of the liquid and the solid phases is achieved by periodically switching the inlet and the outlet ports in a closed loop of chromatographic columns. The integration of reaction and separation in one single plant is a promising approach to overcome chemical or thermodynamic equilibria and to increase process efficiency. Reactive chromatographic SMB processes in which the columns are packed with catalyst and adsorbent have been proposed and demonstrated successfully. However, a full integration often is not efficient because in the columns in the separating zones, the catalyst is not used or even counterproductive. By placing reactors between the separation columns at specific positions around the feed port, a more efficient process, the Hashimoto SMB process, is established. In this contribution, a non-linear predictive control concept for the Hashimoto SMB process is presented. The controller computes optimal control variables (flow rates and the switching time) to optimize an economic objective over a moving horizon. The purity requirements of the product streams are implemented as constraints and not as controlled variables. The optimization-based controller is combined with a scheme to estimate selected model parameters in order to reduce the influence of the inevitable model errors. Simulative results are presented for the example of the racemization of Troger's base.

关键词： simulated moving bed chromatography (SMB) Hashimoto process online optimization parameter estimation

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New extended Kalman filter algorithms for Stochastic differential algebraic equations

New extended Kalman filter algorithms for Stochastic differe...

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Jorgensen, John Bagterp Kristensen, Morten Rode Thomsen, Per Grove Madsen, Henrik Tech Univ Denmark Informat & Math Modelling DK-2800 Lyngby Denmark Tech Univ Denmark Dept Chem Engn DK-2800 Lyngby Denmark

ISBN: (纸本)9783540726982

We introduce stochastic differential algebraic equations for physical modelling of equilibrium based process systems and present a continuous-discrete paradigm for filtering and prediction in such systems. This paradigm is ideally suited for state estimation in nonlinear predictive control as it allows systematic decomposition of the model into predictable and non-predictable dynamics. Rigorous filtering and prediction of the continuous-discrete stochastic differential algebraic system requires solution of Kolmogorov's forward equation. For non-trivial models, this is mathematically intractable. Instead, a suboptimal approximation for the filtering and prediction problem is presented. This approximation is a modified extended Kalman filter for continuous discrete systems. The modified extended Kalman filter for continuous-discrete differential algebraic systems is implemented numerically efficient by application of an ESDIRK algorithm for simultaneous integration of the mean-covariance pair in the extended Kalman filter [1, 2]. The proposed method requires approximately two orders of magnitude less floating point operations than implementations using standard software. Numerical robustness maintaining symmetry and positive semi-definiteness of the involved covariance matrices is assured by propagation of the matrix square root of these covariances rather than the covariance matrices themselves.

关键词： Extended Kalman filters

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Nonlinear predictive control of irregularly sampled data systems using identified observers

Nonlinear predictive control of irregularly sampled data sys...

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International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Srinivasarao, Meka Patwardhan, Sachin C. Gudi, R. D. Indian Inst Technol Dept Chem Engn Bombay 400076 Maharashtra India

ISBN: (纸本)9783540726982

In many practical situations in process industry, the measurements of process quality variables, such as product concentrations, are available at different sampling rates and than other measured variables and also at irregular sampling intervals. Thus, from the process control viewpoint, multi-rate systems in which measurements are available at slow and/or differing rates and in which the manipulations are updated at relatively fast rate are of particular interest. © Springer-Verlag Berlin Heidelberg 2007.

关键词： Process control

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Virtual leader based formation control of multiple unmanned ground vehicles (UGVs): control design, simulation and real-time experiment

Virtual leader based formation control of multiple unmanned ...

引用

7th International Conference on Cooperative control and Optimization

作者： Cai, Wenchuan Weng, Liguo Zhang, R. Zhang, M. Song, Y. D. North Carolina Agr & Technol State Univ Elect & Comp Engn Greensboro NC 27411 USA

ISBN: (纸本)9783540743545

Closed formation control for multiple unmanned ground vehicles (UGVs) is studied in this chapter. The leading-following strategy with a virtual leader is applied to coordinate the whole formation group so that only local information is sufficient for every UGV to maintain close formation. Error-shaping memory-based control is designed for formation path tracking. The salient feature of this approach lies in its simplicity in design and implementation, and no need for detailed information on external disturbances and uncertainties. The performance of the proposed method is verified via real-time experiment on various formation operations.

关键词： Ground vehicles

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Out-of-order sigma-point Kalman filtering for target localization using cooperating unmanned aerial vehicles

Out-of-order sigma-point Kalman filtering for target localiz...

引用

7th International Conference on Cooperative control and Optimization

作者： Plett, Gregory L. Zarzhitsky, Dimitri Pack, Daniel J. USAF Acad Dept Elect & Comp Engn Colorado Springs CO 80840 USA

ISBN: (纸本)9783540743545

This chapter outlines our research efforts toward developing a cooperative target localization method based on multiple autonomous unmanned aerial vehicles (UAVs) that axe outfitted with heterogeneous sensors. The current focus of the research includes (1) optimizing the UAV trajectories to place them at desired locations at desired times to capture target locations, (2) cooperative sensor scheduling, and (3) intelligent fusing of multiple sensor measurements to accurately estimate the position and velocity of a target. The focus of this paper is the sensor-fusion task. One might consider addressing this problem using some form of Kalman filter. However, a complicating factor in the present application is that sensor readings arrive out-of-sequence to the sensor-fusion process. For example, there is non-deterministic latency in the inter- and intra-UAV communication channels. We address this problem by developing an out-of-order sigma-point Kalman filter ((OSPKF)-S-3).

关键词： Unmanned aerial vehicles (UAV)

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An experimental study of stabilizing receding horizon control of visual feedback system with planar manipulators

An experimental study of stabilizing receding horizon contro...

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Fujita, Masayuki Murao, Toshiyuki Kawai, Yasunori Nakaso, Yujiro Tokyo Inst Technol Dept Mech & Control Engn Meguro Ku 2-12-1 S5-26 O Okayama Tokyo 1528552 Japan

ISBN: (纸本)9783540726982

This paper investigates vision based robot control based on a receding horizon control strategy. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. By applying the proposed control scheme to a two-link direct drive manipulator with a CCD camera, it is shown that the stabilizing receding horizon control nicely works for a planar visual feedback system. Furthermore, actual nonlinear experimental results are assessed with respect to the stability and the performance.

关键词： CCD cameras

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