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检索条件"任意字段=IFAC Symposium on Modelling and Control in Biomedical Systems"

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Efficient Mining of Temporal Safety Properties for Intrusion Detection in Industrial control systems

Efficient Mining of Temporal Safety Properties for Intrusion...

引用

10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Koucham, Oualid Mocanu, Stephane Hiet, Guillaume Thiriet, Jean-Marc Majorczyk, Frederic UGA CNRS Gipsa Lab Grenoble France UGA CNRS G INP InriaLIG Grenoble France CNRS INRIA Cent Supelec Paris France INRIA DGA Rocquencourt France

Sophisticated process-aware attacks targeting industrial control systems require adequate detection measures taking into account the physical process. This paper proposes an approach relying on automatically mined process specifications to detect attacks on sequential control systems. The specifications are synthesized as monitors that read the execution traces and report violations to the operator. In contrast to other approaches, a central aspect of our method consists in reducing the number of mined specifications suffering from redundancies. We evaluate our approach on a hardware-in-the-loop testbed with a complex physical process model and discuss our approach's mining efficiency and attack detection capabilities. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： control and security for critical infrastructure systems safety and security of CPS integrated monitoring intrusion detection specification mining

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State assignment method for improvement of transient response caused by controller switching

State assignment method for improvement of transient respons...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Nakano, Kodai Sebe, Noboru Deguchi, Sae Suyama, Koichi Kyushu Inst Technol Fukuoka Fukuoka Japan Tokyo Univ Marine Sci & Technol Tokyo Japan

In this paper, the suppression of undesirable transient responses caused by controller switching is considered. In some cases, we switch the feedback and the observer gains in order to improve the control performance. However, such switching causes large disturbed transient response. To suppress such undesirable transient response, we propose to assign the state of the dynamical controller. This paper shows that it can be further suppressed by attaching an observer in order to suppress the transient response caused by switching, even in the case that all the states can be measured directly. The proposed assignment rule is based on the observability gramian of the post-switching closed loop system. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Switches state assignment step function responses servo systems observers control theory robust control observability gramian

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A multi-rate ISM approach for robust vehicle stability control during cornering

A multi-rate ISM approach for robust vehicle stability contr...

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15th International-Federation-of-Automatic-control (ifac) symposium on control in Transportation systems (CTS)

作者： Regolin, E. Zambelli, M. Ferrara, A. Univ Pavia Dip Ing Ind & Informaz Via Ferrata 5 I-27100 Pavia Italy

In this paper a Model Predictive control (MPC) architecture is proposed to achieve a smooth and progressive stabilization of the vehicle in limit cornering conditions. Integral Sliding Mode (ISM) is effectively exploited, in a multi-rate structure, in order to enhance the robustness with respect to changes in the tire/road friction characteristic curve and modelling errors. These typically arise due to the linearizations and discretizations needed in the controllers implementation. The performance is verified in simulation using IPG-CarMaker, a high-fidelity vehicle dynamics simulation software. The results obtained evidence the effectiveness of the proposed approach, also compared to an LQR based architecture. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Automotive control Integral Sliding Mode MIMO control predictive control steady state cornering

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Scheduling of a Flexible Job Shop with Multiple Constraints

Scheduling of a Flexible Job Shop with Multiple Constraints

引用

16th ifac symposium on Information control Problems in Manufacturing (INCOM)

作者： Aschauer, A. Roetzer, F. Steinboeck, A. Kugi, A. TU Wien Automat & Control Inst Gusshausstr 27-29 A-1040 Vienna Austria

The increasing demand for flexible production systems can be partially met by advanced scheduling techniques to allocate processing steps of products to machines and to define processing times. Mass production becomes sparse and special constraints like release and due dates, configuration changes, restrictions for products of the same order, or shift work are new challenges for the scheduling process. This paper deals with the scheduling in a hot rolling mill which can be modeled as a flexible job shop with no-wait constraints and the objective to minimize the makespan. Existing solutions for this type of problem are extended in this paper to incorporate multiple complex constraints. A distinction between hard and soft constraints helps to keep the multi-constraint scheduling task manageable. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： scheduling timetabling flexible job shop no-wait constraints shift work configuration change release dates due dates product orders

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control Allocation under Actuator Saturation: An Experimental Evaluation

Control Allocation under Actuator Saturation: An Experimenta...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Kirchengast, Martin Steinberger, Martin Horn, Martin Graz Univ Technol Inst Automat & Control A-8010 Graz Austria

This paper focuses on the comparison of control allocation (CA) techniques based on their application to a laboratory setup which emulates the rotational dynamics of a quadrotor. CA is an intermediate layer between controller and actuators which distributes the overall control effort in case of input redundancy. The CA algorithms Weighted Pseudoinverse, Redistributed Pseudoinverse, Enhanced Redistributed Pseudoinverse, Direct Allocation, Normalized Generalized Inverse, and Weighted Least Squares are briefly outlined and compared to each other. They are used to map the virtual torques generated by a second order sliding mode controller to the real actuators. Since in a real world application actuator power is always limited the performance of the methods in situations with multiple active constraints is investigated. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： control allocation input redundancy constrained control over-actuation

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H_∞ and H₂ memory static output-feedback control design for uncertain discrete-time linear systems

H∞ and H2 memory static...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Frezzatto, Luciano Oliveira, Ricardo C. L. F. Peres, Pedro L. D. Univ Fed Minas Gerais Dept Elect Engn BR-31270010 Belo Horizonte MG Brazil Univ Campinas UNICAMP Sch Elect & Comp Engn BR-13083852 Campinas SP Brazil

This work investigates the problem of designing H-infinity and H-2 output-feedback controllers for discrete-time linear systems with time-invariant uncertainties. The proposed control law incorporates samples of the system output measurements over several instants of time, producing a controller with memory that can provide an improved performance to the closed-loop system. Sufficient parameter-dependent linear matrix inequality conditions are given for the computation of the gains associated with the incorporated measurements. A bound to the H-infinity or the H-2 norms of the closed-loop system is assured by means of a parameter-dependent Lyapunov matrix. Numerical examples illustrate the advantages of the proposed approach when compared to other methods from the literature, showing that better H-infinity and H-2 performance can be obtained by increasing the amount of information in the control law. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Static output-feedback H-infinity performance H-2 performance uncertain linear systems discrete-time systems

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Information Distributed Kalman Filter Applied to Rendezvous Problems in Cooperative Robotic Teams

Information Distributed Kalman Filter Applied to Rendezvous ...

引用

Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Salem, Feres A. Moreno, Ubirajara F. Castelan, Eugenio B. Univ Fed Santa Catarina Automat & Syst Dept Florianopolis SC Brazil

Rendezvous is a common cooperative task for a team of mobile robots and is widely studied in the literature. The most recent studies suggest distributed approaches to this technique. So, this paper proposes a distributed technique for the robots to achieve rendezvous using the information of their positions even if they have a high level of uncertainty in that. For this, the robots use a Kalman filter in the information form, carried out in a distributed way and using a consensus algorithm to fuse its neighbors' data. Several simulations were made and the discussion about the results is presented, choosing one particular case to expose more deeply. A comparison is made with a basic consensus algorithm and a predictive controller found in the literature. The results are promising in terms of computational cost, control effort and error in the information about the rendezvous point when dealing with higher levels of uncertainty in the information. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Autonomous mobile robots networked robotic systems cooperative control Kalman filtering techniques consensus algorithm

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Robust Roll-Over Avoidance control for a Laboratory Vehicle

Robust Roll-Over Avoidance Control for a Laboratory Vehicle

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Shraiber, Arie Gutman, Per-Olof Shima, Tal Technion Israel Inst Technol Fac Civil & Environm Engn IL-3200003 Haifa Israel Technion Israel Inst Technol Fac Aerosp Engn IL-3200003 Haifa Israel

A Multiple Input Multiple Output (MIMO) robust roll-over avoidance control algorithm that prevents a laboratory vehicle from rolling over due to disturbances and extreme driving maneuvers is presented. The control signals are an auxiliary steering angle and an auxiliary vehicle velocity reference which are added to the steering angle and vehicle velocity reference commanded by the driver or the driving algorithm. The robust linear control law is designed by Quantitative Feedback Theory (QFT), utilizing an uncertain linear MIMO vehicle model identified from a measurement based non-linear vehicle model. The algorithm is tested in simulations and then on the actual laboratory vehicle with satisfactory performance. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： QFT Robust control Roll-Over MIMO Dynamics

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Data-driven inference of conic relations via saddle-point dynamics

Data-driven inference of conic relations via saddle-point dy...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Romer, Anne Montenbruck, Jan Maximilian Allgoewer, Frank Univ Stuttgart Inst Syst Theory & Automat Control Stuttgart Germany

Conic relations of an input-output system are important system properties that can be exploited in order to design robust controllers. Therefore, we study the problem of determining the minimal cone containing such an input-output system. While in applications the input-output relation itself is often undisclosed, input-output data tuples can be sampled. Therefore, we present an iterative sampling approach to determine conic relations of a linear time-invariant system from input-output data. This sampling approach is based on saddle-point dynamics, whose convergence properties are then investigated. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： learning algorithms system analysis iterative methods input-output methods

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modelling uncertainty for leak localization in Water Networks

Modelling uncertainty for leak localization in Water Network...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Blesa, Joaquim Perez, Ramon CSIC UPC Inst Robot & Informat Ind IRI C Llorens i Artigas 4-6 Barcelona 08028 Spain Univ Politecn Cataluna Res Ctr Supervis Safety & Automat Control CS2AC Terrassa CampusRambla St Nebridi 22 Barcelona 08222 Spain

The performance and success of model-based leak localization methods applied to water distribution networks (WDN) highly depends on the uncertainty of the system considered. This work proposes an original method of modeling the effect of uncertainties in these networks. The proposed method is based on the collection of real data in the water network in the absence of leaks. The discrepancy (residual) between the measured data and the one provided by a simulator of the network in normal operation is used to extrapolate the possible residuals in the different leak scenarios. In addition, indicators for assessing the effect of uncertainty in the performance of leak localization methods based on residual correlation analysis are provided. The error in terms of correlation intervals and leak localzation assessment between the proposed approximation and the real one is studied by means a simplified model of the WDN of Hanoi (Vietnam). (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： water distribution networks fault detection and izolation leak localzation correlation analysis

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