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Grasp analysis as linear matrix inequality problems

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 2000年第6期16卷 663-674页

作者： Han, L Trinkle, JC Li, ZX Carnegie Mellon Univ Dept Elect & Comp Engn Inst Complex Engineered Syst Pittsburgh PA 15213 USA Sandia Natl Labs Albuquerque NM 87185 USA Hong Kong Univ Sci & Technol Dept Elect & Elect Engn Kowloon Hong Kong Peoples R China

Three fundamental problems in the study of grasping and dextrous manipulation with multifingered robotic hands are as follows, a) Given a robotic hand and a grasp characterized by a set of contact points and the associated contact models, determine if the grasp has force closure. b) Given a grasp along with robotic hand kinematic structure and joint effort limit constraints, determine if the fingers are able to apply a specified resultant wrench on the object. c) Compute "optimal" contact forces if the answer to problem b) is affirmative. In this paper, based on an early result by Buss et al., which transforms the nonlinear friction cane constraints into positive definiteness constraints imposed on certainy symmetric matrices, we further cast the friction cone constraints into linear matrix inequalities (LMIs) and formulate all three of the problems stated above as a set of convex optimization problems involving LMIs, The latter problems have been extensively studied in optimization and control communities. Currently highly efficient algorithms with polynomial time complexity have been developed and made available. We perform numerical studies to show the simplicity and efficiency of the LMI formulation to the three grasp analysis problems.

关键词： convex programming grasp analysis force closure force optimization friction cones linear matrix inequalities

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nonlinear convex control of the Furuta pendulum based on its descriptor model 13

Nonlinear convex control of the Furuta pendulum based on its...

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13th international conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2016

作者： Arceo, Juan Carlos Vazquez, David Estrada-Manzo, Victor Marquez, Raymundo Bernal, Miguel Department of Electrical and Electronics Engineering Sonora Institute of Technology Ciudad Obregón Mexico

ISBN: (纸本)9781509035106

This paper presents simulation and real-Time results of a nonlinear control scheme for stabilization of the Furuta pendulum. Instead of the traditional state-space model, the proposal makes use of a convex exact rewriting of the nonlinear model in its descriptor form, which naturally arises in Lagrange-Euler dynamics. Convexity proves to be useful when combined with an extension of the direct Lyapunov method for singular systems, since it leads to design conditions in the form of linear matrix inequalities, which allow the use of convex programming techniques. Moreover, real-Time implementation issues such as actuator saturation limits and decay rate are straightforwardly incorporated in the design. Numerical advantages of the descriptor convex model over the state-space representation are also discussed. © 2016 IEEE.

关键词： Linear matrix inequalities

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A variational approach to /spl Lscr//sub /spl infin//-gain analysis of nonlinear systems

A variational approach to /spl Lscr//sub /spl infin//-gain a...

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IEEE conference on Decision and Control

作者： I.J. Fialho T.T. Georgiou Department of Electrical Engineering University of Minnesota Minneapolis MI USA

The /spl Lscr//sub /spl infin//-gain of nonlinear systems is characterized by means of the value function of an associated variational problem. The value function is shown to be the unique continuous viscosity solution of the variational inequality in the finite horizon case, and the minimal lower semicontinuous solution in the infinite horizon case. A condition that guarantees local boundedness of the infinite horizon value function is presented. Approximation schemes for the variational inequalities are developed in the framework of discrete dynamic programming. The control theoretic origin of these inequalities is exploited to develop algorithms for computing upper and lower bounds for their solutions. The framework developed enables computation of the /spl Lscr//sub /spl infin//-induced norm over bounded sets of signals. The only regularity required for the underlying dynamics is continuity, allowing the analysis of a large class of systems including saturated feedback loops.

关键词： nonlinear systems Viscosity Infinite horizon nonlinear equations Dynamic programming Boundary conditions Erbium

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Robust Predictive Control for Uncertain Time-delay Systems with nonlinear Disturbance

Robust Predictive Control for Uncertain Time-delay Systems w...

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2nd international conference on Mechatronics and Intelligent Materials (MIM 2012)

作者： Zhao, Jiacheng Su, Chengli Li, Ping Liaoning Shihua Univ Coll Informat & Control Engn Fushun 113001 Liaoning Peoples R China Liaoning Shihua Univ Fushun 113001 Liaoning Peoples R China

ISBN: (纸本)9783037853849

Based on predictive control principle of receding optimization, the infinite time domain "min-max" optimization problems are converted into convex programming problems by Lyapunov stable theory and linear matrix inequality (LMI). The sufficient conditions for the robust stability of the uncertain time-delay system are given. Finally, the simulation results illustrate the effectiveness of the proposed methods.

关键词： Linear matrix inequalities (LMIs) nonlinear uncertainty time-delay

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6th international conference on Scale Space and variational Methods in Computer Vision, SSVM 2017

6th International Conference on Scale Space and Variational ...

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6th international conference on Scale Space and variational Methods in Computer Vision, SSVM 2017

ISBN: (纸本)9783319587707

The proceedings contain 55 papers. The special focus in this conference is on Scale Space and variational Methods in Computer Vision. The topics include: Spatio-temporal scale selection in video data;dynamic texture recognition using time-causal spatio-temporal scale-space filters;corner detection using the affine morphological scale space;nonlinear spectral image fusion;tubular structure segmentation based on heat diffusion;blind space-variant single-image restoration of defocus blur;denoising by inpainting;stochastic image reconstruction from local histograms of gradient orientation;a dynamic programming solution to bounded dejittering problems;robust blind deconvolution with convolution-spectrum-based kernel regulariser and poisson-noise data terms;optimal patch assignment for statistically constrained texture synthesis;a correlation-based dissimilarity measure for noisy patches;analysis of a physically realistic film grain model, and a Gaussian film grain synthesis algorithm;below the surface of the non-local Bayesian image denoising method;directional total generalized variation regularization for impulse noise removal;a novel convex relaxation for non binary discrete tomography;image reconstruction by multilabel propagation;user friendly simultaneous tomographic reconstruction and segmentation with class priors;nonlinear flows for displacement correction and applications in tomography;graphical model parameter learning by inverse linear programming;convex non-convex segmentation over surfaces;numerical integration of Riemannian gradient flows for image labeling;multinomial level-set framework for multi-region image segmentation;an efficient lagrangian algorithm for an anisotropic geodesic active contour model and a probabilistic framework for curve evolution.

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Set-valued power system state estimation based on mccormick relaxation 16

Set-valued power system state estimation based on mccormick ...

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16th international conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2019

作者： Srisathan, Tanyong Uatrongjit, S. Chiang Mai University Graduate School Chiang Mai University Department of Electrical Engineering Chiang Mai Thailand Chiang Mai University Department of Electrical Engineering Chiang Mai Thailand

ISBN: (纸本)9781728133614

Power system state estimation (PSSE) is one of important tools for efficient operations of power systems. PSSE uses mathematical relation between the measured data and the power system's network structure to estimate the state variables, i.e. voltage phasor of all buses. Uncertainty in the measured data affects the accuracy and reliability of estimation. In case that the uncertainty is given in the form of measurements' bounds, the set-valued PSSE can be applied to estimate a set of all possible values of state variables. The problem can be expressed as a nonlinear constrained optimization problem. In this paper, a solution technique based on McCormick relaxation is proposed. The state variables are represented in rectangular forms. The nonlinear terms are substituted by auxiliary variables with linear inequalities. The linear programming technique is then applied to improve bounds of the estimated values. The proposed algorithm has been implemented based on the YALMIP toolbox. The preliminary results from testing with IEEE 14-bus show that the proposed approach provides the results with similar accuracy but uses less computation time than solving by the global nonlinear optimization. © 2019 IEEE.

关键词： Linear programming

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Model Predictive Control for LPV System using On-off Actuator with Application to Spacecraft Attitude Maneuver

Model Predictive Control for LPV System using On-off Actuato...

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11th IEEE international conference on Control and Automation (ICCA)

作者： Asakawa, Takeya Kida, Takashi Univ Electrocommun Dept Mech Engn & Intelligent Syst Chofu Tokyo 1828585 Japan

ISBN: (纸本)9781479928378

This paper proposes a model predictive control of linear parameter varying systems driven by non-linear on-off control inputs. We formulate the problem as an integer quadratic programming problem. In order to ensure the closed-loop stability, we newly derive a condition for terminal cost matrices which are obtained by solving linear matrix inequalities. A numerical study is performed to verify the proposed method using a large spacecraft having rotating solar panels.

关键词： Asymptotic stability Cost function Mathematical model Numerical stability Predictive control Space vehicles Stability analysis Predictive control Space vehicles Numerical stability Cost functions asymptotic stability region Attitude maneuvers linear parameter varying system Stability analysis Mathematical Model actuators Spacecraft distributed model predictive control nonlinear model predictive control Solar collectors on-off

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Dynamic Price Optimization Models for Managing Time-of-Day Electricity Usage

Dynamic Price Optimization Models for Managing Time-of-Day E...

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IEEE international conference on Smart Grid Communications (SmartGridComm)

作者： Subramanian, Shivaram Ghosh, Soumyadip Hosking, Jonathan R. M. Natarajan, Ramesh Zhang, Xiaoxuan IBM Res Div Thomas J Watson Res Ctr Yorktown Hts NY 10598 USA

ISBN: (纸本)9781479915262

We present a day-ahead price-optimization based approach for an electric utility to proactively manage the intra-day residential electricity load profile, using dynamic-pricing incentives within a smart grid framework. A novel aspect of our approach is the ability to predict the customer response to price incentives that are designed to induce shifts in the electricity usage from the peak to the off-peak time periods of the daily residential load cycle. A Multinomial Logit (MNL) consumer-choice model is used for estimating the magnitudes of these intra-day hourly loads. The resulting nonlinear optimization problem for the specified profit and capacity-utilization objectives is solved using a series of transformations, which include the reformulation-linearization technique (RLT), to obtain a Mixed-Integer programming (MIP) model. Using a piecewise-linear cost structure for satisfying electricity demand, we subsequently derive a set of valid inequalities to effectively tighten the underlying relaxation of this MIP. The proposed optimization methodology can also incorporate various regulatory and customer bill-protection constraints. Our model calibration and computational analysis using a real-world data set indicates that the proposed predictive-control methodology can be incorporated into a practical decision support tool to manage the time-of-day electricity demand in order to achieve the desired objectives.

关键词： Capacity planning Demand forecasting Integer linear programming Load management Predictive models Profitability Sensitivity Analysis Smart grids

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Verifying nonlinear real formulas via sums of squares

Verifying nonlinear real formulas via sums of squares

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20th international conference on Theorem Proving in Higher Order Logics

作者： Harrison, John Intel Corp Hillsboro OR 97124 USA

ISBN: (纸本)9783540745907

Techniques based on sums of squares appear promising as a general approach to the universal theory of reals with addition and multiplication, i.e. verifying Boolean combinations of equations and inequalities. A particularly attractive feature is that suitable 'sum of squares' certificates can be found by sophisticated numerical methods such as semidefinite programming, yet the actual verification of the resulting proof is straightforward even in a highly foundational theorem prover. We will describe our experience with an implementation in HOL Light, noting some successes as well as difficulties. We also describe a new approach to the univariate case that can handle some otherwise difficult examples.

关键词： Artificial intelligence

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3rd international Joint conference on Computational Sciences and Optimization, CSO 2010: Theoretical Development and Engineering Practice

3rd International Joint Conference on Computational Sciences...

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3rd international Joint conference on Computational Sciences and Optimization, CSO 2010: Theoretical Development and Engineering Practice

ISBN: (纸本)9780769540306

The proceedings contain 229 papers. The topics discussed include: SSCM-based simulation of stock market: put bounded rational into social and stock environment;analysis of transient electromagnetic field coupling to shielded twisted-pairs;nonlinear numerical simulation to thermo-elastic-plastic creep constitutive equation for concrete subjected to fire;CFD simulation on dense gas-solid flow for blast furnace slag waste heat recovery;dynamic relocating vehicle resources using a microscopic traffic simulation model for carsharing services;a sufficiency and necessity condition on convergence of ishikawa iterative process for asymptotically pseudocontractive mapping;stochastic-combination search direction method for monotone variational inequality problems;comparison of convergence of the modified and relaxed hybrid steepest-descent methods for variational inequalities under different conditions;and travel time reliability-based optimal path finding.

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