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检索条件"任意字段=Proceedings of the IEEE/IFAC Joint Symposium on Computer-Aided Control System Design"

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Robust model predictive control: The random convex programming approach

Robust model predictive control: The random convex programmi...

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1st joint symposium on computer-aided control system design, CACSD 2011 and systems with Uncertainty, SU 2011

作者： Calafiore, G.C. Fagiano, L. Politecnico di Torino Dipartimento di Automatica e Informatica Corso Duca degli Abruzzi 24 10129 Torino Italy University of California at Santa Barbara Department of Mechanical Engineering Engineering II Bldg. Santa Barbara CA 93106-5070 United States

ISBN: (纸本)9781457710667

This paper presents a novel approach to robust model predictive control (MPC) for LTI discrete time systems subject to model uncertainty and additive disturbances. By exploiting recent results in random convex programming (RCP), a randomization approach is used and it is shown that the resulting state-feedback control law achieves asymptotic closed loop stability and constraint satisfaction, up to a guaranteed level of probability that can be set arbitrarily close to one. The main advantages of the proposed approach over existing methods, either deterministic or stochastic, are: 1) a reduced conservativeness of the stability and optimality results, 2) quite general settings and mild required assumptions on the problem structure and on the characterization of the uncertainty/disturbances, 3) convexity of the optimization problem to be solved at each time step. A numerical example illustrates the features of the approach. © 2011 ieee.

关键词： Convex optimization

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Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability

Feedback design for the Acrobot walking-like trajectory trac...

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1st joint symposium on computer-aided control system design, CACSD 2011 and systems with Uncertainty, SU 2011

作者： Anderle, Milan Čelikovský, Sergej Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic

ISBN: (纸本)9781457710667

This paper aims to the further improve of the previously developed design for the Acrobot walking based on the partial exact feedback linearization of order 3. Namely, such an exact system transformation leads to an almost linear system where error dynamics along trajectory to be tracked is a 4 dimensional linear time varying system having 3 time varying entries only. Unlike previous approaches treating time varying entries as uncertainties with various extent of conservatism, the present paper takes into the account an information about these time varying functions including their derivatives up to order 4. Using that, the time varying state and the feedback transformation enable to design a fundamental matrix of the error dynamics in an explicit form and pre-designed stability properties. In particular, product of that fundamental matrix at the end of the single support walking phase by the impact map Jacobian enables directly prove stability of the hybrid cyclic walking like trajectory by computing certain 44 matrix and determining numerically whether its eigenvalues lie within the unit circle. This combination of analytical and numerical computations provides the justification of the exponential stability of the walking-like trajectory tracking. Moreover, it is supported by numerical simulations showing practically unlimited number of steps of the Acrobot "walking". © 2011 ieee.

关键词： Trajectories

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2010 ieee International symposium on computer-aided control system design, CACSD 2010

2010 IEEE International Symposium on Computer-Aided Control ...

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2010 ieee International symposium on computer-aided control system design, CACSD 2010

ISBN: (纸本)9781424453542

The proceedings contain 68 papers. The topics discussed include: multilevel control under communication constraints;an interval arithmetic approach for the estimation of the domain of attraction;evaluating integration approaches to robust process optimization and control using chance constrained programming;control-theoretic analysis of exploitation and exploration of the PSO algorithm;robust adaptive flocking control of nonlinear multi-agent systems;linear matrix inequalities with chordal sparsity patterns and applications to robust quadratic optimization;nonlinear robust optimization of uncertainty affine dynamic systems under the L-infinity norm;design and implementation of model predictive control using multi-parametric toolbox and YALMIP;automatic code generation for real-time implementation of model predictive control;and designing nonpolynomial controllers for polynomial systems with input constraints using convex optimization and passivity.

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Robust state feedback LMI methods for continuous-time linear systems: Discussions, extensions and numerical comparisons

Robust state feedback LMI methods for continuous-time linear...

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1st joint symposium on computer-aided control system design, CACSD 2011 and systems with Uncertainty, SU 2011

作者： Oliveira, Ricardo C. L. F. De Oliveira, Maurício C. Peres, Pedro L. D. School of Electrical and Computer Engineering University of Campinas UNICAMP 13083-852 Campinas SP Brazil Department of Mechanical and Aerospace Engineering University of California San Diego San Diego CA 92093-0411 United States

ISBN: (纸本)9781457710667

This paper provides a brief survey on the subject of LMI (Linear Matrix Inequality) methods for robust state feedback control design. The focus is on continuous-time linear systems with time-invariant uncertain parameters belonging to a polytope. Several LMI conditions from the literature are reviewed and discussed. The relationship between quadratic stabilizability (i.e. constant Lyapunov matrix) and LMI conditions based on parameter-dependent Lyapunov functions is highlighted. As a contribution, a generalization of a family of parameter-dependent conditions is proposed. Discussions, possible extensions and interpretations are provided along the presentation. Finally, the numerical efficacy of the LMI conditions in finding robust controllers when one stabilizing gain is known to exist is investigated. The methods have been tested against a set of hard uncertain systems that are guaranteed to be stabilized by some robust state feedback controller, including a large subset of problems which are known to be stabilized by some robust controller but not to be quadratically stabilizable by any controller. © 2011 ieee.

关键词： Linear matrix inequalities

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LFT-free μ-analysis of LTI/LPTV systems

LFT-free μ-analysis of LTI/LPTV systems

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1st joint symposium on computer-aided control system design, CACSD 2011 and systems with Uncertainty, SU 2011

作者： Zhao, Yun-Bo Kim, Jongrae Bates, Declan G. Biomedical Engineering University of Glasgow Glasgow G12 8QQ United Kingdom Centre for Systems Dynamics and Control College of Engineering Mathematics and Physical Sciences University of Exeter Exeter EX4 4QF United Kingdom

ISBN: (纸本)9781457710667

μ-analysis has for many years been the de facto standard robustness analysis tool in a wide variety of control applications. To use μ-analysis, the uncertain system must be cast in the form of a linear fractional transformation (LFT). Once it is appropriately transformed, a variety of algorithms are available to calculate the upper and the lower bounds on μ. Several difficulties arise during this process. Firstly, the uncertainties in the system must appear as polynomial fractions - if they do not, then some approximation steps must be applied in order to write the system as an LFT. Secondly, symbolic manipulations are required in general in order to obtain linear fractional transformation automatically. Finally, for problems involving real parametric uncertainties calculating the lower bound is a well known NP(Non-deterministic Polynomialtime)-hard problem. Therefore, there will always be some conservatism introduced in the bound or else the computation time will increase exponentially with the number of uncertain parameters. We present an efficient algorithm to overcome these issues by combining a randomisation approach and a geometric interpretation of the robustness analysis problem. The uncertainty is re-defined by a subtraction between the uncertain system and the nominal system. Thus the procedure does not require that the uncertain parameters are actually decoupled from the system (as with LFT's) but only requires the evaluation of the difference between the nominal system and the perturbed system. Here, we illustrate the application of the proposed approach to the robustness analysis of uncertain linear periodically time-varying systems, and in particular to magnetic torquer controlled spacecraft attitude dynamics. © 2011 ieee.

关键词： Uncertain systems

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An experimental evaluation of Akamai adaptive video streaming over HSDPA networks

An experimental evaluation of Akamai adaptive video streamin...

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1st joint symposium on computer-aided control system design, CACSD 2011 and systems with Uncertainty, SU 2011

作者： De Cicco, Luca Mascolo, Saverio Abdallah, Chaouki T. Dipartimento di Elettrotecnica Ed Elettronica Politecnico di Bari Via Orabona 4 Italy Electrical and Computer Engineering Department MSC01 1100 1 University of New Mexico Albuquerque NM United States

ISBN: (纸本)9781457710667

Adaptive video streaming is a relevant advancement with respect to classic progressive download streaming such as the one employed by YouTube. Building upon its content delivery network (CDN), Akamai recently started to offer High Definition (HD) adaptive video streaming using HTTP. Nowadays, not only the amount of Internet video traffic is always increasing but also the number of users accessing the Internet using wireless links. In this paper we experimentally investigate the switching algorithm employed by Akamai to implement video quality adaptation over a High Speed Downlink Data Packet Access (HSDPA) link. In order to assess the Quality of Experience we measure goodput, TCP friendliness, and video reproduction continuity. Main results are: 1) Akamai flows are not able to achieve the fair share when competing with a TCP greedy flow due to the conservativeness of the stream-switching algorithm;2) when the link is shared with a greedy TCP connection in 50% of the experiments the video reproduction was paused for more than 19% of the experiment duration. © 2011 ieee.

关键词： HTTP

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Incentivizing cooperation in sensor and control networks

Incentivizing cooperation in sensor and control networks

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1st joint symposium on computer-aided control system design, CACSD 2011 and systems with Uncertainty, SU 2011

作者： Khoury, J. Abdallah, C.T. Crichigno, J. Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 United States Department of Engineering Northern New Mexico College 921 Paseo de Onate Espanola NM 87532 United States

ISBN: (纸本)9781457710667

In this paper, we use game theory to model a general participation game for a distributed and dynamic network. Such networks may include sensing and control agents. The main problem we are interested in is how to achieve broad participation while aligning the incentives of all the participating agents. A consumer node is willing to invest an amount of rewards to get a set of networked sensor nodes, alternatively agents, to participate in some desirable activity;for example rewarding nodes by allocating more bandwidth to them. For the scope of this paper, the agents are heterogeneous sensors, and the consumer is a supervising sensor whether that be a human or a super-node. The consumer desires an accurate reading of a signal of interest;however, it may only communicate with its direct neighbors, or the sensors closest to it. Therefore, it must incentivize its neighbors to participate in further advertising and participating in the (sensing) activity. The neighbors then incentivize their neighbors to participate, and so on. We assume the commodity being traded to be the agent's participation in the activity;sensing a signal, and forwarding a query are some examples of participation. In the resulting game, agents choose their offers strategically. We prove the existence of equilibria for specific utility functions and simple network structures. © 2011 ieee.

关键词： Game theory

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Communication control system implemented in FPGA

Communication control system implemented in FPGA

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2011 ieee 17th International symposium for design and Technology of Electronics Packages, SIITME 2011

作者： Lung, Claudiu Sabou, Sebastian Orha, Ioan Electronic and Computer Engineering Department North University of Baia Mare Baia Mare Romania

ISBN: (纸本)9781457712753

This paper presents the design of an embedded system for the assistance of persons with handicaps, implemented into the Digilent Nexys Board and Spartan-3E Starter Kit Board. The unit is defined in VHDL, and it targets a Xilinx Spartan-3 and Spartan-3E FPGA. Some of the modules, like the ps2 interface, keyboard controller, UART controller, port-selector are generic and can be easily reused without changes in other designs. The circuit was designed on a Windows XP PC using Xilinx ISE8.2.03i CAD tool and Cadence Orcad tool. © 2011 ieee.

关键词： computer aided design

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Enhancement of safety and economy of the vehicle platoon with the consideration of delays and disturbances

Enhancement of safety and economy of the vehicle platoon wit...

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12th ieee International symposium on Computational Intelligence and Informatics, CINTI 2011

作者： Mihály, András Németh, Balázs Gáspár, Péter Department of Control and Transport Automation Budapest University of Technology and Economics Bertalan L. u. 2. H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781457700453

The paper focuses on the design of a platoon control system with a diverse vehicle formation. After a brief summary of the vehicle model and the control criteria, the paper demonstrates methods for eliminating the longitudinal oscillations caused by the communication and actuator delays and environmental disturbances. The realization and evaluation are carried out with diverse control strategies. An effective method for the design of the joint platoon velocity with the consideration of traffic environment and road conditions is also demonstrated. © 2011 ieee.

关键词： Vehicles

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Visualizing work progress information of construction project by web and VR application

Visualizing work progress information of construction projec...

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Asia Modelling symposium 2011: 5th Asia International Conference on Mathematical Modelling and computer Simulation, AMS 2011

作者： Kang, Leen-Seok Moon, Hyoun-Seok Kim, Hyun-Seoung Choi, Gwang-Ryul Park, Nam-Jin Kim, Chang-Hak Dept. of Civil Eng. Gyeongsang National University Jinju Korea Republic of

ISBN: (纸本)9780769544144

The demand for visualizing schedule management information of construction work, which used to be comprised of numerical data is increasing by the web application and virtual reality (VR) technology. Web application with telepresence tool can project construction site using Internet in real time and 4D CAD can continually simulate 3D appearance of construction site by day or week unit. If telepresence tool is linked with 4D CAD system, project manager can check real construction site by web camera and virtual construction site by 4D CAD in an integrated progress control system. This study attempts to develop a prototype of an integrated progress control system that 4D CAD is linked with telepresence tool. The developed system will be used for visualizing construction progress status by comparing two site images. © 2011 ieee.

关键词： computer aided design

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