This paper describes an approach to solving optimal hybrid control problems using level set methods. Level set methods are a powerful set of techniques for generating equipotential contours with applications in the re...
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This paper describes an approach to solving optimal hybrid control problems using level set methods. Level set methods are a powerful set of techniques for generating equipotential contours with applications in the realm of fluid mechanics, computer vision, material science, robotics and geometry. This paper specifically deals with the problem of determining an optimal control path in a hybrid system by extending a particular level set algorithm, known as the 'fast marching' method, to a hybrid setting. Several representative examples are solved.
In this paper, we present a multimedia course for university level education in control theory with an additional simulation environment for training and control applications. The course is supposed to support home le...
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In this paper, we present a multimedia course for university level education in control theory with an additional simulation environment for training and control applications. The course is supposed to support home learning for students and practitioners. It is addressed to distance education and life-long learning as well. Here we introduced the CD-ROM based version of this learning environment, and we report some methodical aspects and experiences during courseware development. Finally we present first steps of integration into an Internet-based virtual learning environment.
In this paper, a realization method is suggested for real-time distributed software-in-the-loop (DSIL) simulation for distributed controlsystems. The realization is composed of several personal computers (PCs) for su...
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In this paper, a realization method is suggested for real-time distributed software-in-the-loop (DSIL) simulation for distributed controlsystems. The realization is composed of several personal computers (PCs) for sub-plants and their controllers, an Ethernet network connecting them, and a general-purpose computer-aidedcontrolsystemdesign (CACSD) tool for the easy design of controllers. Requirements on real-time DSIL simulation are investigated in terms of network-related control issues and CACSD tool issues. CEMTool, a CACSD tool which is suitable for real-time DSIL simulation, is proposed for easy programming of control algorithm and plant dynamics and for their easy connection. To reduce a sampling interval and guarantee real time, a network scheduling algorithm is suggested for real-time DSIL simulation. It is demonstrated via an experiment of turbine-generator system that this real-time DSIL simulation is very useful for distributed controlsystemdesign.
An account is given on an independent research and development (IRAD) project at Lockheed Martin Advanced Technology Laboratories. The project developed an approach to evaluate alternative architectures that control l...
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An account is given on an independent research and development (IRAD) project at Lockheed Martin Advanced Technology Laboratories. The project developed an approach to evaluate alternative architectures that control large-scale, networked systems whose components may or may not be independent and whose activities are distributed in time and space. It is shown how the approach can evaluate alternative architectures for control of large-scale, distributed systems and for analysis of approaches from recovery from various system failure modes.
Under the DARPA Software Enabled control (SEC) program, Georgia Tech teamed up with The Boeing Company to develop advances in Software Enabled control (SEC) technologies as well as to provide a mid-level Open control ...
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Under the DARPA Software Enabled control (SEC) program, Georgia Tech teamed up with The Boeing Company to develop advances in Software Enabled control (SEC) technologies as well as to provide a mid-level Open control Platform (OCP). The objective of this project is to develop SEC methods for complex dynamic systems with the application focus on intelligent AUVs. This article presents an overview of the project, focusing on the results obtained to date.
The design of linear controlsystems using state feedback and/or output injection can be conveniently accomplished in Matlab environment. The controlsystem Toolbox works with the state space system description using ...
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The design of linear controlsystems using state feedback and/or output injection can be conveniently accomplished in Matlab environment. The controlsystem Toolbox works with the state space system description using reliable algorithms of numerical linear algebra. An alternative is presented in this paper. Working with the transfer function system description in the form of polynomial matrix factorizations, the Polynomial Toolbox offers a wide range of reliable algorithms that can be used to design state feedback and/or output injection controlsystems. The problems of eigenstructure assignment, LQ regulation, and LG estimation are considered as an example.
In this paper we give detailed procedures for using unfalsified control theory for real-time PID controller parameter tuning and adaptation. Related to the candidate-elimination algorithms of machine learning, our PID...
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In this paper we give detailed procedures for using unfalsified control theory for real-time PID controller parameter tuning and adaptation. Related to the candidate-elimination algorithms of machine learning, our PID tunning technique does not need a plant model and makes PID gain selection possible by just using observed data. Simulation results are included.
Sampled-Data control Toolbox is a suite of MATLAB functions for the analysis and synthesis of sampled-data systems. It provides all the functionality necessary to carry out the analysis and synthesis of sampled-data s...
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Sampled-Data control Toolbox is a suite of MATLAB functions for the analysis and synthesis of sampled-data systems. It provides all the functionality necessary to carry out the analysis and synthesis of sampled-data systems, as well as purely continuous-time and discrete-time systems, and a wide variety of utilities to facilitate design. This paper shows the data structure, the list of functions and the function overloading. It also gives an example of H∞ synthesis.
In this paper a new variable structure control law for uncertain MIMO systems is investigated. The conditions for the existence of a sliding mode is derived. The asymptotic stability in large of the VSS is studied by ...
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In this paper a new variable structure control law for uncertain MIMO systems is investigated. The conditions for the existence of a sliding mode is derived. The asymptotic stability in large of the VSS is studied by using Lyapunov V-function method. By these conditions successfully designed the longitudinal position and tracking variable structure controlsystems for the F-18 aircraft MIMO model with parameter perturbations. Longitudinal dynamics of F-18 aircraft with parameter perturbations is considered. Finally simulation results for VSS with chattering and free of chattering cases are presented to show the effectiveness of the design methods.
Flight control law design is a multi-variable control problem where various strict requirements from multiple disciplines have to be satisfied. This paper describes multi-objective control synthesis tuning and design ...
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Flight control law design is a multi-variable control problem where various strict requirements from multiple disciplines have to be satisfied. This paper describes multi-objective control synthesis tuning and design assessment, with application to flight controldesign. The main feature of this methodology is that the various kinds of design objectives can be taken into account in their most natural form and design alternatives can be assessed most visibly with respect to given requirements. Multi-objective synthesis tuning by min-max parameter optimisation allows interactive compromising in the set of what can be best-possibly achieved with a chosen control law structure.
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