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European control Conference (ECC)

作者： Andreas Milias George Bitsoris Department of Electrical and Computer Engineering University of Patras Patras Greece Automatic Control Laboratory ETH Zurich Switzerland Control Systems Laboratory University of Patras Patras Greece

In this paper, the state estimation problem with constrained error variance for linear discrete-time systems is investigated. To this end, in a first stage, the vector variance equation describing the evolution of the state error variance is established. Then, by applying results from the theory of positively invariant polyhedral sets of discrete-time systems, necessary and sufficient conditions for the state error variance to respect linear constraints are developed. Thus, the determination of the state estimator parameters is reduced to a nonlinear programming problem which can be solved by using various optimization algorithms.

关键词： Vectors Equations Hafnium Discrete-time systems Estimation error Linear matrix inequalities Symmetric matrices

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Level-triggered control of a scalar linear system

Level-triggered control of a scalar linear system

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Mediterranean Conference on control and Automation (MED)

作者： Maben Rabi John S. Baras Automatic Control Laboratory School of Electrical Engineering Royal Institute of Technology Stockholm Sweden Institute for Systems Research and Department of Electrical and Computer Engineering University of Maryland College Park MD USA

In networked control systems, because of limits on communication rates, control waveforms are frequently piece-wise constant with limits on rates at which they can switch levels. It is, therefore, natural to expect event-triggered control switchings to perform more efficiently than time-triggered ones. This article verifies the validity of this supposition. A method for designing good level-triggered control schemes is obtained by reducing the continuous time problem to one in discrete time. Then, by numerical procedures, the performance of the level-triggered scheme is computed for comparison with that of the periodically switched control scheme.

关键词： control systems Linear systems Communication system control automatic control Switches Communication switching Signal sampling Signal processing Laboratories Educational institutions

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Connectivity Preserving Distributed Swarm Aggregation for Multiple Kinematic Agents

Connectivity Preserving Distributed Swarm Aggregation for Mu...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 3220-3677

作者： Dimos V. Dimarogonas Kostas J. Kyriakopoulos Automatic Control Laboratory School of Electrical Engineering Royal Institute of Technology Stockholm Sweden Control Systems Laboratory Department of Mechanical Engineering National and Technical University of Athens Greece

ISBN: (纸本)9781424414970;1424414970

A distributed swarm aggregation algorithm is developed for a team of multiple kinematic agents. Each agent is assigned with a control law which is the sum of two elements: a repulsive potential field, which is responsible for the collision avoidance objective, and an attractive potential field, that drives the agents to a configuration where they are close to each other and forces the agents that are initially located within the sensing radius of an agent to remain within this area for all time. In this way, the connectivity properties of the initially formed communication graph are rendered invariant for the trajectories of the closed loop system. It is shown that agents converge to a configuration where each agent is located at a bounded distance from each of its neighbors. The results are also extended to the case of nonholonomic kinematic agents and to the dynamic edge addition case, for which we derive a better bound in the swarm size than in the static case.

关键词： Agents dike swarms control law kinematics Closed loop systems configurations Invariant trajectory

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An inverse agreement control strategy with application to swarm dispersion

An inverse agreement control strategy with application to sw...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 3678-4134

ISBN: (纸本)9781424414970;1424414970

We propose an inverse agreement control strategy for multiple kinematic agents that forces the team members to disperse in the workspace in a distributed manner. Both the cases of an unbounded and a cyclic, bounded workspace are considered. In the first case, we show that the closed loop system reaches a configuration in which the minimum distance between any pair of agents is larger than a specific lower bound. It is proved that this lower bound coincides with the agents' sensing radius. In the case of a bounded cyclic workspace, the control law is redefined in order to force the agents to remain within the workspace boundary throughout the closed loop system evolution. Moreover the proposed control design guarantees collision avoidance between the team members in both cases. The results are supported through relevant computer simulations.

关键词： Workplace Agents Closed loop systems control strategy minimum distance Lower bound control law Collision avoidance dike swarms design control Inverse computer Simulation

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Further results on formation infeasibility and velocity alignment

Further results on formation infeasibility and velocity alig...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 3678-4134

ISBN: (纸本)9781424414970;1424414970

In previous work, we deduced that formation infeasibility results in velocity alignment in multi-agent systems with bidirectional communication topology and single integrator as well as nonholonomic kinematics. This paper contains additional results regarding the connection between formation infeasibility and velocity alignment. In particular, we obtain an analytic expression for the resulting common velocity vector in the case of formation infeasibility and extend the results to the case of unidirectional communication topology. The results are then extended to the case of a leader-follower architecture in which the followers are not aware of a global objective while the leaders are responsible for driving the team to the interior of a desired leader formation. When this formation is infeasible, we show that both leaders and followers attain a common velocity vector, of which an analytic expression is also provided. computer simulations support the derived results.

关键词： velocity vector formation Multi-agent systems computer Simulation Leaders Leadership Alignment interior topology

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Monopedal running control: SLIP embedding and virtual constraint controllers

Monopedal running control: SLIP embedding and virtual constr...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Ioannis Poulakakis J. W. Grizzle Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

Two feedback controllers that induce stable running gaits on a three-degree-of-freedom asymmetric hopper, termed the asymmetric spring loaded inverted pendulum (ASLIP), see Fig. 1, are compared in terms of their steady-state and transient behaviors. In each case, feedback is used to create a lower-dimensional hybrid subsystem that determines the existence and stability properties of periodic motions of the full-dimensional closed-loop system. The first controller creates a one degree-of-freedom subsystem through imposing two suitably selected (virtual) holonomic constraints on the configuration variables of the ASLIP. The second controller asymptotically imposes a single (virtual) holonomic constraint to create a two-degree-of-freedom subsystem that is diffeomorphic to a standard spring loaded inverted pendulum (SLIP). The two controllers induce identical steady-state behaviors. Under transient conditions, however, the underlying compliant nature of the SLIP allows significantly larger disturbances to be accommodated, with less actuator effort, and without violation of the unilateral constraints between the leg end and the ground.

关键词： Legged locomotion Springs Leg control systems Steady-state Actuators Adaptive control Predictive models Torso Nonlinear dynamical systems

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Kinematic simulative analysis of virtual potential field method for AUV trajectory planning

Kinematic simulative analysis of virtual potential field met...

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Mediterranean Conference on control and Automation (MED)

作者： M Barisic Z. Vukic N. Miskovic Department of Computer and Control Engineering Laboratory for Underwater Systems and TechnologiesFaculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This paper deals with an analysis of applicability, capabilities, benefits and pitfalls of using a virtual potential field approach to autonomously planning trajectories in non-communicating autonomous underwater vehicles (AUV-s). Virtual potentials represent an approach to this problem with cross-layer design features. Examples of different layers of control that can be achieved with the same fundamental approach are: obstacle-avoidance, energy-optimal trajectories, forming up with other moving agents, controlled formation fragmentation into well-posed sub-formation etc. This paper shows, on the basis of extensive simulated experiments, that such a trajectory planner based on virtual potentials, guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the-loop system.

关键词： Kinematics Analytical models Trajectory Computational modeling computer simulation Electric variables measurement Feature extraction Stability Underwater vehicles Communication system control

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Vision aided proportional navigation for micro air vehicles

Vision aided proportional navigation for micro air vehicles

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AIAA Guidance, Navigation, and control Conference 2007

作者： Beard, Randal W. Will Curtis, J. Eilders, Martin Evers, Johnny Cloutier, James R. Brigham Young University Provo UT 84602 United States Air Force Research Laboratory Eglin AFB FL 32542-6810 United States Department of Electrical and Computer Engineering AIAA Munitions Directorate Guidance and Navigation Branch Control Systems Research

ISBN: (纸本)1563479044

Most of the applications envisioned for micro air vehicles require an on-board E(MR camera. It is only natural to investigate using the on-board camera as a sensor for navigation, guidance, and control. This paper investigates the use of an EO/IR sensor as a seeker in a proportional navigation guidance law for micro air vehicles. Proportional navigation strategies require knowledge of the line-of-site rates and range rate between the vehicle and the target. This paper demonstrates how these quantities can be derived from pixel-specific information provided by an EO/IR sensor. The guidance laws are developed for gimbaled and strapdown sensors on both skid-to-turn and bank-to-turn MAV kinematic models.

关键词： Navigation

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Transfer function identification by using self-oscillations

Transfer function identification by using self-oscillations

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Mediterranean Conference on control and Automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Underwater Systems and Technologies Zagreb Croatia Faculty of Electrical Engineering and Computing University of Zagreb Laboratory for Underwater Systems and Technologies Zagreb Croatia

The work presented in this paper deals with the process of transfer function identification by using self-oscillation method (autotuning identification method). The algorithm is given in a general matrix form and some modifications are introduced. The modifications of the algorithm include augmentation of the initial algorithm for Type k systems, systems with delays and discrete-time systems. The paper also includes simulation examples which describe the introduced modifications. Apart from being rather simple, this method is applicable to real systems. Its greatest advantage is quick identification of a transfer function (depends on the system).

关键词： Transfer functions Relays Frequency control systems control engineering computing Delay systems Vehicle dynamics Open loop systems Delay effects Feedback

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OPTIMAL control FOR TWO-DIMENSIONAL LINEAR systems WITH VARIABLE COEFFICIENTS

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Asian Journal of control 2008年第4期1卷

作者： Jimshone Li Jason Sheng-Hong Tsai Leang-San Shieh Control System Laboratory Department of Electrical Engineering National Cheng Kung University Tainan 701 Taiwan R.O.C. Jim-Shone Li was born in Taiwan R. O.C. on April 20 1967. He received B.S. and M.S. degrees in Electrical Engineering from the Chung-Cheng Institute of Technology Taoyuan Taiwan R.O.C. in 1989 and 1993 respectively. He is currently a Ph.D. student at National Cheng-Kung University Tainan Taiwan R.O.C. His research interests include analysis and design of multidimensional systems and nonlinear system control. Department of Electrical and Computer Engineering University of Houston Houston TX 77004-4793 U.S.A.

An optimal control method for two-dimensional (2-D) linear systems with variable coefficients and free boundary conditions in Roesser's model is proposed in this paper. Based on Roesser's model, an equivalent general 1-D model of the 2-D system is presented, and the problem of minimizing a 2-D linear quadratic (LQ) cost function is solved for the case where complete state information is available. The solution is obtained by using the proposed dynamic programming in 1-D descriptor form to solve the Riccati equation and then arriving at the optimal control law and minimum cost. The proposed control methodology can be applied to discrete-time models of systems described by partial differential equations and can also be used in the field of signal processing.

关键词： Two-dimensional system optimal control Roesser's model Riccati equation

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