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Workshop on Networked Embedded Sensing and control, NESC 2005

作者： Bullo, Francesco Mechanical Engineering Department Center for Control Dynamical Systems and Computation University of California Santa Barbara United States

ISBN: (纸本)9783540327943

Motion coordination is an extraordinary phenomenon in biological systems such as schools of fish and serves as a remarkable tool for man-made groups of robotic vehicles and active sensors. Although each individual agent has no global knowledge about the group as a whole or about the surrounding environment, complex coordinated behaviors emerge from local interactions. From a scientific point of view, the study of motion coordination poses novel challenges for systems and control theory. A comprehensive understanding of this phenomenon requires the joint ambitious study of mobility, communication, computation, and sensing aspects. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Multi agent systems

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Hybrid control of planar rotations

Hybrid control of planar rotations

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作者： Mayhew, Christopher G. Teel, Andrew R. Electrical and Computer Engineering Department Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560 United States

ISBN: (纸本)9781424474264

We propose a Lyapunov-based hybrid controller that ensures robust global asymptotic stability of a desired planar orientation, a task that is impossible by continuous or (non-hybrid) discontinuous state feedback due to topological obstructions. The hybrid control structure relies on hysteretically switching between (almost globally) stabilizing control laws which are generated by a family of diffeomorphisms that stretch the space of planar rotations onto itself. A salient feature of the proposed control technique is that it can produce a robustly globally asymptotically stabilizing controller from an existing control law and a corresponding Lyapunov function. © 2010 AACC.

关键词： State feedback

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Hybrid systems: Generalized solutions and robust stability 6

Hybrid systems: Generalized solutions and robust stability

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6th IFAC Symposium on Nonlinear control Systems, NOLCOS 2004

作者： Goebel, Rafal Hespanha, Joao Teel, Andrew R. Cai, Chaohong Sanfelice, Ricardo Center for Control Engineering and Computation and Electrical and Computer Engineering Department University of California Santa BarbaraCA93106-9560 United States

Robust asymptotic stability for hybrid systems is considered. For this purpose, a generalized solution concept is developed. The first step is to characterize a hybrid time domain that permits an efficient description of the convergence of a sequence of solutions. Graph convergence is used. Then a generalized solution definition is given that leads to continuity with respect to initial conditions and perturbations of the system data. This property enables new results on necessary conditions for asymptotic stability in hybrid systems. Copyright © 2004 IFAC.

关键词： Lyapunov functions

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Experimental Investigation of Fully Informed Particle Swarm Optimization tuned Multi Loop L-PID and NL-PID controllers for Gantry Crane System 3

Experimental Investigation of Fully Informed Particle Swarm ...

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3rd International Conference on Computing and Network Communications, CoCoNet 2019

作者： Valluru, Sudarshan K. Kaur, Manpreet Kartikeya, Kumar Goel, Arnav Dobhal, Daksh Incubation Center for Control Dynamical Systems and Computation Department of Electrical Engineering Delhi Technological University Delhi110042 India

This paper presents a novel stabilizing nonlinear PID controller with real time experimental validation on a gantry crane system. Our adaptive control technique describes the underactuated system as a nonlinear mapping of control signal with the hyperbolic tangent function. The proposed function is used to impose a constraint on the proportional, integral and derivative errors such that the system results an effective and robust performance. The main trait of the controller is to bound the high control error to result in a lesser correction value. An enhanced hybrid method based on the bioinspired meta-heuristic algorithm Particle Swarm Optimisation is utilised to tune the gain coefficients Kpδ, KIδ and KDδ. The Linear controller and the proposed controllers were compared based on the stabilizing action on the real time system. The real time results depict that the nonlinear PID performs better than the conventional PID. © 2020 The Authors. Published by Elsevier B.V.

关键词： controllers

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Algorithms for the traveling salesman problem with neighborhoods involving a Dubins vehicle

Algorithms for the traveling salesman problem with neighborh...

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作者： Isaacs, Jason T. Klein, Daniel J. Hespanha, João P. Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106 United States

ISBN: (纸本)9781457700804

We study the problem of finding the minimum-length curvature constrained closed path through a set of regions in the plane. This problem is referred to as the Dubins Traveling Salesperson Problem with Neighborhoods (DTSPN). Two algorithms are presented that transform this infinite dimensional combinatorial optimization problem into a finite dimensional asymmetric TSP by sampling and applying the appropriate transformations, thus allowing the use of existing approximation algorithms. We show for the case of disjoint regions, the first algorithm needs only to sample each region once to produce a tour within a factor of the length of the optimal tour that is independent of the number of regions. We present a second algorithm that performs no worse than the best existing algorithm and can perform significantly better when the regions overlap. © 2011 AACC American Automatic control Council.

关键词： Traveling salesman problem

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Design and experimental implementation of multi-loop LQR, PID, and LQG controllers for the trajectory tracking control of twin rotor MIMO system 3rd

Design and experimental implementation of multi-loop LQR, PI...

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3rd International Conference on Intelligent Communication, control and Devices, ICICCD 2018

作者： Valluru, Sudarshan K. Singh, Madhusudan Ayush Dharavath, Abhiraj Department of Electrical Engineering Incubation Center for Control Dynamical Systems and Computation Delhi Technological University New DelhiDelhi110042 India

ISBN: (纸本)9789811386176

One DOF (degree of freedom) Twin Rotor multi-input multi-output system (TRMS) is one of the benchmarked dynamical systems which has striking comparability with Helicopter. Design of controllers for such complex air vehicle is a daunting task as it has inherent nonlinearities and cross-coupling between its main and tail rotors. Therefore, it is an interesting laboratory benchmarked control problem, to test the performance of various controllers. The control techniques focused in this paper are the experimental implementation of multi-loop controllers such as Linear Quadratic Regulator (LQR), linear proportional integral derivative (L-PID), and Linear Quadratic Gaussian (LQG) controllers on TRMS system to verify the performance of these controllers. © Springer Nature Singapore Pte Ltd. 2020.

关键词： controllers

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Experimental validation of fully informed particle swarm optimization tuned multi-loop L-PID controllers for stabilization of gantry crane system 3rd

Experimental validation of fully informed particle swarm opt...

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3rd International Conference on Intelligent Communication, control and Devices, ICICCD 2018

作者： Valluru, Sudarshan K. Singh, Madhusudan Dobhal, Daksh Kartikeya, Kumar Kaur, Manpreet Goel, Arnav Department of Electrical Engineering Incubation Center for Control Dynamical Systems and Computation Delhi Technological University New DelhiDelhi110042 India

ISBN: (纸本)9789811386176

Linear PID controllers are commonly used as an electrical component to decrease the error between anticipated set value and actual measured values for control of various benchmarked systems. The Multi-Loop Linear PID (ML-PID) controller, gives a robust and efficient performance in most of the situations. This paper presents the implementation of linear PID controller to stabilize and control the Gantry Crane System. Optimal performance is obtained for a few specific combinations of the proportional, integral, and derivative gains, which makes it essential to tune these values through Optimization techniques. The Fully Informed Particle Swarm Optimizer (FIPSO) is used to tune the gain values of the ML-PID controlled Gantry Crane System. These values are validated experimentally, and obtained results prove that the FIPSO tuned multi-loop linear PID controller quickly stabilizes the system subjected to external disturbances. © Springer Nature Singapore Pte Ltd. 2020.

关键词： controllers

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Distributed estimation via iterative projections with application to power network monitoring

Distributed estimation via iterative projections with applic...

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作者： Pasqualetti, Fabio Carli, Ruggero Bullo, Francesco Center for Control Dynamical Systems and Computation University of California Santa Barbara United States Department of Information Engineering University of Padova Padova Italy

This work presents a distributed method for control centers to monitor the operating condition of a power network, i.e.;to estimate the network state, and to ultimately determine the occurrence of threatening situations. State estimation has been recognized to be a fundamental task for network control centers to operate safely and reliably a power grid. We consider (static) state estimation problems, in which the state vector consists of the voltage magnitude and angle at all network buses. We consider the state to be linearly related to network measurements, which include power flows, current injections, and voltage phasors at some buses. We admit the presence of several cooperating control centers, and we design two distributed methods for them to compute the minimum variance estimate of the state, given the network measurements. The two distributed methods rely on different modes of cooperation among control centers: in the first method an incremental mode of cooperation is used, whereas, in the second method, a diffusive interaction is implemented. Our procedures, which require each control center to know only the measurements and the structure of a subpart of the whole network, are computationally efficient and scalable with respect to the network dimension, provided that the number of control centers also increases with the network cardinality. Additionally, a finite-memory approximation of our diffusive algorithm is proposed, and its accuracy is characterized. Finally, our estimation methods are exploited to develop a distributed algorithm to detect corrupted network measurements. © 2012 Elsevier Ltd. All rights reserved.

关键词： State estimation

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Simulation of neural motor control of lumbar spine using multiagent systems and reinforcement learning method

Simulation of neural motor control of lumbar spine using mul...

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2005 Summer Bioengineering Conference

作者： Golkhou, Vahid Parnianpour, Mohamad Lucas, Caro Department of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Excellence for Control and Intelligent Processing ECE Department Tehran University Tehran Iran

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João Hespanha [People in control]

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IEEE control Systems 2014年第1期34卷 22-24页

作者： Hespanha, João Center for Control Dynamical Systems and Computation University of California Santa BarbaraCA United States Department of Electrical and Computer Engineering University of California Harold Frank Hall Santa BarbaraCA93106-9560 United States

In this issue of IEEE control Systems Magazine, we speak with João Hespanha, who is a professor and chair of the department of Electrical and Computer engineering and Director of the center for control, Dynamical Systems, and computation at the University of California, Santa Barbara. He received a Licenciatura and an M.S. at Instituto Superior Técnico, Lisbon, Portugal, in 1991 and 1993, respectively, and a Ph.D. from Yale University in 1998. He was formerly on the faculty in the department of Electrical engineering at the University of Southern California. He is a Fellow of IEEE and a recipient of the Automatica Theory/Methodology Best Paper Prize, the George S. Axelby Outstanding Paper Award, and the Antonio Ruberti Young Researcher Prize. His research interests include hybrid systems, networked control systems, cooperative control, advanced sensing, and systems biology. © 2014 IEEE.

关键词： Hybrid systems

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