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Optimal Sensor Placement For Time Difference of Arrival Localization

Optimal Sensor Placement For Time Difference of Arrival Loca...

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Jason T.Isaacs Daniel J.Klein Joao P.Hespanha the Center for Control Dynamical Systemsand Computationand the Department of Electrical and Computer EngineeringUniversity of California

This paper addresses the problem of localizing a source from noisy time-of-arrival *** particular,we are interested in the optimal placement of M planar sensors so as to yield the best expected source location *** main result,on maximizing the expected determinant of the Fisher information matrix for truncated,radially-symmetric source distributions,shows two features not previously ***,the sensors should be placed as far from the expected source position as ***,the sensors should be arranged in a splay configuration in which neighboring sensors are separated by equal angle *** examples are given for point,uniform,and truncated-Gaussian source density functions.

关键词： Optimal Sensor Placement For Time Difference of Arrival Localization Sensor

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Robust Global Asymptotic Stabilization of a 6-DOF Rigid Body by Quaternion-based Hybrid Feedback

Robust Global Asymptotic Stabilization of a 6-DOF Rigid Body...

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Christopher G.Mayhew Ricardo G.Sanfelice Andrew R.Teel Center for Control Engineering and Computation Electrical and Computer Engineering DepartmentUniversity of California Department of Aerospace and Mechanical Engineering University of Arizona

The problem of robust, global asymptotic stabilization of a rigid body is hampered by major topological obstructions. These obstructions prevent a continuous state feedback from solving the problem and also lead to robustness issues when(non-hybrid) discontinuous feedback is applied. In this paper, we extend a hybrid control strategy proposed in a companion paper for robust, global asymptotic stabilization of rigid body attitude to the case where translation is also considered. Through Lyapunov analysis, we develop quaternionbased hysteretic hybrid control laws in the kinematic and dynamic settings. In the dynamic setting, two control laws are derived: one from an energy-based Lyapunov function and one by backstepping. Robustness to measurement noise is asserted by employing recently developed stability theory for hybrid systems. A comparison between discontinuous and hysteretic feedback under measurement noise is shown in simulation.

关键词： Lyapunov Section Robust Global Asymptotic Stabilization of a 6-DOF Rigid Body by Quaternion-based Hybrid Feedback DOF Hybrid

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Robust Global Asymptotic Attitude Stabilization of a Rigid Body by Quaternion-based Hybrid Feedback

Robust Global Asymptotic Attitude Stabilization of a Rigid B...

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

Global asymptotic stabilization of the attitude of a rigid body is hindered by major topological *** fact, this task is impossible to accomplish with continuous state feedback. Moreover, when the attitude is parametrized with unit quaternions, it becomes impossible to design a globally stabilizing state feedback(even discontinuous) that is robust to measurement noise. In this paper, we present a quaternion-based hysteretic hybrid feedback that robustly globally asymptotically stabilizes the attitude of a rigid *** hybrid control laws are derived through Lyapunov analysis in kinematic and dynamic settings. In the dynamic setting,we provide two control laws: one derived from an energybased Lyapunov function and another based on *** the change in these Lyapunov functions due to switching of a logic variable yields a straightforward form for state-based hysteresis. A simulation study demonstrates how hysteresis provides robustness to measurement noise and highlights differences between the energy-based and backstepping control laws.

关键词： Section Robust Global Asymptotic Attitude Stabilization of a Rigid Body by Quaternion-based Hybrid Feedback Hybrid

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L2-induced Gain Analysis for a class of Switched Systems

L2-induced Gain Analysis for a class of Switched Systems

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Kenji Hirata Joo P.Hespanha Department of Mechanical Engineering Nagaoka University of Technology Center for Control Dynamical Systemsand Computationand the Department of Electrical and Computer EngineeringUniversity of California

This paper addresses the computation of the L-induced gain for a class of switched *** main contribution of the paper is to completely characterize the induced gain of the switched system through a system of differential inequalities on a common storage function,one for each system being *** motivation for computing the induced gain of a switched system is the application of robust stability tools to the analysis of hybrid systems.

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Formation control of autonomous robots based on cooperative behavior 10

Formation control of autonomous robots based on cooperative ...

引用

2009 10th European control Conference, ECC 2009

作者： Dorfler, Florian Francis, Bruce Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa BarbaraCA93106 United States Electrical and Computer Engineering Department University of Toronto TorontoM5S3G4 Canada

ISBN: (纸本)9783952417393

This paper considers the formation control problem for autonomous robots, where the target formation is specified as a minimally rigid formation. A distributed control law based on potential functions is derived from a directed sensor graph and relies on the graph matrices only. By methods of inverse optimality a certain class of sensor graphs is identified that is related to a cooperative behavior among the robots. These graphs are referred to as cooperative graphs, and undirected graphs, directed cycles, and directed open chain graphs can be identified as such graphs. Cooperative graphs admit a local stability result of the target formation together with a guaranteed region of attraction, that depends on the rigidity properties of the formation. © 2009 EUCA.

关键词： Robots

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Cooperative coevolutionary invasive weed optimization and its application to Nash equilibrium search in electricity markets

Cooperative coevolutionary invasive weed optimization and it...

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World Congress on Nature & Biologically Inspired Computing (NaBIC)

作者： Hossein Hajimirsadeghi Amin Ghazanfari Ashkan Rahimi-Kian Caro Lucas Control and Intelligent Processing Center of Excellence ECE Department College of Engineering University of Tehran Tehran Iran

This paper presents a coevolutionary algorithm named cooperative coevolutionary invasive weed optimization (CCIWO) and investigates its performance for global optimization of functions with numerous local optima and also Nash equilibrium (NE) search for games. Ability of CCIWO for function optimization is tested through a set of common benchmarks of stochastic optimization, and reported results are compared with two other coevolutionary algorithms. In advance, a three-bus transmission-constrained electricity market model is studied, and CCIWO is employed to find NE for this complex system. Experimental results show efficiency of the proposed method to have more accurate solutions.

关键词： Nash equilibrium Electricity supply industry Stochastic processes computational modeling Algorithm design and analysis Process control Intelligent control Educational institutions Electronic mail Testing

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Systems of Systems Communication for heterogeneous independent operable systems

Systems of Systems Communication for heterogeneous independe...

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IEEE International Conference on System of Systems engineering (SoSE)

作者： Kranthimanoj Nagothu Ted Shaneyfelt Pactrick Benavidez Matthew A. Jordens Srinath kota Mo Jamshidi Autonomous Control Engineering (ACE) Center and ECE Department University of Technology San Antonio TX USA

Swarms of robots in heterogeneous environments working together in a System of Systems, raise the need for suitable inter-swarm communication. This paper presents a potentially viable solution. Communication for land swarms was found to be successful through ZigBee Radio Modems, and a suitable counterpart is necessary for underwater swarms in a system of systems. An extensible standards based protocol to accommodate different types of data was developed for use among the swarm robots. This communication system allows for dynamic swarm expansion, where new members can be added to the swarm family. This enables coordination among robots within and between swarms in a system of systems framework.

关键词： Robot kinematics Underwater communication Communication system control control engineering Protocols Aerodynamics Robot sensing systems control systems Hardware Underwater vehicles

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ℒ2-induced gain analysis for a class of switched systems

ℒ2-induced gain analysis for a class of switched systems

引用

IEEE Conference on Decision and control

作者： Kenji Hirata João P. Hespanha Department of Mechanical Engineering Nagaoka University of Technology Nagaoka Japan Center for Control Dynamical Systems and Computation and the Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

This paper addresses the computation of the L 2 -induced gain for a class of switched systems. The main contribution of the paper is to completely characterize the induced gain of the switched system through a system of differential inequalities on a common storage function, one for each system being switched. The motivation for computing the induced gain of a switched system is the application of robust stability tools to the analysis of hybrid systems.

关键词： Switched systems Sufficient conditions Asymptotic stability Riccati equations Difference equations Linear systems control systems Observability Robust stability Logic

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Underwater swarm robotics consensus control

Underwater swarm robotics consensus control

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Matthew A. Joordens Mo Jamshidi School of Engineering Deakin University Waurn Ponds Australia Autonomous Control Engineering (ACE) Center and ECE Department University of Texas San Antonio San Antonio USA

The control of a swarm of underwater robots requires more than just a control algorithm, it requires a communications system. Underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to work on minimal and out of date information. The control system must also be able to control a large number of robots without a master control, a decentralized control approach. This paper describes one such control method.

关键词： Robot control control systems Robot kinematics Communication system control Marine vehicles Underwater vehicles Oceans Robotics and automation USA Councils control engineering

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Formation control of autonomous robots based on cooperative behavior

Formation control of autonomous robots based on cooperative ...

引用

European control Conference (ECC)

作者： Florian Dörfler Bruce Francis Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa Barbara CA USA Electrical and Computer Engineering Department University of Toronto Toronto Canada

关键词： Robot sensing systems Stability analysis Optimal control Vectors Mobile robots Aerospace electronics

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