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Uniting local and global output feedback controllers

Uniting local and global output feedback controllers

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作者： Prieur, Christophe Teel, Andrew R. LAAS-CNRS 7 Avenue du Colonel Roche 31077 Toulouse Cedex 4 France Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 United States

ISBN: (纸本)9783902661289

We consider control systems for which we know two stabilizing output feedback controllers. One is globally asymptotically stabilizing, while the other one is only locally asymptotically stabilizing. We look for a composite output feedback control law that is equal to the local feedback on a neighborhood of the origin and that is globally asymptotically stabilizing. We insist on using only output feedback controllers to solve this uniting problem. Since we want some robustness with respect to measurement noise, actuator errors and external disturbances, we consider hybrid output feedback controllers, following recent developments in the literature on robustness in hybrid systems. Under an input-output-to-state stability assumption, we exhibit a solution of this uniting problem by means of a dynamic hybrid output feedback controller. Copyright © 2007 IFAC.

关键词： Hybrid systems

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Target assignment for robotic networks: Asymptotic performance under limited communication

Target assignment for robotic networks: Asymptotic performan...

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American control Conference (ACC)

作者： Stephen L. Smith Francesco Bullo Department of Mechanical Engineering Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA

We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of designing a distributed algorithm that allows the group of agents to divide the targets among themselves and, simultaneously, leads each agent to reach its unique target. We do not require connectivity of the communication graph at any time. We introduce a novel assignment-based algorithm with the following features: initial assignments and robot motions follow a greedy rule, and distributed refinements of the assignment exploit an implicit circular ordering of the targets. We prove correctness of the algorithm, and give worst-case asymptotic bounds on the time to complete the assignment as the environment grows with the number of agents. We show that among a certain class of distributed algorithms, our algorithm is asymptotically optimal. The analysis utilizes results on the Euclidean traveling salesperson problem.

关键词： Mobile communication Distributed algorithms Mobile robots Communication system control Algorithm design and analysis Polynomials Concurrent computing Approximation algorithms Robot kinematics Cost function

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Cooperative Graph Search Using Fractal Decomposition

Cooperative Graph Search Using Fractal Decomposition

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American control Conference (ACC)

作者： James R. Riehl Joao P. Hespanha Center for Control Dynamical Systems and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We present an algorithm based on hierarchical decomposition that finds close-to-optimal search paths for a cooperative team of agents searching for one or more targets on a graph. The method partitions the graph to create a high-level problem and several lower-level problems. Since the computations on each level are identical, the lower-level problems can be further decomposed. In this way, the problem becomes fractal in nature. We use best-case and worst-case instances of the decomposed problem to establish upper and lower bounds on the optimal search reward, and the bounds are determined with much less computation than what is required to solve the full problem. We show that as the number of decomposition levels increases, the computational complexity approaches O(n) at the expense of looser bounds on the optimal reward. A large-scale test case shows that this method is computationally fast, produces good results, and achieves true cooperation between agents.

关键词： Fractals Search problems Partitioning algorithms computational complexity Distributed computing Military computing Cities and towns Large-scale systems Testing Autonomous agents

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Relaxed characterizations of smooth patchy control Lyapunov functions

Relaxed characterizations of smooth patchy control Lyapunov ...

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作者： Goebel, Rafal Prieur, Christophe Teel, Andrew R. Department of Mathematics University of Washington Seattle WA 98195-4350 United States LAAS-CNRS 7 Avenue du Colonel Roche 31077 Toulouse Cedex 4 France Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 United States

ISBN: (纸本)9783902661289

A smooth patchy control Lyapunov function for a nonlinear control system consists of an ordered family of smooth local control Lyapunov functions, whose open domains form a locally finite cover of the state space of the system, and which satisfy a certain arrangement property. In contrast to (Goebel et al., IEEE CDC, 2006), on each intersection of the domains, we do not impose a decrease condition of the local control Lyapunov functions when the index increases. We show a construction, based on such a patchy control Lyapunov function, of a stabilizing hybrid feedback that is robust to measurement noise. Copyright © 2007 IFAC.

关键词： Hybrid systems

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H∞ filtering for a class of 2D systems

H∞ filtering for a class of 2D systems

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15th European Signal Processing Conference, EUSIPCO 2007

作者： Wu, Ligang Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65-246 Zielona Góra Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom University of Wuppertal Faculty of Electrical Information and Media Engineering Communication Theory Germany

ISBN: (纸本)9788392134022

The unique characteristic of a repetitive process is a series of sweeps or passes through a set of dynamics defined over a finite duration known as the pass length. At the end of each pass, the process is reset and the next time through the output, or pass profile, produced on the previous pass acts as a forcing function on, an hence contributes to, the dynamics of the new pass profile. They are hence a class of systems with information propagation in two independent directions where here the dynamics over the finite pass length are described by a matrix linear differential equation and that from pass to pass has a discrete updating structure. This means that filtering/estimation theory/algorithms for, in particular, 2D discrete linear systems is not applicable. In this paper we solve a general filtering problem with a view toward use in the many applications where such action will be required. © 2007 EURASIP.

关键词： Dynamics

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Tracking control for snake robot joints

Tracking control for snake robot joints

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Aksel A. Transeth Nathan van de Wouw Alexey Pavlov Joao P. Hespanha Kristin Y. Pettersen Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway Department of Mechanical Engineering Eindhovan University of Technology Eindhoven Netherlands Center for Control Engineering and Computation University of California Santa Barbara CA USA

This paper considers the problem of model based control of the joints of a snake robot without wheels. The potential range of applications for snake robots are numerous, and delicate operations such as inspection and maintenance in industrial environments or performing search and rescue operations require precise control of a snake robot joints. To this end we present a controller that asymptotically stabilizes the joints of the snake robot to a desired reference trajectory. The controller is based on input-output linearization of a control plant model of the snake robot dynamics also developed in this paper. In addition, we provide a formal Lyapunov-based proof of the closed-loop stability, together with simulation results for a smooth dynamical model. Finally, the performance of the controller is tested on a non-smooth snake robot model with set-valued Coulomb friction that offers an accurate description of the stick-slip transitions during locomotion.

关键词： Robot control Mobile robots Friction Service robots Robot kinematics Wheels Stability analysis Intelligent robots Mathematical model Nonlinear control systems

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Complex Hybrid Systems: Stability Analysis for Omega Limit Sets

Complex Hybrid Systems: Stability Analysis for Omega Limit S...

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第二十六届中国控制会议

作者： Goebel Rafal Sanfelice Ricardo G. Teel Andrew R. 3518 NE 42 St. SeattleWA 98105USA Center for Control Dynamical Systemsand ComputationDepartment of Electrical and Computer Engineering University of California

This paper focuses on the asymptotic stability properties of omega limit sets for complex hybrid dynamical systems,which are commonly found in systems and *** spells out specific stability results that follow when a hybrid dynamical system has certain structure,e.g.,when it admits a decomposition resembling a cascade of hybrid dynamical systems.

关键词： Hybrid systems Asymptotic stability Omega limit sets

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Cooperative Graph-Based Model Predictive Search

Cooperative Graph-Based Model Predictive Search

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 5971-6447

作者： James R. Riehl Gaemus E. Collins Joao P. Hespanha Center for Control Dynamical Systems and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA Toyon Research Corporation Goleta CA USA

ISBN: (纸本)9781424414970;1424414970

We present a receding-horizon cooperative search algorithm that jointly optimizes routes and sensor orientations for a team of autonomous agents searching for a mobile target. By sampling the region of interest at locations with high target probability, we reduce the continuous search problem to an optimization on a finite graph. Paths are computed on this graph using a receding horizon approach, in which the horizon is a fixed number of waypoints. To facilitate a fair comparison between paths of varying length on a non-uniform graph, we use an optimization criterion corresponding to the probability of finding the target per unit time. Using this algorithm, we show that the team discovers the target in finite time with probability one. Simulations verify that this algorithm makes effective use of agents and performs significantly better than previously proposed search algorithms. We have also successfully tested this search algorithm on a physical system consisting of two UAVs with gimbal-mounted cameras.

关键词： SEARCHING ALGORITHM optimal criterion maneuvering target Horizon Intelligent agents Probability Line graph Targets algorithms region of interest Teams Paths continuous search Byways

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control of discrete linear repetitive processes with ℋ ∞ and 2 - ∞ performance

Control of discrete linear repetitive processes with ℋ ∞ a...

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2007 American control Conference, ACC

作者： Wu, Ligang Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

ISBN: (纸本)1424409888

This paper considers the control of discrete linear repetitive processes, which are a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, which are of both system-theoretic and applications interest. In this paper we report new results on the design of control laws with guaranteed levels of performance. In particular, develop algorithms for the design of an ℋ∞ and 2-∞ dynamic output feedback controller which guarantees that the resulting controlled process is stable and has prescribed disturbance attenuation performance as measured by ℋ∞ and 2-∞ norms. © 2007 IEEE.

关键词： Linear systems

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A Hybrid control Strategy for Robust Contact Detection and Force Regulation

A Hybrid Control Strategy for Robust Contact Detection and F...

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American control Conference (ACC)

作者： Raffaella Carloni Ricardo G. Sanfelice Andrew R. Teel Claudio Melchiorri Center for Research on Complex Automated Systems (CASY) Department of Electronics Computer Science and Systems (DEIS) University of Bologna Bologna Italy Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.

关键词： Force control Robust control Contacts Robots Manipulators Switches Force measurement Noise measurement Working environment noise Motion control

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