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Distributed consensus on enclosing shapes and minimum time rendezvous

Distributed consensus on enclosing shapes and minimum time r...

引用

IEEE Conference on Decision and control

作者： Giuseppe Notarstefano Francesco Bullo Department of Information Engineering Università di Padova Padova Italy Center for Control Dynamical Systems and Computation University of California슠Santa Barbara Santa Barbara CA USA

ISBN: (纸本)1424401704;9781424401703

In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a network of first order agents with bounded inputs and limited range communication. We propose two dynamic control and communication laws. These laws are based on consensus algorithms for distributed computation of the minimal enclosing ball and orthotope of a set of points. We prove that these control laws converge to the optimal solution of the centralized problem (i.e., when no communication constrains are enforced) as the bound on the control input goes to zero. Moreover, we give a bound for the time complexity of one of the two laws

关键词： Communication system control Optimal control Mobile communication Robot kinematics Distributed computing Centralized control Shape control Motion control Constraint optimization Network topology

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Suboptimal Contractive Predictive control for a Class of Hybrid Systems

Suboptimal Contractive Predictive Control for a Class of Hyb...

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International Conference on computational Intelligence for Modelling, control and Automation, and International Conference on Intelligent Agents, Web Technologies and Internet Commerce

作者： Jalal Habibi Behzad Moshiri Ali Khaki Sedigh ECE Department Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran Department of Electrical Engineering K.N. Toosi University of Technology Tehran Iran

Current state-of-the-art approaches for control of hybrid systems face with two main important challenging problems which are guaranteeing the stability and the computational complexity. In this article a new approach has been proposed to guarantee the closed loop stability of a class of hybrid systems while reducing the complexity of control problem by introducing some level of suboptimality. It has been shown that using contraction constraint on the objective function results in asymptotically stable closed loop system. It has also been described that since only feasibility is sufficient for stability in the proposed approach, suboptimal control could be used to reduce the computational complexity.

关键词： Predictive control Stability computational complexity control systems computational intelligence Closed loop systems Process control Intelligent control Face Automata

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Maintaining limited-range connectivity among second-order agents

Maintaining limited-range connectivity among second-order ag...

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American control Conference (ACC)

作者： G. Notarstefano K. Savla F. Bullo A. Jadbabaie Department of Information Engineering Università di Padova Padova Italy Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA

In this paper we consider ad-hoc networks of robotic agents with double integrator dynamics. For such networks, the connectivity maintenance problems are: (i) do there exist control inputs for each agent to maintain network connectivity, and (ii) given desired controls for each agent, can one compute the closest connectivity-maintaining controls in a distributed fashion. The proposed solution is based on three contributions. First, we define and characterize admissible sets for double integrators to remain inside disks. Second, we establish an existence theorem for the connectivity maintenance problem by introducing a novel state-dependent graph, called the double-integrator disk graph. Finally, we design a distributed "flow-control" algorithm to compute optimal connectivity-maintaining controls

关键词： Communication system control control systems Optimal control Ad hoc networks Robot kinematics Distributed computing Autonomous agents Design engineering Computer networks Distributed control

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Smooth patchy control Lyapunov functions

Smooth patchy control Lyapunov functions

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IEEE Conference on Decision and control

作者： Rafal Goebel Christophe Prieur Andrew R. Teel Department of Mathematics University of Washington Seattle WA USA LAAS CNRS Toulouse France Center for Control Dynamical Systems & Computation (CCDC) Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)1424401704;9781424401703

A smooth patchy control Lyapunov function for a nonlinear 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 decrease condition when the domains overlap. We prove that such a control Lyapunov function exists for any asymptotically controllable nonlinear system. We also show a construction, based on such a Lyapunov function, of a stabilizing hybrid feedback that is robust to measurement noise

关键词： Lyapunov method Nonlinear control systems control systems Noise robustness Noise measurement Nonlinear systems Additive noise State feedback Robust control Robust stability

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Notes on averaging over acyclic digraphs and discrete coverage control

Notes on averaging over acyclic digraphs and discrete covera...

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IEEE Conference on Decision and control

作者： Chunkai Gao Francesco Bullo Jorge Cortes Ali Jadbabaie Center for Control Dynamical Systems and Computation and the Department of Mechanical Engineering University of California Santa Barbara CA USA Department of Applied Mathematics and Statistics University of California Santa Cruz CA USA Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)1424401704;9781424401703

In this paper, we show the relationship between two algorithms and optimization problems that are the subject of recent attention in the networking and control literature. First, we obtain some results on averaging algorithms over acyclic digraphs with fixed and controlled-switching topology. Second, we discuss continuous and discrete coverage control laws. Further, we show how discrete coverage control laws can be cast as averaging algorithms over discrete Voronoi graphs

关键词： Optimal control Distributed control Algorithm design and analysis Convergence USA Councils Network topology Robot sensing systems Robot kinematics Drives Laplace equations

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Using Novel MEMS EEG Sensors in Detecting Drowsiness Application

Using Novel MEMS EEG Sensors in Detecting Drowsiness Applica...

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2006 IEEE Biomedical Circuits and Systems Conference (BioCAS 2008)

作者： Jin-Chern Chiou Li-Wei Ko Chin-Teng Lin Chao-Ting Hong Tzyy-Ping Jung Sheng-Fu Liang Jong-Liang Jeng Brain Research Center National Chiao Tung University Hsinchu Taiwan Department of Electrical and Control Engineering National Chiao-Tong University Hsin-Chu Taiwan China Institute of Neural Computation University of California La Jolla CA USA Department of Biological Science and Technology National Chiao Tung University Hsinchu Taiwan

Electroencephalographic (EEG) analysis has been widely adopted for the monitoring of cognitive state changes and sleep stages because abundant information in EEG recording reflects changes in drowsiness, arousal, sleep, and attention, etc. In this study, Micro-Electro-Mechanical Systems (MEMS) based silicon spiked electrode array, namely dry electrodes, are fabricated and characterized to bring EEG monitoring to the operational workplaces without requiring conductive paste or scalp preparation. An isotropic/anisotropic reactive ion etching with inductive coupled plasma (RIE-ICP) micromachining fabrication process was developed to manufacture the needle-like micro probes to pierce the stratum corneum of skin and obtain superior electrically conducting characteristics. This article reports a series of prosperity testing and evaluations of continuous EEG recordings. Our results suggest that the dry electrodes have advantages in electrode-skin interface impedance, signal intensity and size over the conventional (wet) electrodes. In addition, we also developed an EEG-based drowsiness estimation system that consists of the dry-electrode array, power spectrum estimation, Principal Component Analysis (PCA)-based EEG signal analysis, and multivariate linear regression to estimate driver's drowsiness level in a virtual-reality-based dynamic driving simulator to demonstrate the potential applications of the MEMS electrodes in operational environments.

关键词： Drowsiness Estimation Dry Electrode Electroencephalogram Micro-electro-mechanical Systems Principle Component Analysis

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Converse Lyapunov theorems and robust asymptotic stability for hybrid systems

Converse Lyapunov theorems and robust asymptotic stability f...

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2005 American control Conference, ACC

作者： Cai, Chaohong Teel, Andrew R. Goebel, Rafal Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara

ISBN: (纸本)0780390989

We state results on the existence of smooth Lyapunov functions for hybrid systems whose solutions satisfy a class-K script L sign script L sign estimate with respect to two measures. The class-K script L sign script L sign estimate, a natural extension of class-K script L sign estimate, is in terms of the elapsed time and the number of jumps that have occurred. The main result is that a smooth Lyapunov function exists if and only if the class-K script L sign script L sign estimate is robust. In turn, sufficient conditions for robustness are given. Special cases include systems with compact attractors. Most of the results parallel, and unify, what has been developed previously for differential inclusions and difference inclusions. © 2005 AACC.

关键词： Hybrid computers

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Plenary talk notes on multi-agent motion coordination: Models and algorithms

Plenary talk notes on multi-agent motion coordination: Model...

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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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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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Multiple objective optimization in a spacecraft power system to maximize serviceability

Multiple objective optimization in a spacecraft power system...

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13th International Conference on Intelligent Systems Application to Power Systems, ISAP'05

作者： Momoh, James A. Kaili, Xu IEEE Center for Electrical System and Control Department of ECE Howard University Washington DC 20059 Department of Electrical and Computer Engineering Howard University Washington DC 20059 United States Center for Energy Systems and Control Electrial and Computer Engineering Howard University Washington DC 20059 United States

ISBN: (纸本)1599750287

Different from most power systems, the requirement for reliability of the power system on board a spacecraft is much more stringent. However, the reliability of the spacecraft power system can not be solely realized by increasing system redundancies due to limitations on mass. A Ring-Bus topology has been proposed for this purpose. This paper provides an analysis to this special topology, study selected critical possible failure scenarios and propose methods to maximize the serviceability of the system. A spacecraft power system is distinguished from most other system as it orbits around the earth. The primary source of the system is solar energy. Batteries save energy for ellipse time. To maximize the serviceability, the solar energy should be utilized most efficiently and the batteries should be strategically discharged to meet not only immediate load but anticipated load in the future. At the same time, the system should minimize current flows among different ring buses. Multiple objective functions are proposed and implemented in this paper based on different system operating conditions. The main goal is to maximize the serviceability of the system. The optimization result can be utilized to design controllers for the PV sources, loads and batteries. The proposed methods are tested on a Ring-Bus system. The testing result shows that the system can correctly determine its optimum operating strategy and corresponding control actions. © 2005 ISAP.

关键词： Electric power systems

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