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作者： Borri, Alessandro Bopardikar, Shaunak D. Hespanha, Joao P. Di Benedetto, Maria D. Department of Electrical Engineering University of L'Aquila Italy Center for Control Dynamical Systems and Computation University of California Santa Barbara CA 93106 United States

ISBN: (纸本)9783902661937

We consider a game played between a hider, who hides a static object in one of several possible positions in a bounded planar region, and a searcher, who wishes to reach the object by querying sensors placed in the plane. The searcher is a mobile agent, and whenever it physically visits a sensor, the sensor returns a randomdirection, corresponding to a half-plane in which the hidden object is *** first present a novel search heuristic and characterize bounds on the expected distance covered before reaching the object. Next, we model this game as a large-dimensional zero-sum dynamic game and we apply a recently introduced randomized sampling technique that provides a probabilistic level of security to the hider. We observe that, when the randomized sampling approach is only allowed to select a very small number of samples, the cost of the heuristic is comparable to the security level provided by the randomized procedure. However, as we allow the number of samples to increase, the randomized procedure provides a higher probabilistic security level. © 2011 IFAC.

关键词： Mobile agents

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Second-Order Sliding Mode Design Based on the Integration of Proportional-Integral and Nonlinear controllers for Load Frequency control 31

Second-Order Sliding Mode Design Based on the Integration of...

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31st International Conference on Electrical engineering, ICEE 2023

作者： Samari, Behrad Yazdanpanah, Mohammad Javad University of Tehran Department of Electrical Engineering Tehran Iran School of Ece University of Tehran Control & Intelligent Processing Center of Excellence Tehran Iran

ISBN: (纸本)9798350312560

This article addresses the load frequency control (LFC) problem of control-area-partitioned power networks. An equivalent generator with second-order turbine-governor dynamics is utilized to model each control area, and power flows establish nonlinear couplings between control areas. As a consequence of the integration of the proportional-integral (PI) controller and the nonlinear controller, a novel suitable sliding manifold for enhancing dynamic performance is first proposed. Then, a decentralized second-order sliding mode (SOSM) controller is designed for LFC in power networks, which regulates the frequency and sustains the net inter-area power flows at the predetermined values. The simulation results demonstrate the efficacy of the proposed control strategy. © 2023 IEEE.

关键词： Decentralized control

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Output maneuvering for a class of nonlinear systems 15th

Output maneuvering for a class of nonlinear systems

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15th World Congress of the International Federation of Automatic control, 2002

作者： Skjetne, Roger Fossen, Thor I. Kokotović, Petar Department of Engineering Cybernetics Norwegian University of Science and Technology TrondheimN-7491 Norway Center for Control Engineering and Computation University of California Santa BarbaraCA93106 United States

ISBN: (纸本)9783902661746

The output maneuvering problem involves two tasks. The first, which is the geometric task, is to force the output to converge to a desired path parametrized by a continuous scalar variable 6. The second task is to satisfy a desired speed assignment along the path. The main concern is to satisfy the geometric task. However, the speed assignment will ensure that the output follows the path with sufficient speed. A recursive control design technique is developed for nonlinear plants in vectorial strict feedback form of any relative degree. First the geometric part of the problem is solved. Then an update law is constructed that bridges the geometric design with the speed assignment. An extra degree of freedom is provided for an operator to specify the speed 6. A computer simulation with a marine vessel is performed to illustrate the design. Copyright © 2002 IFAC.

关键词： Speed

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On the dubins traveling salesperson problems: Novel approximation algorithms 2nd

On the dubins traveling salesperson problems: Novel approxim...

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2nd International Conference on Robotics Science and Systems, RSS 2006

作者： Savla, Ketan Frazzoli, Emilio Bullo, Francesco Center for Control Dynamical Systems and Computation University of California at Santa Barbara United States Mechanical and Aerospace Engineering Department University of California Los Angeles United States

ISBN: (纸本)9780262693486

In this paper we study minimum-time motion planning and routing problems for the Dubins vehicle, i.e., a nonholonomic vehicle that is constrained to move along planar paths of bounded curvature, without reversing direction. Motivated by autonomous aerial vehicle applications, we consider the Traveling Salesperson Problem for the Dubins vehicle (DTSP): given n points on a plane, what is the shortest Dubins tour through these points and what is its length? Specifically, we study a stochastic version of the DTSP where the n targets are randomly sampled from a uniform distribution. We show that the expected length of such a tour is of order at least n2/3 and we propose a novel algorithm yielding a solution with length of order n2/3 with high probability. Additionally, we study a dynamic version of the DTSP: given a stochastic process that generates target points, is there a policy which guarantees that the number of unvisited points does not diverge over time? If such stable policies exist, what is the minimum expected time that a newly generated target waits before being visited by the vehicle? We propose a novel stabilizing algorithm such that the expected wait time is provably within a constant factor from the optimum.

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Accuracy and decision time for sequential decision aggregation

Accuracy and decision time for sequential decision aggregati...

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作者： Dandach, Sandra H. Carli, Ruggero Bullo, Francesco Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa Barbara CA 93106 United States United Technologies Research Center East Hartford CT 06108 United States Department of Information Engineering University of Padova Padova 35131 Italy Department of Mechanical Engineering Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa Barbara CA 93106 United States

This paper studies prototypical strategies to sequentially aggregate independent decisions. We consider a collection of agents, each performing binary hypothesis testing and each obtaining a decision over time. We assume the agents are identical and receive independent information. Individual decisions are sequentially aggregated via a threshold-based rule. In other words, a collective decision is taken as soon as a specified number of agents report a concordant decision (simultaneous discordant decisions and no-decision outcomes are also handled). We obtain the following results. First, we characterize the probabilities of correct and wrong decisions as a function of time, group size, and decision threshold. The computational requirements of our approach are linear in the group size. Second, we consider the so-called fastest and majority rules, corresponding to specific decision thresholds. For these rules, we provide a comprehensive scalability analysis of both accuracy and decision time. In the limit of large group sizes, we show that the decision time for the fastest rule converges to the earliest possible individual time, and that the decision accuracy for the majority rule shows an exponential improvement over the individual accuracy. Additionally, via a theoretical and numerical analysis, we characterize various speed/accuracy tradeoffs. Finally, we relate our results to some recent observations reported in the cognitive information processing (CIP) literature. © 2011 IEEE.

关键词： Decision making

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Design of an expert system for a crude oil distillation column with Bayesian Belief Network

Design of an expert system for a crude oil distillation colu...

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作者： Dolatabadi, Arash Farahani, Farhang Jalali Ahamadabadi, Majid Nili Moustofi, Navid Chemical Engineering Department University of Tehran Tehran Iran Control and Intelligence Processing Center of Excellence ECE Department University of Tehran Tehran Iran

ISBN: (纸本)9780816910656

An expert system was developed for atmospheric crude distillation column using the Bayesian Belief Network (BBN). The experimental data was gathered from atmospheric crude tower as the major processing unit in a refinery in Iran, at the normal condition (steady state). In this method nodes of a BBN model present the parameters and state variables of the process under study and edges of BBN present their relationships. In the present work, the process variables are the CDU properties which are feed flow rate, quality and temperature at the tower entrance (furnace product), tower pressure, steam flow rate (replacement for reboiler), and flow rate of products;blend naphtha, kerosene and gasoil. In this work, the two main capabilities of the developed model in the refinery processes, prediction and decision making, were illustrated. Comparing network results and the practical data (history matching) shows that more than 94% of predictions and 91% of suggested decisions are reliable and also using the network saves us twenty three minutes, which indicates high capability of this system in decision making and prediction.

关键词： Bayesian networks

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Hybrid systems with memory: Modelling and stability analysis via generalized solutions 19

Hybrid systems with memory: Modelling and stability analysis...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Liu, Jun Teel, Andrew R. Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa BarbaraCA93106 United States

ISBN: (纸本)9783902823625

Hybrid systems with memory are dynamical systems exhibiting both hybrid and delay phenomena. We present a general modelling framework for such systems using hybrid functional inclusions, whose generalized solutions are defined on hybrid time domains and evolve in the phase space of hybrid memory arcs equipped with the graphical convergence topology. We prove a general existence result based on some basic conditions on the data of hybrid systems. We further establish sufficient conditions for the stability analysis of hybrid systems with memory using Lyapunov-Razumikhin (L-R) functions. We demonstrate the stability results on a general nonlinear system with switching dynamics and state jumps. © IFAC.

关键词： System stability

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Hybrid systems: Generalized solutions and robust stability 1

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IFAC Proceedings Volumes 2004年第13期37卷 1-12页

作者： Rafal Goebel Joao Hespanha Andrew R. Teel Chaohong Cai Ricardo Sanfelice Center for Control Engineering and Computation & Electrical and Computer Engineering Department University of California Santa Barbara CA 93106-9560

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.

关键词： Hybrid systems generalized solutions set convergence set-valued maps asymptotic stability lyapunov functions robustness

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A different look at output tracking: control of a VTOL aircraft

A different look at output tracking: control of a VTOL aircr...

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IEEE Conference on Decision and control

作者： P. Martin S. Devasia B. Paden Center for Control Engineering and Computation ECE Department University of California Santa Barbara CA USA Mechanical Engineering Department University of California Santa Barbara CA USA

An important control problem is output tracking. One approach, for slightly nonminimum phase systems is to approximate the system by a minimum phase one. Another approach is to track signals generated by an exosystem. These methods concentrate on properties of the IO system without any attempt to investigate and use structural properties of the IS system. In this paper the authors propose an alternative point of view based on the following simple remark: if one had a state tracker (i.e. a controller able to track any reference state trajectory), the output tracking would reduce to the generation of a good state reference, which is only an open-loop problem, and hence (hopefully) simpler. The idea is simply to split the output tracking problem into two steps.< >

关键词： Aerospace control Trajectory control systems Open loop systems Aircraft propulsion control engineering control engineering computing Mechanical engineering State feedback Signal generators

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Simultaneous boundary partitioning and cameras synchronization for optimal video surveillance

Simultaneous boundary partitioning and cameras synchronizati...

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3rd IFAC Workshop on Distributed Estimation and control in Networked Systems, NECSYS 2012

作者： Zanella, F. Pasqualetti, F. Carli, R. Bullo, F. Department of Information Engineering Università di Padova Via Gradenigo 6/a 35131 Padova Italy Center for Control Dynamical Systems and Computation University of California Santa Barbara United States

ISBN: (纸本)9783902823229

This paper proposes a real-time distributed algorithm for a team of smart cameras to self-organize and perform video surveillance of an open boundary. In particular, our algorithm simultaneously partitions the boundary among the cameras, and synchronizes the motion of the cameras to optimize the surveillance performance. We focus on the detection of smart intruders, who are aware of the cameras configuration at each time instant, and who schedule their motion to avoid detection for as long as possible. We consider both the worst-case and the average detection times of smart intruders. Our algorithm achieves minimum worst-case detection time, and, under some reasonable assumptions, constant-factor optimal average detection time. © 2012 IFAC.

关键词： Cameras

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