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27th Annual International Conference of the IEEE-engineering-in-Medicine-and-Biology-Society

作者： Liang, S. F. Lin, C. T. Wu, R. C. Chen, Y. C. Huang, T. Y. Jung, T. P. Brain Research Center University System of Taiwan Taiwan Department of Electrical and Control Engineering National Chiao-Tung University Hsinchu Taiwan Institute for Neural Computation University of California San Diego San Diego CA United States

ISBN: (纸本)0780387406

Preventing accidents caused by drowsiness behind the steering wheel is highly desirable but requires techniques for continuously estimating driver's abilities of perception, recognition and vehicle control abilities. This paper proposes methods for drowsiness estimation that combine the electroencephalogram (EEG) log subband power spectrum, correlation analysis, principal component analysis, and linear regression models to indirectly estimate driver's drowsiness level in a virtual-reality-based driving simulator. Results show that it is feasible to quantitatively monitor driver's alertness with concurrent changes in driving performance in a realistic driving simulator.

关键词： alertness EEG power spectrum correlation analysis linear regression model

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Optimal Sensor Placement For Time Difference of Arrival Localization

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

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

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Procedia Computer Science 2020年 171卷 130-138页

作者： Sudarshan K. Valluru Manpreet Kaur Kumar Kartikeya Arnav Goel Daksh Dobhal Incubation Center for Control Dynamical Systems and Computation Department of Electrical Engineering Delhi Technological University. Delhi-110042 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 K p δ , K I δ and K D δ . 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.

关键词： PID FIPSO Gantry Crane Hyperbolic Tangent

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When smoothness is not enough: Toward exact quantification and optimization of the price-of-anarchy

arXiv

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arXiv 2019年

作者： Chandan, Rahul Paccagnan, Dario Marden, Jason R. Department of Electrical and Computer Engineering Center of Control Dynamical Systems and Computation UC Santa Barbara United States Department of Mechanical Engineering Center of Control Dynamical Systems and Computation UC Santa Barbara United States

Today's multiagent systems have grown too complex to rely on centralized controllers, prompting increasing interest in the design of distributed algorithms. In this respect, game theory has emerged as a valuable tool to complement more traditional techniques. The fundamental idea behind this approach is the assignment of agents' local cost functions, such that their selfish minimization attains, or is provably close to, the global objective. Any algorithm capable of computing an equilibrium of the corresponding game inherits an approximation ratio that is, in the worst case, equal to its price-of-anarchy. Therefore, a successful application of the game design approach hinges on the possibility to quantify and optimize the equilibrium performance. Toward this end, we introduce the notion of generalized smoothness, and show that the resulting efficiency bounds are significantly tighter compared to those obtained using the traditional smoothness approach. Leveraging this newly-introduced notion, we quantify the equilibrium performance for the class of local resource allocation games. Finally, we show how the agents' local decision rules can be designed in order to optimize the efficiency of the corresponding equilibria, by means of a tractable linear program. Copyright © 2019, The Authors. All rights reserved.

关键词： Linear programming

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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...

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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...

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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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On quaternion-based attitude control and the unwinding phenomenon

On quaternion-based attitude control and the unwinding pheno...

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作者： Mayhew, Christopher G. Sanfelice, Ricardo G. Teel, Andrew R. Robert Bosch Research and Technology Center 4005 Miranda Ave. Palo Alto CA 94304 United States Department of Aerospace and Mechanical Engineering University of Arizona Tucson AZ 85721 United States Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA 93106-9560 United States

ISBN: (纸本)9781457700804

The unit quaternion is a pervasive representation of rigid-body attitude used for the design and analysis of feedback control laws. Often, quaternion-based feedbacks require an additional mechanism that lifts a continuous attitude path to the unit quaternion space. When this mechanism is memoryless, it has a limited domain where it remains injective and leads to discontinuities when used globally. To remedy this limitation, we propose a hybrid-dynamic algorithm for lifting a continuous attitude path to the unit quaternion space. We show that this hybrid-dynamic mechanism allows us to directly translate quaternion-based controllers and their asymptotic stability properties (obtained in the unit-quaternion space) to the actual rigid-body-attitude space. We also show that when quaternion-based controllers are not designed to account for the double covering of the rigid-body-attitude space by a unit-quaternion parameterization, they can give rise to the unwinding phenomenon, which we characterize in terms of the projection of asymptotically stable sets. © 2011 AACC American Automatic control Council.

关键词： controllers

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Robust global asymptotic attitude synchronization by hybrid control

Robust global asymptotic attitude synchronization by hybrid ...

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作者： Mayhew, Christopher G. Sanfelice, Ricardo G. Arcak, Murat Teel, Andrew R. Electrical and Computer Engineering Department Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560 United States Department of Aerospace and Mechanical Engineering University of Arizona Tucson AZ 85721 United States Electrical Engineering and Computer Sciences University of California Berkeley CA 94720 United States

ISBN: (纸本)9781424474264

We apply recent results on robust global asymptotic stabilization of the attitude of a single rigid body to the problem of synchronizing the attitude of a network of rigid bodies using graph-local information. The proposed synchronization scheme relies on a hysteretic hybrid feedback based on the unit quaternion representation of rigid body attitude to achieve a global synchronization result that is robust to measurement noise. While the hysteretic feedback manages a trade-off between robustness to measurement noise and unwinding, the scheme necessitates the communication of a single binary logic variable between neighboring rigid bodies. © 2010 AACC.

关键词： Feedback

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Synergistic Lyapunov functions and backstepping hybrid feedbacks

Synergistic Lyapunov functions and backstepping hybrid feedb...

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ISBN: (纸本)9781457700804

The notion of synergistic potential functions has been introduced recently in the literature and has been used as the basis for the design of hybrid feedback laws that achieve global asymptotic stabilization of a point on a compact manifold (without boundary) such as S1, S2, and SO(3). Here, synergistic potential functions are generalized - to synergistic Lyapunov functions - and are shown to be amenable to backstepping. In particular, if an affine control system admits a (weak) synergistic Lyapunov function and feedback pair then the system with an integrator added at the input also admits a synergistic Lyapunov and feedback pair. This fact enables "smoothing" hybrid feedbacks, or implementing them through a chain of integrators. In this way, hybrid control designed at a kinematic level can be redesigned for control through forces, torques, or even the derivative of these quantities. We demonstrate the backstepping procedure for attitude stabilization of a rigid body using a quaternion parametrization. © 2011 AACC American Automatic control Council.

关键词： Lyapunov functions

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On the non-robustness of inconsistent quaternion-based attitude control systems using memoryless path-lifting schemes

On the non-robustness of inconsistent quaternion-based attit...

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ISBN: (纸本)9781457700804

The unit quaternion is a pervasive representation of rigid-body attitude used for the design and analysis of feedback control laws. Quaternion-based feedback control laws that are inconsistent (i.e. do not have a unique value for a given attitude) require an additional mechanism that lifts a continuous attitude trajectory to the unit quaternion space. Lifting mechanisms that are memoryless, for example, selecting the quaternion having positive scalar component, have a limited domain where they remain injective and, when used globally, introduce discontinuities into the closed-loop system. We show that such discontinuities can be exploited by an arbitrarily small measurement disturbance to stabilize attitudes far from the desired attitude and destroy "global" attractivity properties. © 2011 AACC American Automatic control Council.

关键词： Closed loop systems

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