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On visibility maintenance via controlled invariance for leader-follower Dubins-like vehicles

On visibility maintenance via controlled invariance for lead...

引用

IEEE Conference on Decision and control

作者： Fabio Morbidi Francesco Bullo Domenico Prattichizzo Dipartimento di Ingegneria dellInformazione Università di Siena Siena Italy Department of Mechanical Engineering and Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA

ISBN: (纸本)9781424431236

The paper studies the visibility maintenance problem (VMP) for a leader-follower pair of robots modelled as first-order dynamic systems and proposes an original solution based on the notion of controlled invariance. The nonlinear model describing the relative dynamics of the vehicles is interpreted as linear uncertain system, with the leader robot acting as an external disturbance. The VMP can then be reformulated as a linear constrained regulation problem with additive disturbances (DLCRP). New positive D-invariance conditions for linear uncertain systems with parametric disturbance matrix are introduced and used to solve the VMP when box bounds on the state, control input and disturbance are considered. The proposed design procedure can be easily adapted to provide the control with UBB disturbances rejection capabilities. As an extension, the paper addresses the VMP on a circle. Simulation experiments show the effectiveness of the proposed designs.

关键词： Robot sensing systems Robot kinematics Uncertain systems Vehicle dynamics Nonlinear dynamical systems control systems Linear systems Linear matrix inequalities Laser radar State feedback

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Using noise transmission properties to identify stochastic gene regulatory networks

Using noise transmission properties to identify stochastic g...

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IEEE Conference on Decision and control

作者： Brian Munsky Mustafa Khammash Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA Computational and Statistical Sciences Division at Los Alamos National Laboratory Center for Nonlinear Science and Computer Los Alamos NM USA

ISBN: (纸本)9781424431236

Gene regulatory networks often occur at such small scales that their dynamics are controlled by individual molecular events. This discrete behavior causes significant quantities of intrinsic noise. In some cases, mechanisms exist in the system to repress this noise. With different parameters, the same mechanisms may amplify the noise. By examining the properties of how noise is transmitted through the system, one can gather significant information about the system and aid researchers to identify system properties. In this paper, we consider a few simple analytical schemes to identify the parameters of gene transcription and translation processes with feedback regulation. While protein distributions can be measured with fluorescent protein tagging and flow cytometry, it is much more difficult to measure the quantities of messenger RNAs in a single cell. We show that with the right experimental procedures involving measurements of proteins alone, one can identify transcription and translation parameters.

关键词： Stochastic resonance Proteins Stochastic systems Feedback Fluid flow measurement RNA Military computing Fluorescence Tagging Chemical processes

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Quantized average consensus via dynamic coding/decoding schemes

Quantized average consensus via dynamic coding/decoding sche...

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IEEE Conference on Decision and control

作者： Ruggero Carli Francesco Bullo Sandro Zampieri Center for Control Dynamical Systems and Computation University of California슠Santa Barbara Santa Barbara CA USA Department of Information Engineering sede di Vicenza Università di Padova Padova Italy

ISBN: (纸本)9781424431236

In the average consensus a set of linear systems has to be driven to the same final state which corresponds to the average of their initial states. This contribution presents a consensus strategy in which the systems can exchange information among themselves according to a fixed connected digital communication network. Beside the decentralized computational aspects induced by the choice of the communication network, we here have also to face the quantization effects due to the digital links. We here present and discuss two different encoding/decoding strategies with theoretical and simulation results on their performance.

关键词： Decoding Quantization Convergence Stochastic processes control systems Digital communication Additive noise Analytical models Linear systems Computer networks

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Increasingly correct message passing averaging algorithms

Increasingly correct message passing averaging algorithms

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IEEE Conference on Decision and control

作者： Kurt Plarre Francesco Bullo Department of Mechanical Engineering and Center for Control Dynamical Systems and Computation University of California슠Santa Barbara Santa Barbara CA USA Department of Mechanical Engineering University of California슠Santa Barbara CA USA

ISBN: (纸本)9781424431236

We study averaging algorithms, when implemented in large networks of wirelessly connected elements. We extend the notion of ¿increasing correctness¿ (IC) which was defined for cycle-free graphs, to general graphs. An averaging algorithm that is IC has meaningful outputs at each iteration. This makes it possible to stop the algorithm at any time, and use the output values computed up to that time. We prove that the class of IC averaging algorithms is nontrivial. We then present a simple IC averaging algorithm that is based on ideas from graphical models, and study its properties. Finally, we give example applications and simulations of IC averaging algorithms.

关键词： Message passing Robot sensing systems Integrated circuit modeling Graphical models Orbital robotics Computer networks Aggregates Convergence Mechanical engineering computational modeling

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Robust limit cycle control in an attitude control system with switching-constrained actuators

Robust limit cycle control in an attitude control system wit...

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IEEE Conference on Decision and control

作者： Alexandre Rodrigues Mesquita Karl Heinz Kienitz Erico Luis Rempel Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA Departamento de Sistemas e Controle Instituto Tecnológico de Aeronáutica CTA Brazil Departamento de Matemática Instituto Tecnológico de Aeronáutica CTA Brazil

ISBN: (纸本)9781424431236

In this paper the robust behavior in some piecewise affine systems with minimally spaced transition times is studied. Such systems are found e.g. in satellites and satellite launchers. On-off thrusters are frequently used as actuators for attitude control and are typically subject to switching constraints. In these systems, persistent motions of different nature may occur, such as limit cycles, quasi-periodic-like and chaotic motions. Thus, in the presence of model uncertainties, the emergence of bifurcations can seriously affect performance. In this contribution, we use Tsypkin¿s method in order to investigate the robustness of the condition for the existence of limit cycles. Robustness frontiers in the space of control parameters are identified. These frontiers are verified via simulation and compared to those given by the describing function method, revealing the difficulties of this latter method to address the robustness analysis in this system. Moreover, we present a design method for robust controllers based on the Hamel locus. An evaluation of performance requirements such as fuel consumption, limit cycle amplitude and transient response is carried out in the identified regions of robust behavior.

关键词： Robust control Limit-cycles control systems Actuators Robustness Satellites Chaos Uncertainty Bifurcation Analytical models

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Supervisory control of nonlinear systems 9

Supervisory control of nonlinear systems

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2007 9th European control Conference, ECC 2007

作者： Hespanha, Joao P. Center for Control Dynamical Systems and Computation University of California Santa Barbara United States

ISBN: (纸本)9783952417386

关键词： Nonlinear systems

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Supervisory control of nonlinear systems

Supervisory control of nonlinear systems

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European control Conference (ECC)

作者： João P. Hespanha Center for Control Dynamical Systems and Computation University of California Santa Barbara

The control of nonlinear systems with large uncertainty is especially challenging. In spite of this, significant progress has been made in the area of multi-model supervisory control.

关键词： Supervisory control Nonlinear systems Noise Robustness Uncertainty Process control

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Target assignment for robotic networks: Worst-case and stochastic performance in dense environments

Target assignment for robotic networks: Worst-case and stoch...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 2301-2758

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

ISBN: (纸本)9781424414970;1424414970

Consider an equal number of mobile robotic agents and distinct target locations dispersed in an environment. Each agent has a limited communication range and knowledge of every target's position. We study the following target assignment problem: design a distributed algorithm with which the agents divide the targets among themselves and, simultaneously, move to their unique target. This paper focuses on "dense" environments, where the sum of the communication footprints is larger than the area of the environment. We introduce the class of monotonic algorithms, whose worst-case completion time is lower bounded by the area of the environment. We propose a monotonic algorithm called GRID ASSGMT and characterize its asymptotic performance: First, the algorithm is an asymptotically optimal monotonic algorithm for worst-case initial conditions. Second, for uniformly randomly distributed agents and targets the completion time is upper bounded by the diameter of the environment with high probability. Third, if the number of agents exceeds the number of targets by a logarithmic factor, then the completion time is constant with high probability. Our algorithm also solves a sensor based target assignment problem where agents have no initial knowledge of target positions, but acquire them via limited range sensing.

关键词： Completion time Targets Environments Agents communication range algorithms Monotonic distributed algorithms Dense

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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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26th Chinese control Conference, CCC 2007

作者： Chaohong, Cai Rafal, Goebel Sanfelice, Ricardo G. Teel, Andrew R. Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 United States 3518 NE 42 St. Seattle WA 98105 United States

ISBN: (纸本)7900719229

This paper focuses on the asymptotic stability properties of omega limit sets for complex hybrid dynamical systems, which are commonly found in systems and engineering. It 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： dynamical systems

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Hybrid dynamical systems: Robust stability and control

Hybrid dynamical systems: Robust stability and control

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26th Chinese control Conference, CCC 2007

作者： Cai, Chaohong Rafal, Goebel Sanfelice, Ricardo G. Teel, Andrew R. Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 United States 3518 NE 42 St. Seattle WA 98105 United States

Modeling issues for hybrid dynamical systems are discussed and fundamental stability analysis tools are summarized. These tools are useful for the development of hybrid control algorithms.

ISBN: (纸本)7900719229

Modeling issues for hybrid dynamical systems are discussed and fundamental stability analysis tools are summarized. These tools are useful for the development of hybrid control algorithms.

关键词： control systems

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