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2007 IEEE International Symposium on Circuits and Systems, ISCAS 2007

作者： Ligang, Wu 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 School of Electronics and Computer Science University of Southampton Southampton SO17 IBJ United Kingdom University of Wuppertal Faculty of Electrical Information and Media Engineering Communication Theory

This paper considers the general filtering problem for a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, known as discrete linear repetitive processes which are of both system-theoretic and applications interest. In particular, new results on the design of filters with guaranteed levels of performance are developed. These take the form of algorithms for the design of an ∞ and 2-∞ dynamic output feedback filter which guarantees that the resulting filtering error process is stable and has prescribed disturbance attenuation performance as measured by ∞ and 2- ∞ norms. © 2007 IEEE.

关键词： Signal filtering and prediction

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Subtleties in Robust Stability of Discrete-time Piecewise Affine Systems

Subtleties in Robust Stability of Discrete-time Piecewise Af...

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American control Conference (ACC)

作者： M. Lazar W.P.M.H. Heemels A.R. Teel University of California Santa Barbara Santa Barbara CA US Department of Mechanical Engineering Eindhovan University of Technology Eindhoven Netherlands Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara USA

In this paper we consider (inherent) robustness of discrete-time piecewise affine (PWA) systems. We demonstrate, via examples, that globally exponentially stable discrete-time PWA systems may have no robustness. More precisely, we show that the exponential stability property cannot prevent that arbitrarily small additive disturbances keep the state trajectory far from the origin. Mathematically speaking, this means that the system is not input-to-state stable with respect to arbitrarily small disturbances. The non-robustness property is related to the absence of a continuous Lyapunov function. These results indicate that one should be careful with existing stability analysis and synthesis methods for PWA systems that rely on discontinuous Lyapunov functions, as no robustness might be present. However, as the search for Lyapunov functions for discrete-time PWA systems often employs discontinuous Lyapunov functions (e.g. piecewise quadratic ones), robustness tests based on discontinuous Lyapunov functions are needed. Such tests are proposed in this article.

关键词： Robust stability Lyapunov method Robustness Asymptotic stability control system synthesis control systems Additives Stability analysis System testing Biological system modeling

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control algorithms along relative equilibria of underactuated Lagrangian systems on Lie groups

Control algorithms along relative equilibria of underactuate...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 460-918

作者： Nikolaj Nordkvist Francesco Bullo Department of Mathematics Technical University of Denmark Lyngby Denmark Mechanical Engineering Department and with the Center for Control Dynamical Systems and Computation University of California슠Santa Barbara Santa Barbara CA USA

ISBN: (纸本)9781424414970

We present novel algorithms to control underactuated mechanical systems. For a class of invariant systems on Lie groups, we design iterative small-amplitude control forces to accelerate along, decelerate along, and stabilize relative equilibria. The technical approach is based upon a perturbation analysis and the design of inversion primitives and composition methods. We illustrate the algorithms on an underactuated planar rigid body and on a satellite with two thrusters.

关键词： control systems Lagrangian functions Mechanical systems Iterative algorithms Force control Satellites Velocity control USA Councils Actuators Automatic control

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EEG Effects of Motion Sickness Induced in a Dynamic Virtual Reality Environment

EEG Effects of Motion Sickness Induced in a Dynamic Virtual ...

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29th Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBS 2007), vol.10

作者： Chin-Teng Lin Shang-Wen Chuang Yu-Chieh Chen Li-Wei Ko Sheng-Fu Liang Tzyy-Ping Jung Department of Electrical and Control Engineering the Department of Computer Science Brain Research Center Hsinchu Taiwan The Department of Computer Science Brain Research Center Hsinchu Taiwan Department of Electrical and Control Engineering Brain Research Center Hsinchu Taiwan Department of Computer Science and Information Engineering National Cheng Kung University Tainan Taiwan Institute for Neural Computation University of California San Diego CA USA

The Electroencephalogram (EEG) dynamics which relate to motion sickness are studied in this paper. Instead of providing visual or motion stimuli to the subjects to induce motion sickness, we employed a dynamic virtual-reality (VR) environment in our research. The environment consisted of a 3D surrounding VR scene and a motion platform providing a realistic situation. This environment provided the advantages of safety, low cost, and the realistic stimuli to induce motion sickness. The Motion Sickness Questionnaire (MSQ) was used to assess the sickness level, and the EEG effects on the subjects with high sickness levels were investigated using the independent component analysis (ICA). The fake-epoch extraction was then applied to the nausea-related independent components. Finally we employed the Event-Related Spectral Perturbation (ERSP) technology on the fake-epochs in order to determine the EEG dynamics during motion sickness. The experimental results show that most subjects experienced an 8-10Hz power increase to their motion sickness-related phenomena in the parietal and motor areas. Moreover, some subjects experienced an EEG power increase of 18-20Hz in their synchronized responses recorded in the same areas. The motion sickness-related effects and regions can be successfully obtained from our experimental results.

关键词： Electroencephalography Virtual reality Layout Vehicle dynamics Computer science Safety Motion analysis Independent component analysis control engineering Costs

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Hybrid Dynamical Systems: Robust Stability and control

Hybrid Dynamical Systems: Robust Stability and Control

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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 CaliforniaSanta BarbaraCA 93106-9560USA

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

关键词： Hybrid systems stability control

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control of Discrete Linear Repetitive Processes with H and l2 - l Performance

Control of Discrete Linear Repetitive Processes with H and l...

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American control Conference (ACC)

作者： Ligang Wu James Lam Wojciech Paszke Krzysztof Galkowski Eric Rogers Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin China Department of Mechanical Engineering University of Hong Kong Hong Kong China Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton UK

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 infin and lscr 2 - lscr infin dynamic output feedback controller which guarantees that the resulting controlled process is stable and has prescribed disturbance attenuation performance as measured by H infin and lscr 2 - lscr infin norms.

关键词： control systems Linear systems Algorithm design and analysis Space technology Iterative algorithms Process control Optimal control Stability analysis Convergence Cities and towns

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LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR control

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Asian Journal of control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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RELAXED CHARACTERIZATIONS OF SMOOTH PATCHY control LYAPUNOV FUNCTIONS

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IFAC Proceedings Volumes 2007年第12期40卷 486-491页

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

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. Copyrighte 2007 IFAC

关键词： hybrid systems control Lyapunov function stabilization

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Filtering of Discrete Linear Repetitive Processes with H and l2-l Performance

Filtering of Discrete Linear Repetitive Processes with H and...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Ligang Wu James Lam Wojciech Paszke Krzysztof Galkowski Eric Rogers Anton Kummert Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin P. R. China The University of Hong Kong Hong Kong Hong Kong China Institute of Control and Computation Engineering University of Zielona Góra Góra Poland School of Electronics and Computer Science University of Southampton Southampton U.K Faculty of Electrical Information and Media Engineering Communication Theory University of Wuppertal Germany

This paper considers the general filtering problem for a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, known as discrete linear repetitive processes which are of both system-theoretic and applications interest. In particular, new results on the design of filters with guaranteed levels of performance are developed. These take the form of algorithms for the design of an H infin and l 2 -l infin dynamic output feedback filter which guarantees that the resulting filtering error process is stable and has prescribed disturbance attenuation performance as measured by H infin and l 2 -l infin norms.

关键词： Nonlinear filters Filtering Symmetric matrices Space technology Communication system control Attenuation measurement Algorithm design and analysis Iterative algorithms Optimal control Stability

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H∞ Filtering for a class of 2D systems

H∞ Filtering for a class of 2D systems

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European Signal Processing Conference (EUSIPCO)

作者： Ligang Wu James Lam Wojciech Paszke Krzysztof Gałkowski Eric Rogers Anton Kummert Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin P. R. China Department of Mechanical Engineering The University of Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65–246 Zielona Góra Poland Uniwersytet Zielonogorski Zielona Gora Lubuskie PL Department of Electronics and Computer Science University of Southampton Southampton U.K. Information and Media Engineering University of Wuppertal Faculty of Electrical

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.

关键词： Stability analysis Asymptotic stability Process control Signal processing Linear systems Filtering State-space methods

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