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Leaderless Consensus in Networks of Flexible–Joint Manipulators

IFAC Proceedings Volumes 2014年第3期47卷 6656-6661页

作者： Emmanuel Nuño Daniela Valle Ioannis Sarras Luis Basañez Department of Computer Science. CUCEI University of Guadalajara. Guadalajara Mexico Electronics Department. CUCEI University of Guadalajara. Guadalajara Mexico Automatic Control Department SUPELEC. Gif-sur-Yvette France Institute of Industrial and Control Engineering Technical University of Catalonia. Barcelona Spain

This work studies the leaderless consensus problem in networks composed of non-identical flexible-joint robot manipulators. Using standard functional analysis, i.e., Barbâlat's Lemma, it is established that a simple control law provides a solution to the leaderless consensus problem. The network is modeled as an undirected graph and the interconnection can exhibit variable time-delays. The proposed controller consists of two different terms, one that dynamically compensates the robot gravity and another which ensures the desired consensus objective. This last term is a simple Proportional plus damping scheme. Simulations, using a network with nine 2-degrees of freedom manipulators, are provided to support the theoretical contributions of this work.

关键词： Network of Robots Flexible Arms Decentralized control Time-Delays

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Cooperative localization of a cascading quadrilateral network

Cooperative localization of a cascading quadrilateral networ...

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11th IEEE International Conference on control and Automation, IEEE ICCA 2014

作者： Diao, Yingfei Hu, Guoqiang Marelli, Damian Lin, Zhiyun Fu, Minyue School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore Singapore School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW 2308 Australia State Key Laboratory of Industrial Control Technology College of Electrical Engineering Zhejiang University 38 Zheda Road Hangzhou 310027 China State Key Laboratory of Industrial Control Technology Department of Control Science and Engineering Zhejiang University 38 Zheda Road Hangzhou 310027 China

ISBN: (纸本)9781479928378

In this paper, we introduce a set of sensor networks, called the cascading quadrilateral network, and study how to compute the positions of its nodes in a cooperative way. We investigate the condition for determining whether all the sensor nodes are localizable. If not, we provide a method to detect the un-localizable nodes for the whole network. The necessary and sufficient conditions for the network localizability and node localizability are given from the view of algebraic property, respectively. Specifically, we provide algorithms to show how to detect un-localizable nodes from a partially localizable network. Numerical simulation is provided to show the effectiveness of the developed method of computing positions. © 2014 IEEE.

关键词： Sensor nodes

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Synchronising second-order multi-agent systems under dynamic topology via reference model-based algorithm

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Journal of control and Decision 2014年第3期1卷 214-225页

作者： Jiahu Qin Huijun Gao Tasawar Hayat Fuad E.Alsaadi Department of Automation University of Science and Technology of ChinaHefeiChina Research School of Engineering Australian National UniversityCanberraAustralia Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbinChina Nonlinear Analysis and Applied Mathematics Group King Abdulaziz University(KAU)JeddahSaudi Arabia Faculty of Engineering Department of Electrical and Computer EngineeringKing Abdulaziz UniversityJeddahSaudi Arabia Department of Mathematics Quaid-I-Azam UniversityIslamabadPakistan

This paper revisits the synchronisation problem for second-order multi-agent systems(MASs)under dynamically changing communication *** employing the reference model-based synchronisation algorithm,it is finally shown that synchronisation for both the position and velocity states can be achieved if the union of the communication topologies has a directed spanning tree frequently *** extends the existing results obtained for second-order MASs which exploits mild communication topology condition guaranteeing the synchronisation to a more general *** analysis is successfully performed by exploiting the product properties of row-stochastic matrices,which can also provide us with an estimate the convergence rate towards the synchronisation.

关键词： synchronisation double-integrator agents weakest possible communication topology rate of convergence

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Optimal Sensor Trajectories for Mobile Underwater Target Positioning with Noisy Range Measurements

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IFAC Proceedings Volumes 2014年第3期47卷 5139-5144页

作者： D. Moreno-Salinas A.M. Pascoal J. Aranda Department of Computer Science and Automatic Control National University Distance Education (UNED) Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico (IST) University of Lisbon Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

There is considerable interest in reducing the number of sensors/beacons involved in underwater positioning/navigation systems since this has the potential to drastically reduce the costs and the time spent in deploying, calibrating, and recovering acoustic equipment at sea. Motivated by these considerations, we address the problem of single underwater target positioning based on acoustic range measurements between the target and a moving sensor at the sea surface. In particular, the goal of the present work is to compute optimal geometric trajectories for the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning and tracking. To this effect, the Fisher Information Matrix and the maximization of its determinant are used to determine the sensor trajectory that yields the most accurate positioning of the target, while the latter describes a preplanned trajectory. It is shown that the optimal trajectory depends on the velocity of the sensor, the velocity and trajectory of the target, the sampling time between measurements, the measurement error model, and the number of measurements used to compute the FIM. Simulation examples illustrate the key results derived.

关键词： Autonomous underwater vehicles Fisher information matrix Cramer-Rao Bound optimization positioning single tracker

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Coordinate frame free Dubins vehicle circumnavigation

Coordinate frame free Dubins vehicle circumnavigation

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2014 American control Conference, ACC 2014

作者： Milutinović, Dejan Casbeer, David Cao, Yongcan Kingston, Derek Computer Engineering Department UC Santa Cruz CA 95060 United States Control Science Center of Excellence Air Force Research Laboratory Wright-Patterson AFB OH 45433 United States

ISBN: (纸本)9781479932726

A Dubins vehicle circumnavigation controller is derived based on an analysis of state space dynamics resulting from a state transformation. The controller is designed and analyzed in the state space with two continuous and one discrete variables. We showed that the property of our control strategy can be studied based on 2D phase portraits, including the case when the vehicle turning rate is bounded. As a part of our analysis, we found conditions that need to be satisfied for the controller to work and that can be used for gain scheduling and application of the control to a larger range bound. The results are illustrated by 2D phase portraits and simulations describing the control implementation, which is based only on range measurements. © 2014 American automatic control Council.

关键词： controllers

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Integrated robust control design for in-wheel-motor vehicles 35th

Integrated robust control design for in-wheel-motor vehicles

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35th FISITA World Automotive Congress, 2014

作者： Gáspár, Péter Bokor, József Szabó, Zoltán Fülep, Tímea Szauter, Ferenc András, Mihály Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary Systems and Control Laboratory MTA SZTAKI MTA-BME Control Engineering Research Group Budapest Hungary Research Center of Vehicle Industry Széchenyi István University Győr Hungary Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary

The paper proposes a multi-layer supervisory architecture for integrated control systems in road vehicles. The role of the supervisor is to coordinate active control components and provide priority among them. The supervisor has information about the current operational mode of the vehicle and it is able to make decisions about the necessary interventions into the vehicle components and guarantee the reconfigurable operation of the vehicle. The decisions of the supervisor are propagated to the lower layers through predefined interfaces encoded as suitable scheduling signals. The contribution of the paper is the application of the LPV methodology in a design case study in which an integrated control of four wheel independently-actuated electric vehicle with active steering system is developed. © 2014, FISITA. All rights reserved.

关键词： Robust control

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RETRACTED: Canonical dual approach for contact mechanics problems with friction

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Mathematics and Mechanics of Solids 2015年第3期21卷 NP37 - NP38页

作者： Vittorio Latorre Simone Sagratella David Y Gao Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy School of Science Information Technology and Engineering Federation University Australia Victoria Australia

The following article has been included in a multiple retraction:Canonical Dual Approach for Contact Mechanics Problems with Friction; Vittorio Latorre, Simone Sagratella, David Y ***://***/content/early/2015/01/20/*** 2015 SAGE were made aware of concerns regarding the Special Issue of Mathematics & Mechanics of Solids on Advances in Canonical Duality Theory, guest-edited by Professor David *** the request of the Guest Editor, the Special Issue has been retracted, due to conflict of interest regarding Professor Gao’s role as Guest Editor and co-author on a number of submitted papers. In addition the peer review process was less rigorous than the journal requires. The Guest Editor takes full responsibility for the *** following articles that were due to appear in the Special Issue have therefore been retracted:Canonical Duality-Triality: Bridge between Nonconvex Analysis/Mechanics and Global Optimization in complex systems; David Y Gao, Ning Ruan, and Vittorio ***://***/content/early/2015/02/24/*** Dual Approach for Contact Mechanics Problems with Friction; Vittorio Latorre, Simone Sagratella, David Y ***://***/content/early/2015/01/20/*** Duality Theory for Solving Non-Monotone Variational Inequality Problems; Guoshan Liu, David Y Gao, Shouyang ***://***/content/early/2015/02/04/*** Well Potential Function and Its Optimization in The n-dimensional Real Space. Part I; Shu-Cherng Fang, David Y Gao, Gang-Xuan Lin, Ruey-Lin Sheu, Wen-Xun ***://***/content/early/2015/02/24/*** Well Potential Function and Its Optimization in The n-dimensional Real Space. Part II; Yong Xia, Ruey-Lin Sheu, Shu-Cherng Fang, Wenxun ***://***/content/early/2015/02/09/*** Solutions to 3-D Finite Deformat

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On the lifting problems and their connections with piecewise affine control law design

On the lifting problems and their connections with piecewise...

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European control Conference (ECC)

作者： N. A. Nguyen S. Olaru P. Rodriguez-Ayerbe M. Hovd I. Necoara E3S (SUPELEC Systemes Sciences) Automatic Control Department Gif-sur-Yvette France Department of Engineering Cybernetics Norwegian University of Science and Technologies Trondheim Norway Automatic Control and Systems Engineering Department Politehnica University of Bucharest Bucharest Romania

ISBN: (纸本)9781479947287

Lifting as geometric operation can be defined as a pseudo-inverse of orthogonal projection. It has received attention in different fields and applications (mechanics, geometry, control, etc). Numerous studies have been dedicated to the existence conditions of a convex lifting in a higher dimension for a given cell complex. It is worth noting that this notion can be extended for a polyhedral partition for applications in control theory, and it is recently shown to be the key step in solving the inverse parametric linear/quadratic programming problems. The present paper presents in a succinct manner the main elements of this topological problem with specific attention to the case of polyhedral partitions and their liftings. Furthermore, we are interested from the practical point of view, in the use of these concepts in control system design. Practically, a construction for the Voronoi diagram class is presented. Secondly, a methodological result is presented which leads to the modification of partitions guaranteeing a theoretically liftable result. In addition, a generic constructive procedure for the partitions based on convexity, continuity and linear (or quadratic) programming is proposed. In order to bring the discussion closer to the control related formulations, the correspondence between convex liftings of a given partition in ℝ d onto (d+1)-space and n-space with n > d+1 is provided. Finally an analysis with respect to predictive control related problems will conclude our contribution.

关键词： Programming Stress control systems Partitioning algorithms Face Vectors Xenon

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Identification of Wiener Systems with Process Noise is a Nonlinear Errors-in-Variables Problem

Identification of Wiener Systems with Process Noise is a Non...

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IEEE Annual Conference on Decision and control

作者： Bo Wahlberg James Welsh Lennart Ljung Department of Automatic Control and ACCESS School of Electrical Engineering KTH Royal Institute of Technology SE-100 44 Stockholm Sweden School of Electrical Engineering and Computer Science The University of Newcastle Callaghan NSW 2308 Australia Division of Automatic Control Linkoping University E-581 83 Linkoping Sweden

ISBN: (纸本)9781467360890

This paper considers the identification of stochastic Wiener dynamic systems, that is linear dynamic systems with process noise, where the measurable output signal is a nonlinear function of the output from the linear system corrupted with additive measurement noise. It is shown how stochastic Wiener system identification can be viewed as a particular non-linear model errors-in-variables problem, for which there exists a large literature. We compare the maximum likelihood method with prediction error minimization methods based on the conditional mean predictor for Wiener systems. Related methods have previously been studied in the framework of identification of non-linear error-in-variables models. We extend these results by taking the input signal to the Wiener system into consideration. For example, the input will affect the variance of the prediction errors. Hence, a prediction error method with a variance weighting is derived to obtain more reliable parameter estimates. An advantage with the prediction error method is that for certain special cases we can avoid numerical integration. We also discuss how the unscented transform can be used to obtain an approximate predictor for the prediction error method. The numerical evaluation of these methods is performed on a simple first order FIR system with a cubic nonlinearity, for which some illustrative analytic properties are derived.

关键词： Noise Stochastic processes Maximum likelihood estimation Transforms Noise measurement Numerical models Standards

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Asymptotic Optimality of the Maximum-likelihood Filter for Bayesian Tracking in Sensor Networks

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IFAC Proceedings Volumes 2014年第3期47卷 7400-7405页

作者： Damián Marelli Minyue Fu School of Electrical Engineering and Computer Science University of Newcastle Australia Acoustics Research Institute Austrian Academy of Sciences Department of Control Science and Engineering Zhejiang University China

A recently proposed Bayesian tracking procedure for sensor networks approximates the update equation, which involves non-linear measurements, with a simple equation using the maximum likelihood (ML) estimate of the unknown state. This approach permits a numerically efficient implementation of the tracking procedure, and is suitable for a distributed implementation. In this paper we study the extent to which this approach approximates the theoretical Bayesian solution. We provide conditions to guarantee that the approximation becomes asymptotically exact, as the number of nodes becomes large. This result is relevant in applications where each sensor obtains a measurement with limited information about the state, but a large number of sensors is available. We apply our result to a case study, and present numerical simulations, showing that the approximation error becomes negligible for a relatively small number of nodes.

关键词： sensor networks Bayesian tracking distributed estimation

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