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Universite Libre de Bruxelles

作者： Zhao, Wen-Xiao Zheng, Wei Xing Bai, Er-Wei Key Laboratory of Systems and Control Academy of Mathematics and Systems Science CAS Beijing China National Center for Mathematics and Interdisciplinary Sciences CAS Beijing China School of Computing Engineering and Mathematics University of Western Sydney Penrith NSW 2751 Australia Department of Electrical and Computer Engineering University of Iowa Iowa City IA 52242 United States

In this work, we propose a recursive local linear estimator (RLLE) for identification of nonlinear autoregressive systems with exogenous inputs, along with an analysis of its strong consistency and asymptotical mean s... 详细信息

ISBN: (纸本)9783902823069

关键词： Mean square error

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Distributed Quadratic Stabilization of Uncertain Linear Multi-Agent systems

Distributed Quadratic Stabilization of Uncertain Linear Mult...

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The 24th Chinese control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zhongkui Li Zhisheng Duan Lihua Xie Xiangdong Liu Key laboratory for Intelligent Control &Decision of Complex Systems School of Automation Beijing I State Key Lab for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering School of Electrical and ElectronicEngineering Nanyang Technological University 639798 Singapore Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing

This paper considers the distributed quadratic stabilization problems of uncertain continuous-time linear multiagent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. A distributed controller is proposed, based on the relative states of neighboring agents and a subset of absolute states of the agents. It is shown that the distributed quadratic stabilization problem under such a controller is equivalent to the H∞ control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed robust controller, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, the distributed quadratic H∞ control problem of uncertain linear multi-agent systems with external disturbances is discussed, which can be reduced to the scaled H∞ control problems of a set of independent systems whose dimensions are equal to that of a single agent.

关键词： Multi-agent system distributed control robustness H∞ control parameter uncertainty

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Robust positive invariance and ultimate boundedness of nonlinear systems

Robust positive invariance and ultimate boundedness of nonli...

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Mediterranean Conference on control and Automation (MED)

作者： George Bitsoris Marina Vassilaki Nikolaos Athanasopoulos Control Systems Laboratory of the Electrical and Computer Engineering Department University of Patras Patras Greece Department of Electrical Engineering School of Pedagogical and Technological Education Athens Greece Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands

In this article the problem of characterizing sets, described by vector nonlinear inequalities of the form v(x) ≤ w, as robustly positively invariant and targets of uniformly ultimate bounded nonlinear systems is investigated. The class of general parameter uncertain continuous-time dynamical systems affected by exogenous disturbances is considered. The approach is based on establishing an associated monotone nonlinear comparison system. A numerical example is presented to illustrate the approach.

关键词： Robustness Vectors Nonlinear systems Uncertain systems Trajectory Linear matrix inequalities Differential equations

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Online force estimation for an active suspension control

Online force estimation for an active suspension control

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Christian Graf Rüdiger Kieneke Jürgen Maas Control Engineering and Mechatronic Systems Laboratory Ostwestfalen-Lippe University of Applied Sciences Germany Control Engineering and Mechatronic Systems Department of Electrical Engineering and Computer Science Ostwestfalen-Lippe University of Applied Sciences Lemgo Germany

While the damping of a common cabin of a commercial vehicle is realized with hydraulic based dampers integrated into the air springs of the suspension, the damping forces of the realized active cabin suspension are generated by varying the mass of air inside the air spring volume. To achieve a high bandwidth of vibration suppression, the mass flow of compressed air is controlled using fast switching valves. To design the force controller, the air spring force has to be known for the feedback. Due to the limited design space and to reduce costs, an observer based concept is chosen, utilizing the already available sensor signals for displacement and acceleration. To ensure an accurate and high dynamic force estimation, two nonlinear state estimator concepts are introduced, which are both capable of considering noisy signals as well. The comparison between estimation results and measured signals shows a good correlation. By use of a superimposed vibration control, the cabin accelerations can be reduced by applying optimal damping forces, which is proven by measurements.

关键词： Springs Force Vectors Suspensions Valves Covariance matrix Estimation

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Modified Iterative-Learning-control-Based Ramp Metering Strategies for Freeway Traffic control With Iteration-Dependent Factors

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IEEE Transactions on Intelligent Transportation systems 2012年第2期13卷 606-618页

作者： Zhongsheng Hou Jingwen Yan Jian-Xin Xu Zhenjiang Li Advanced Control Systems Laboratory of School of Electronic and Information Engineering Beijing Jiaotong University Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China

For a freeway traffic system with strict repeatable pattern, iterative learning control (ILC) has been successfully applied to local ramp metering for a macroscopic freeway environment by formulating the original ramp metering problem as an output tracking, disturbance rejection, and error compensation problem. In this paper, we address the freeway traffic ramp-metering system under a nonstrict repeatable pattern. ILC-based ramp metering and ILC add-on to ALINEA strategies are modified to deal with the presence of iteration-dependent parameters, iteration-dependent desired trajectory, and input constraints. Theoretical analysis and extensive simulations are used to verify the effectiveness of the proposed approaches.

关键词： Traffic control Trajectory Mathematical model Vehicles Equations Feedback control

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Switching control design for accommodating large step-down disturbances in bipedal robot walking

Switching control design for accommodating large step-down d...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hae-Won Park Koushil Sreenath Alireza Ramezani J.W. Grizzle Mechanical Engineering Department University of Michigan Ann Arbor MI USA Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

This paper presents a feedback controller that allows MABEL, a kneed, planar bipedal robot, with 1 m-long legs, to accommodate an abrupt 20 cm decrease in ground height. The robot is provided information on neither where the step down occurs, nor by how much. After the robot has stepped off a raised platform, however, the height of the platform can be estimated from the lengths of the legs and the angles of the robot's joints. A real-time control strategy is implemented that uses this on-line estimate of step-down height to switch from a baseline controller, that is designed for flat-ground walking, to a second controller, that is designed to attenuate torso oscillation resulting from the step-down disturbance. After one step, the baseline controller is re-applied. The control strategy is developed on a simplified-design model of the robot and then verified on a more realistic model before being evaluated experimentally. The paper concludes with experimental results showing MABEL (blindly) stepping off a 20 cm high platform.

关键词： Legged locomotion Torso Switches Mathematical model Optimization

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Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL

Design and experimental implementation of a compliant hybrid...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Koushil Sreenath Hae-Won Park J. W. Grizzle Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA Mechanical Engineering Department University of Michigan Ann Arbor MI USA

This paper presents a control design based on the method of virtual constraints and hybrid zero dynamics to achieve stable running on MABEL, a planar biped with compliance. In particular, a time-invariant feedback controller is designed such that the closed-loop system not only respects the natural compliance of the open-loop system, but also enables active force control within the compliant hybrid zero dynamics and results in exponentially stable running gaits. The compliant-hybrid-zero-dynamics-based controller with active force control is implemented experimentally and shown to realize stable running gaits on MABEL at an average speed of 1.95 m/s (4.4 mph) and a peak speed of 3.06 m/s (6.8 mph). The obtained gait has flight phases upto 39% of the gait, and an estimated ground clearance of 7.5 - 10 cm.

关键词： Springs Dynamics Robot kinematics Torso Legged locomotion Actuators

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Agent-based cyber control strategy design for resilient control systems: Concepts, architecture and methodologies

Agent-based cyber control strategy design for resilient cont...

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International Symposium on Resilient control systems, ISRCS

作者： Craig Rieger Quanyan Zhu Tamer Başar Instrumentation Control & Intelligent Systems Idaho National Laboratory Idaho USA Coordinated Science Laboratory and Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL

The implementation of automated regulatory control has been around since the middle of the last century through analog means. It has allowed engineers to operate the plant more consistently by focusing on overall operations and settings instead of individual monitoring of local instruments (inside and outside of a control room). A similar approach is proposed for cyber security, where current border-protection designs have been inherited from information technology developments that lack consideration of the high-reliability, high consequence nature of industrial control systems. Instead of an independent development, however, an integrated approach is taken to develop a holistic understanding of performance. This performance takes shape inside a multi-agent design, which provides a notional context to model highly decentralized and complex industrial process control systems, the nervous system of critical infrastructure. The resulting strategy will provide a framework for researching solutions to security and unrecognized interdependency concerns with industrial control systems.

关键词： control systems computer security Sensors Process control Software control theory

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Online map-matching based on Hidden Markov model for real-time traffic sensing applications

Online map-matching based on Hidden Markov model for real-ti...

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International IEEE Conference on Intelligent Transportation systems

作者： C. Y. Goh J. Dauwels N. Mitrovic M. T. Asif A. Oran P. Jaillet School of Electrical and Electronic Engineering Nanyang Technological University Center for Future Urban Mobility Singapore-MIT Alliance for Research and Technology (SMART) Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science and Operations Research Center MIT

ISBN: (纸本)9781467330640

In many Intelligent Transportation System (ITS) applications that crowd-source data from probe vehicles, a crucial step is to accurately map the GPS trajectories to the road network in real time. This process, known as map-matching, often needs to account for noise and sparseness of the data because (1) highly precise GPS traces are rarely available, and (2) dense trajectories are costly for live transmission and storage. We propose an online map-matching algorithm based on the Hidden Markov Model (HMM) that is robust to noise and sparseness. We focused on two improvements over existing HMM-based algorithms: (1) the use of an optimal localizing strategy, the variable sliding window (VSW) method, that guarantees the online solution quality under uncertain future inputs, and (2) the novel combination of spatial, temporal and topological information using machine learning. We evaluated the accuracy of our algorithm using field test data collected on bus routes covering urban and rural areas. Furthermore, we also investigated the relationships between accuracy and output delays in processing live input streams. In our tests on field test data, VSW outperformed the traditional localizing method in terms of both accuracy and output delay. Our results suggest that it is viable for low-latency applications such as traffic sensing.

关键词： Hidden Markov models Intelligent transportation systems bus routes Probe vehicles real-time traffic road network field experimentation Noise

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Neural and Fuzzy Dynamic Programming for Under-actuated systems

Neural and Fuzzy Dynamic Programming for Under-actuated Syst...

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International Joint Conference on Neural Networks

作者： Dongbin Zhao Yuanheng Zhu Haibo He State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Electrical Computer and Biomedical Engineering University of Rhode Island

ISBN: (纸本)9781467314886

This paper aims to integrate the fuzzy control with adaptive dynamic programming (ADP) scheme, to provide an optimized fuzzy control performance, together with faster convergence of ADP for the help of the fuzzy prior knowledge. ADP usually consists of two neural networks, one is the Actor as the controller, the other is the Critic as the performance evaluator. A fuzzy controller applied in many fields can be used instead as the Actor to speed up the learning convergence, because of its simplicity and prior information on fuzzy membership and rules. The parameters of the fuzzy rules are learned by ADP scheme to approach optimal control performance. The feature of fuzzy controller makes the system steady and robust to system states and uncertainties. Simulations on under-actuated systems, a cart-pole plant and a pendubot plant, are implemented. It is verified that the proposed scheme is capable of balancing under-actuated systems and has a wider control zone.

关键词： Adaptive dynamic programming Fuzzy control Neural network Underactutaed system Cart-pole plant Pendubot

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