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An interpolation approach for robust constrained output feedback

An interpolation approach for robust constrained output feed...

引用

IEEE Conference on Decision and control

作者： H.-N. Nguyen P.-O. Gutman S. Olaru M. Hovd SUPELEC Systems Sciences (E3S) - Automatic Control Dept. France Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Department of Engineering Cybernetics Norwegian University of Science and Technology

ISBN: (纸本)9781612848006

In this paper, we consider the regulation problem for uncertain linear discrete time systems with bounded disturbance, bounded input and bounded output. Based on the input-output representation, an extended state space model is constructed via the delayed inputs and outputs of the systems and hence there is no need for any estimate of the unmeasured states. The control is obtained using an interpolation technique, which assures feasibility and a robustly asymptotically stable closed loop behavior.

关键词： Robustness Interpolation Ellipsoids Lyapunov methods Uncertainty Linear programming Minimization

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Robust generalized predictive control of Stewart-Gough platform

Robust generalized predictive control of Stewart-Gough platf...

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IEEE Latin American Robotics Symposium, LARS

作者： F. A. Lara-Molina J. M. Rosário D. Dumur Mechanical Engineering School State University of Campinas Campinas Sao Paulo Brazil Automatic Control Department SUPELEC Systems Sciences (E3S) Gif Sur Yvette France

This paper addresses the position tracking control application of a Stewart-Gough platform using robust generalized predictive control. The robustification of GPC against measurement noise using Youla parameterization is performed. The simulation of the complete model of the Stewart-Gough platform is performed on a circular trajectory. The robustified GPC controller is compared with the classical Computed Torque control (CTC). The robustified GPC controller shows a better performance reducing the effect of the noise in the control signal of the Stewart-Gough Platform.

关键词： Equations Robustness Mathematical model Robots Noise Joints Noise measurement

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A Hybrid control Approach for Low Temperature Combustion Engine control

A Hybrid Control Approach for Low Temperature Combustion Eng...

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IEEE Conference on Decision and control

作者： T. Albin P. Drews F. Hesseler A. M. Ivanescu T. Seidl D. Abel Institute of Automatic Control Department of Mechanical Engineering RWTH Aachen University 52074 Aachen Germany Department for Computer Science 9 (Data Management and Data Exploration) RWTH Aachen University 52072 Aachen Germany

ISBN: (纸本)9781612848006

In this paper, a hybrid control approach for low temperature combustion engines is presented. The identification as well as the controller design are demonstrated. In order to identify piecewise affine models, we propose to use correlation clustering algorithms, which are developed and used in the field of data mining. We outline the identification of the low temperature combustion engine from measurement data based on correlation clustering. The output of the identified model reproduces the measurement data of the engine very well. Based on this piecewise affine model of the process, a hybrid model predictive controller is considered. It can be shown that the hybrid contoller is able to produce better control results than a model predictive controller using a single linear model. The main advantage is that the hybrid controller is able to manage the system characteristics of different operating points for each prediction step.

关键词： hybrid control combustion engine measurement data data mining Predictive controllers controller design Common Cold Low temperature Hybrid modes Affine In-law Piecewise

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Work in progress: MiceNet: Monitoring behaviour of laboratory mice with sensor networks

Work in progress: MiceNet: Monitoring behaviour of laborator...

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International Conference on Distributed Computing in Sensor systems (DCOSS)

作者： Grigore Stamatescu Kay Romer Ralf Ludwig Saleh M. Ibrahim Valentin Sgârciu Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Institute of Computer Engineering University of Lübeck Lubeck Germany Department of Dermatology University of Lübeck Lubeck Germany

Medical research uses laboratory mice for experimental studies. Currently, symptoms are manually observed and recorded, resulting in noisy data - requiring many animals to obtain statistically significant results. We propose the use of a camera sensor network attached to mice cages as a low-cost solution for continuously monitoring mouse behavior and providing remote access to the data for scientists. The benefits of this approach are discussed along with challenges encountered in the initial phases of deployment. The proposed hardware and software architecture is described and early experimentation results are presented.

关键词： Mice Cameras Monitoring Laboratories Image color analysis

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Performance Metrics for Fault Detection and Isolation Filters

Performance Metrics for Fault Detection and Isolation Filter...

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2011 American control Conference (ACC)

作者： Rohit Pandita Jozsef Bokor Gary Balas Department of Aerospace Engineering and Mechanics University of Minnesota Minneapolis MN USA Department of AeroSpace Engineering and Mechanics University of Minnesota Minneapolis MN USA Systems and Control Laboratory Computer and Automation Research Institute of the Hungarian Academy of Sciences Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

Fault detection and isolation (FDI) filters are typically synthesized for open-loop or closed-loop systems. The controller affects the FDI filter performance in the closed-loop. Performance metrics for FDI filters are proposed to assess filter performance and controller-filter interaction in the presence of uncertain dynamics in the closed-loop. The role of controller's robustness to plant uncertainty in FDI filter performance is examined.

关键词： Measurement Actuators Uncertainty Elevators Atmospheric modeling Transfer functions Mathematical model

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Robust H_(infinity) Filter Design Using Frequency Gridding

Robust H_(infinity) Filter Design Using Frequency Gridding

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2011 American control Conference (ACC)

作者： Peter Seiler Balint Vanek Jozsef Bokor Gary J. Balas AeroSpace and Engineering Mechanics Department University of Minnesota USA Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Hungary

This paper considers the design of robust H_(infinity) filters for continuous-time linear systems with uncertainties described by integral quadratic constraints (IQCs). The synthesis problem can be converted into an infinite-dimensional optimization with frequency dependent linear matrix inequality constraints on the filter and IQC multipliers. This optimization is approximated by a finite dimensional semidefinite program by restricting the filter to be a linear combination of basis functions and enforcing the constraints on a finite, but dense, grid of frequencies. A heuristic algorithm is described to quickly solve the resulting finite dimensional optimization. A small example is provided to demonstrate the proposed algorithm.

关键词： Uncertainty Robustness Optimization Equations Upper bound Algorithm design and analysis Approximation methods

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Low power and fast DCT architecture using multiplier-less method

Low power and fast DCT architecture using multiplier-less me...

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2011 Faible Tension Faible Consommation, FTFC 2011

作者： El Aakif, M. Belkouch, S. Chabini, N. Hassani, M.M. Embedded Systems and Digital Control Laboratory National School of Applied Sciences University of Cadi Ayyad Av. Abdelkarim Khattabi Guéliz Marrakech Morocco Department of Electrical and Computer Engineering Royal Military College of Canada Kingston ON Canada Faculty of Sciences Semlalia University of Cadi Ayyad Marrakech Morocco

ISBN: (纸本)9781612846477

In this paper, a low power and fast DCT (Discrete Cosine Transform) using multiplier-less method is presented with a new modified FGA (Flow-Graph Algorithm), which is derived from our previously presented FGA of DCT based on Loeffler algorithm. The multiplier-less method is based on the replacement of multiplications with a minimum number of additions and shifts. The proposed FGA is performed and compared to a previous one. The results of FPGA implementations on Altera Cyclone II show the increase of the maximum frequency, the decrease of the resources usage and the reduction of the dynamic power by 7.2 % at 120 MHz of clock frequency with a new proposed FGA algorithm. Another comparison with recent published results has been done and proves the efficiency of the proposed FGA. © 2011 IEEE.

关键词： Field programmable gate arrays (FPGA)

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A new T-S fuzzy observer based controller for nonlinear NCSs

A new T-S fuzzy observer based controller for nonlinear NCSs

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International Conference on control, Instrumentation, and Automation

作者： M. Azimi M. T. H. Beheshti A. Badpa H. Shokouhi Nejad Faculty of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Faculty of Electrical and Computer Engineering Tarbiat Modares University (TMU) Tehran IRAN Control Engineering Department School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Control Systems Theory Tarbiat Modares University (TMU) Tehran Iran Electrical and Computer Engineering Tarbiat Modares University (TMU) Tehran IRAN

This paper concerns the tracking control problem for a class of nonlinear networked control systems (NCSs) with external disturbances. A Takagi-Sugeno fuzzy model is employed to represent the nonlinear controlled plant in the NCSs. Both network-induced delay and packet dropout are addressed. The control scheme is based on a parallel distributed compensation (PDC) structure, a fuzzy observer and a H ∞ performance to attenuate the external disturbances. The stability of the whole closed-loop model is investigated using a general Lyapunov-Krasovskii functional. The key point of the proposed approaches is to achieve conditions under a linear matrix inequalities (LMI) formulation in the case of a disturbed T-S fuzzy model. This formulation facilitates obtaining solutions through interior point optimization methods for some nonlinear NCSs tracking problems. A numerical example is used to illustrate the validity of the design methodology.

关键词： Delay Observers Bismuth Instruments Automation Stability criteria

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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International Conference on control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability.

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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Dynamic vehicle routing for robotic systems

Dynamic vehicle routing for robotic systems

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作者： Bullo, Francesco Frazzoli, Emilio Pavone, Marco Savla, Ketan Smith, Stephen L. Center for Control Dynamical Systems and Computation Department of Mechanical Engineering University of California in Santa Barbara Santa Barbara CA 93106 United States Laboratory for Information and Decision Systems Department of Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge MA 02139 United States Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA 02139 United States Department of Electrical and Computer Engineering University of Waterloo Waterloo ON N2L 3G1 Canada

Recent years have witnessed great advancements in the science and technology of autonomy, robotics, and networking. This paper surveys recent concepts and algorithms for dynamic vehicle routing (DVR), that is, for the automatic planning of optimal multivehicle routes to perform tasks that are generated over time by an exogenous process. We consider a rich variety of scenarios relevant for robotic applications. We begin by reviewing the basic DVR problem: demands for service arrive at random locations at random times and a vehicle travels to provide on-site service while minimizing the expected wait time of the demands. Next, we treat different multivehicle scenarios based on different models for demands (e.g., demands with different priority levels and impatient demands), vehicles (e.g., motion constraints, communication, and sensing capabilities), and tasks. The performance criterion used in these scenarios is either the expected wait time of the demands or the fraction of demands serviced successfully. In each specific DVR scenario, we adopt a rigorous technical approach that relies upon methods from queueing theory, combinatorial optimization, and stochastic geometry. First, we establish fundamental limits on the achievable performance, including limits on stability and quality of service. Second, we design algorithms, and provide provable guarantees on their performance with respect to the fundamental limits. © 2011 IEEE.

关键词： Adaptive algorithms

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