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8th Innovative Research Workshop and Exhibition

作者： Chaloulos, Georgios Roussos, Giannis P. Lygeros, John Kyriakopoulos, Kostas J. Automatic Control Lab Dept. of Electrical Engineering ETH Zürich Zürich Switzerland Control Systems Lab Dept. of Mechanical Engineering National Technical University of Athens Zografou Greece

We investigate the conflict resolution problem in a self separation airspace. Using the recent advances in the fields of robotics and control, we use navigation functions to resolve conflicts arising in the Short Term, which guarantee conflict avoidance, while in Mid Term, a model predictive controller makes sure that the designed system respects the operational constraints of the situation and maximizes some performance for the system. Both algorithms operate in a decentralized scheme, following the autonomous aircraft concept investigated under the European project iFly. Priority issues are discussed and ways to take them into consideration in our setting are shown. The algorithm performance is demonstrated on simulations in planar configurations.

关键词： Robots

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Space-state modeling and control of tokamak reactors

Space-state modeling and control of tokamak reactors

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作者： Garrido, I. Garrido, A.J. Sevillano, G. Alberdi, M. Amundarain, M. Barambones, O. Dept. Automatic Control and Systems Engineering Basque Country University EUITI de Bilbao Plza. de la Casilla 3 48012 Bilbao Spain Dept. Automatic Control and Systems Engineering Basque Country University EUITI de Vitoria Nieves Cano 12 01006 Vitoria-Gasteiz Spain

ISBN: (纸本)9783902661555

Nuclear fusion has the potential to produce unlimited, clean energy, which presents itself as a reliable energy supply but it also helps to stop the threat of climate change that faces the world nowadays. However, to sustain the pulse duration long enough to produce the necessary energy, new controls have to be developed, composing a new application area of control engineering, with new and interesting challenges for the control community. In this sense, this paper deals with the modeling of tokamak nuclear fusion reactors. In order to control the creation of unstable modes in fusion processes, it is necessary to derive numerical models suitable for control strategies. The model presented in this paper addresses flux and energy conservation issues, discussing the mechanisms behind the creation of uncontrollable modes. The dynamics of the system is given by means of the energy functions which are solved for the currents in the structure, plasma current and plasma position. Thus, the equations for the state variables are derived based on the Hamiltonian equation of motion. In order to solve this system numerically, this model is linearized around an operation point by taking a Newton-Raphson step. Besides, the system output is completed by considering the equations for the flux and the poloidal field. Finally, the resulting low-order linear model is modified so as to obtain the corresponding state-space model which is verified by means of numerical experiments.

关键词： Equations of motion

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A simulation study of consensus speed over scale-free networks

A simulation study of consensus speed over scale-free networ...

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IFAC Workshop on Networked Robotics, NetRob09

作者： Sun, Wei Chen, Yang Quan Dept. of Automatic Control Beijing Institute of Technology Beijing 100081 China Dept. of Electrical and Computer Engineering Utah State University Logan UT 84322 United States

ISBN: (纸本)9783902661531

Scale-free network and consensus among multiple agents have both drawn quite much attention. To investigate the consensus speed over scale-free networks is the main topic in this paper. Given a set of different values for the power-law distribution parameter γ, and a set of different values for the minimum degree (dmin) for the nodes, the algebraic connectivity (γ2) of the network topology is studied, as well as the time (t c) (or iteration (kc), for discrete algorithm) taken to reach consensus. The results exhibit that γ2 decreases while increases. The γ2 increases monotonically as dmin grows, and they fit very well in a linear relationship. tc (or kc) decreases as reduces and dmin increases. Via observing the behavior of the largest eigenvalue (γn) of the Laplacian of the network topology, we draw the conclusion that the robustness over time delays declines while the robustness over node-failures and edge-failures increases. © 2009 IFAC.

关键词： Iterative methods

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Energy-aware sensor selection and scheduling in wireless sensor networks

Energy-aware sensor selection and scheduling in wireless sen...

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1st IFAC Workshop on Estimation and control of Networked systems, NecSys'09

作者： Bitar, Eilyan Baeyens, Enrique Poolla, Kameshwar Dept. of Mechanical Engineering University of California Berkeley CA 94720 United States Dept. of Systems Engineering and Automatic Control University of Valladolid Paseo del Cauce s/n 47011 Valladolid Spain

ISBN: (纸本)9783902661524

This paper is concerned with system level energy management in wireless sensor networks. The network is required to conduct certain tasks which require information from individual sensors to be sent to a base station. Sensors cease functioning when they deplete their energy reserves or may fail abruptly due to random malfunctions. Sensor selection refers to the number of times sensors are interrogated, while sensor scheduling refers to the sequence in which these interrogations are conducted. A sensor management layer that isolates the system objectives from selection/scheduling is proposed. It is shown that sensor selection reduces to integer linear programming. Sensor scheduling is necessary when random sensor failures are considered or when the task definition is not stationary. Some general principles emerge. If all sensors are equally reliable, the optimal policy is to use the most energetic sensors first. If all sensors are equally energetic, the optimal policy is to use the least reliable sensor first. © 2009 IFAC.

关键词： Wireless sensor networks

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Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode 10

Robust model predictive control of continuous-time sampled-d...

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2009 10th European control Conference, ECC 2009

作者： Rubagotti, M. Raimondo, D.M. Ferrara, A. Magni, L. Dept. of Computer Engineering and Systems Science University of Pavia Via Ferrata 1 Pavia27100 Italy Automatic Control Laboratory Swiss Federal Institute of Technology Physikstrasse 3 Zürich8092 Switzerland

ISBN: (纸本)9783952417393

A hierarchical Nonlinear Model Predictive control (NMPC) scheme with guaranteed Input-to-State-practical-Stability (ISpS) is proposed. The controller is formed by an Integral Sliding Mode (ISM) controller and a NMPC one. The ISM, relying on the knowledge of the nominal continuous-time model of the system and of the piecewise constant control signal generated by the NMPC produces a control action aimed at reducing the difference between the dynamics of the nominal closed-loop system and the actual evolution of the state. The NMPC in this way can be designed based on a system with reduced uncertainty. In order to prove the stability of the overall control scheme, some general Regional ISpS results for continuous-time systems are proven. © 2009 EUCA.

关键词： Continuous time systems

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control system design and small signal analysis of APWM resonant inverter for induction heating

Control system design and small signal analysis of APWM reso...

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2009 International Conference on Electric Power and Energy Conversion systems, EPECS 2009

作者： Helaimi, M. Bettayeb, M. Benghanem, M. Belmadani, B. Dept. of Electrical Engineering University of Hassiba Ben Bouali Chlef Algeria Electrical and Computer Engeneering Dept. College of Engeneering University of Sharjah United Arab Emirates Dep. of Automatic Control University of Mohamed Boudhiaf-Oran Algeria

ISBN: (纸本)9789948427155

This paper proposes an asymmetrical pulse width modulation (APWM) with frequency tracking control of full bridge series resonant inverter for induction heating application. In this method, APWM is used as power regulation, and phased locked loop (PLL) is used to attain zero-voltage-switching (ZVS) over a wide load range. The complete closed loop control model is obtained using small signal analysis. The validity of the proposed control is verified by simulation results.

关键词： Induction heating

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A Simulation Study of Consensus Speed over Scale-Free Networks

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IFAC Proceedings Volumes 2009年第22期42卷 74-79页

作者： Wei Sun YangQuan Chen Dept. of Automatic Control Beijing Institute of Technology Beijing 100081 China Center for Self-Organizing and Intelligent Systems (CSOIS) Dept. of Electrical and Computer Engineering Utah State University Logan UT 84322 USA

Scale-free network and consensus among multiple agents have both drawn quite much attention. To investigate the consensus speed over scale-free networks is the main topic in this paper. Given a set of different values for the power-law distribution parameter γ, and a set of different values for the minimum degree ( d min ) for the nodes, the algebraic connectivity (λ 2 ) of the network topology is studied, as well as the time ( t c ) (or iteration ( k c ), for discrete algorithm) taken to reach consensus. The results exhibit that λ 2 decreases while γ increases. The λ 2 increases monotonically as d min grows, and they fit very well in a linear relationship. t c (or k c ) decreases as γ reduces and d min increases. Via observing the behavior of the largest eigenvalue (λ n ) of the Laplacian of the network topology, we draw the conclusion that the robustness over time delays declines while the robustness over node-failures and edge-failures increases.

关键词： Scale-free network consensus algebraic connectivity network robustness

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Energy-Aware Sensor Selection and Scheduling in Wireless Sensor Networks *

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IFAC Proceedings Volumes 2009年第20期42卷 186-191页

作者： Eilyan Bitar Enrique Baeyens Kameshwar Poolla Dept. of Mechanical Engineering University of California Berkeley CA 94720 Dept. of Systems Engineering and Automatic Control University of Valladolid Paseo del Cauce s/n 47011 Valladolid Spain

关键词： Wireless Sensor Networks Energy Estimation

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Space-State Modeling and control of Tokamak Reactors

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IFAC Proceedings Volumes 2009年第13期42卷 431-436页

作者： I. Garrido A.J. Garrido G. Sevillano M. Alberdi M. Amundarain O. Barambones Dept. Automatic Control and Systems Engineering Basque Country University EUITI de Bilbao 48012 UPV / EHU Plza. de la Casilla 3 48012 Bilbao Spain Dept. Automatic Control and Systems Engineering Basque Country University EUITI de Bilbao Vitoria Nieves Cano 12 01006 Vitoria-Gasteiz Spain

Abstract Nuclear fusion has the potential to produce unlimited, clean energy, which presents itself as a reliable energy supply but it also helps to stop the threat of climate change that faces the world nowadays. However, to sustain the pulse duration long enough to produce the necessary energy, new controls have to be developed, composing a new application area of control engineering, with new and interesting challenges for the control community. In this sense, this paper deals with the modeling of tokamak nuclear fusion reactors. In order to control the creation of unstable modes in fusion processes, it is necessary to derive numerical models suitable for control strategies. The model presented in this paper addresses flux and energy conservation issues, discussing the mechanisms behind the creation of uncontrollable modes. The dynamics of the system is given by means of the energy functions which are solved for the currents in the structure, plasma current and plasma position. Thus, the equations for the state variables are derived based on the Hamiltonian equation of motion. In order to solve this system numerically, this model is linearized around an operation point by taking a Newton-Raphson step. Besides, the system output is completed by considering the equations for the flux and the poloidal field. Finally, the resulting low-order linear model is modified so as to obtain the corresponding state-space model which is verified by means of numerical experiments.

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Robust Model Predictive control of continuous-time sampled-data nonlinear systems with Integral Sliding Mode

Robust Model Predictive Control of continuous-time sampled-d...

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European control Conference (ECC)

作者： M. Rubagotti D.M. Raimondo A. Ferrara L. Magni Dept. of Computer Engineering and Systems Science University of Pavia Pavia Italy Automatic Control Laboratory Swiss Federal Institute of Technology Zürich Switzerland

关键词： Robustness Closed loop systems Uncertainty Stability analysis Economic indicators Manifolds Predictive control

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