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IEEE Conference on Decision and Control

作者： Kaushik Mahata Centre for Complex Dynamic Systems and Control School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia

ISBN: (纸本)1424401704;9781424401703

The bias compensated least squares approach for errors-in-variables model identification is examined in a new framework, where it is allowed to prefilter the observed input-output data prior to the estimation process. A statistical analysis of the estimation algorithm is presented. Subsequently, it is shown how these prefilters and the weighting matrix can be tuned in order to optimize the estimation accuracy. According to the numerical simulation results, the covariance matrix of the estimated parameter vector is very close to the Cramer-Rao lower bound for the estimation problem

关键词： Error correction Covariance matrix Vectors Signal to noise ratio USA Councils Least squares approximation Statistical analysis Numerical simulation Parameter estimation Linear systems

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Model predictive control for tracking using artificial references: Fundamentals, recent results and practical implementation 63

Model predictive control for tracking using artificial refer...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Krupa, P. Kohler, J. Ferramosca, A. Alvarado, I. Zeilinger, M.N. Alamo, T. Limon, D. Computer Science Group L'Aquila Italy Institute for Dynamic Systems and Control Eth Zürich ZürichCH-8092 Switzerland University of Bergamo Information and Production Engineering Department of Management Via Marconi 5 BG Dalmine24044 Italy Universidad de Sevilla Department of Systems Engineering and Automation Seville Spain

ISBN: (纸本)9798350316339

This paper provides a comprehensive tutorial on a family of Model Predictive Control (MPC) formulations, known as MPC for tracking, which are characterized by including an artificial reference as part of the decision variables in the optimization problem. These formulations have several benefits with respect to the classical MPC formulations, including guaranteed recursive feasibility under online reference changes, as well as asymptotic stability and an increased domain of attraction. This tutorial paper introduces the concept of using an artificial reference in MPC, presenting the benefits and theoretical guarantees obtained by its use. We then provide a survey of the main advances and extensions of the original linear MPC for tracking, including its non-linear extension. Additionally, we discuss its application to learning-based MPC, and discuss optimization aspects related to its implementation. © 2024 IEEE.

关键词： Predictive control systems

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Learning Behavior Models of Hybrid systems Using Wavelets for Autonomous Jumps Detection

Learning Behavior Models of Hybrid Systems Using Wavelets fo...

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IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)

作者： Asmir Voden(c)arevi(c) Knowledge-Based Systems Research Group Department of Computer Science International Graduate School Dynamic Intelligent Systems University of Paderborn 33098 Paderborn Germany

Today’s hybrid technical systems, such as production facilities, evolve rapidly. Therefore the efforts and resources needed to obtain their trustworthy behavior models are significantly increased. This forms the modeling bottleneck, as the model creation mostly relies on the expensive and durable manual modeling. Behavior models are of the greatest importance in monitoring, anomaly detection, and diagnosis applications. To deal with this issue, the novel HyBUTLA algorithm was recently proposed for automated learning of behavior models from process data. Despite being the first hybrid automaton learning algorithm, it does not model the autonomous jumps (abrupt changes in process variables), and it suffers from long runtime due to the use of advanced machine learning methods. In this paper the HyBUTLA algorithm is improved to account for the autonomous jumps by introducing the splitting step based on discrete wavelet transform. This significantly improves the algorithm runtime, since high function approximation accuracy can be reached by using rather simple methods such as multiple linear regression. The benefits that splitting brings are formally proved and demonstrated in a real-world production system.

关键词： Function approximation Learning automata Accuracy Approximation algorithms Discrete wavelet transforms

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Generalised Filters and Stochastic Sampling Zeros

Generalised Filters and Stochastic Sampling Zeros

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IEEE Conference on Decision and Control

作者： J.I. Yuz G.C. Goodwin Centre for Complex Dynamic Systems and Control (CDSC) School of Electrical Engineering & Computer Science University of Newcastle NSW Australia

It is well-known that the zeros of sampled-data models for deterministic systems depend on the hold device used to generate the continuous-time system input. A dual result holds also for stochastic systems. In the latter case, the zeros of the sampled-data model depend on the anti-aliasing filter used before sampling. Generically, extra zeros appear in both deterministic and stochastic discrete-time models. These zeros have no continuous-time counterpart. This paper presents an anti-aliasing filter design, such that the stochastic sampling zeros are asymptotically assigned to the origin, for fast sampling rates. The design procedure relies only on the system relative degree.

关键词： Filters Stochastic processes Sampling methods Stochastic systems Control systems Character generation Transfer functions computer science Australia Optimal control

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Robot localization system based on 2D-color vision sensor

Robot localization system based on 2D-color vision sensor

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4th International Symposium on Autonomous Minirobots for Research and Edutainment, AMiRE 2007

作者： Ebied, H.M. Witkowski, U. Monier, E. Rückert, U. Abdel-Wahab, M.S. System and Circuit Technology Heinz Nixdorf Institute Paderborn University Fürstenallee 11 33102 Paderborn Germany Faculty of Computer and Information Sciences Ain Shames University Cairo Egypt International Graduate School of Dynamic Intelligent Systems University of Paderborn Germany

In this paper, a vision based localization is described. Mobile robots must be able to determine their own position to operate successfully in any environments. The Simultaneous Localization and Mapping (SLAM) problem is the key problem for any autonomous mobile robot. We will consider the positioning system of the autonomous minirobot Khepera II. The system uses different colored cylinder landmarks which are positioned at the corners of the environment. This paper describes development of an analytical model to calculate the robot's position based on a parameter set and the knowledge of the positions of landmarks. By using 2D vision, the robot is able to identify colored landmarks and to extract the centre of each landmark.

关键词： Object detection

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Generalizations of the Nevanlinna-Pick interpolation Problem

Generalizations of the Nevanlinna-Pick interpolation Problem

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IEEE Conference on Decision and Control

作者： Minyue Fu K. Mahata Centre for Complex Dynamic Systems and Control School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia

This paper aims at generalizing the well-known Nevanlinna-Pick interpolation problem by considering additional constraints. The first type of constraints we consider requires the interpolation function to be of a given degree. Several results are provided for different degree constraints. These results offer feasibility tests via linear matrix inequalities. We have identified a number of degree constraints for which the feasibility tests are exact. For other degree constraints, we offer a relaxation scheme for checking the feasibility. The second type of constraints we study is about spectral zero assignment, which demands the zeros of the spectral factorization of the interpolation function to be at given locations. This problem can be solved using an iterative algorithm by Byrnes, Georgiou and Linquist. However, we provide a much faster iterative algorithm for this problem, although a proof of convergence is yet to be offered.

关键词： Interpolation Testing Iterative algorithms Linear matrix inequalities Convergence Circuits and systems Stability analysis Control design Signal processing Stochastic systems

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Multisensor Fusion Fault-Tolerant Control with Diagnosis via a Set Separation Principle

Multisensor Fusion Fault-Tolerant Control with Diagnosis via...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： José A.De Doná Maria M.Seron Alain Yetendje ARC Centre of Excellence for Complex Dynamic Systems and Control （CDSC） School of Electrical Engineering and Computer ScienceThe University of Newcastle

In this paper, a multisensor fusion fault-tolerant control system with fault detection and isolation via set separation is presented. The fault detection and isolation unit verifies that for each sensor-estimator combination, the estimation tracking errors lie inside pre-computed sets and discards faulty sensors when their associated estimation tracking errors leave the sets. An active fault tolerant controller is obtained,where the remaining healthy estimates are combined using a technique based on the optimal fusion criterion in the linear minimum-variance sense, recently proposed in the *** fused estimates are then used to implement a state feedback tracking controller. We ensure closed-loop stability and good performance under the occurrence of abrupt sensor faults.

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On Constrained Covariance Extension Problems

On Constrained Covariance Extension Problems

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IEEE Conference on Decision and Control

作者： K. Mahata Minyue Fu Centre for Complex Dynamic Systems and Control School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia

This paper aims at generalizing the well-known covariance extension problem by considering additional constraints. We first consider degree constraints, i.e., we require the interpolation function to have a given degree. Several results are offered for testing the feasibility via linear matrix inequalities. We then study the spectral zero assignment problem where the the interpolation function is constrained to have the zeros of the spectral factorization of the interpolation function at given locations. A fast iterative algorithm is provided for this problem. Numerical studies support that this algorithm works extremely well, although we are yet to offer a theoretical proof for the convergence of the algorithm.

关键词： Iterative algorithms Interpolation Testing Riccati equations Linear matrix inequalities Signal processing algorithms Sufficient conditions Covariance matrix Convergence of numerical methods Design engineering

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Modeling agents and agent systems

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2011年 6910卷 157-181页

作者： Lettmann, Theodor Baumann, Michael Eberling, Markus Kemmerich, Thomas Department of Computer Science University of Paderborn Paderborn 33095 Germany International Graduate School of Dynamic Intelligent Systems University of Paderborn Paderborn 33095 Germany

ISBN: (纸本)9783642240157

In present agent definitions, we often find different names and definitions for similar concepts. Many works on multiagent systems use abstract and informal descriptions to introduce the topic. Even books on multiagent systems often lack a formal definition or use a self-contained formalism. Our goal is to present a universal and formal description for agent systems that can be used as a core model with other existing models as special cases. This core model allows clear specification of agent systems and their properties. Design decisions are made explicitly and, by that, become a mean of comparison for different approaches. The proposed definitions for single- and multiagent systems address all basic properties while leaving space for extensions and can thus be used to talk about concepts using a homogeneous notation. The comparisons of our definition to existing models show that the most-cited descriptions can be expressed with our formalism which shows that there is a basic consensus on fundamental properties of agent systems. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Multi agent systems

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Fuzzy relational modeling of dynamic systems with regenerative I/O interfaces

Fuzzy relational modeling of dynamic systems with regenerati...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： W. Pedrycz J.V. de Oliveira Department of Electrical & Computer Engineering University of Manitoba Winnipeg MAN Canada INESC-Control of Dynamic Systems Group Lisboa Portugal

The problem of modeling dynamic systems using fuzzy relational systems is investigated. A dynamic system is modeled using a static fuzzy relational system where the dynamics is brought into the model by tapped delay lines. Both the internal and the external feedback topology are relayed. It is shown that in the limit the internal feedback topology can generate a null linguistic representation of the state in the absence of normal fuzzy sets at the inputs of the static model. For handling this several schemes are considered, namely it is advocated the use of pretuned fuzzy model I/O interfaces as regenerative devices. A case study is presented.< >

关键词： Fuzzy systems Topology Fuzzy sets Fuzzy control Delay lines Regeneration engineering State feedback Process control Equations Distributed computing

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