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Novel Higher Order Sliding Mode Observer for Output Noise Attenuation 15

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Novel Higher Order Sliding Mode Observer for Output Noise At...

15th International Workshop on Variable Structure systems, VSS 2018

作者： Tamhane, Bhagyashri Kurode, Shailaja Bandyopadhyay, B. College of Engineering Department of Electrical Engineering Pune India IIT Systems and Control Engineering Bombay India

ISBN: (纸本)9781538664391

Sensor or measurement noise is an immanent disturbance in all closed loop control systems. State observers are not robust to sensor noise. Higher Order Sliding Mode Observer (HOSMO) attenuates the estimation error to a small bound in presence of output noise. A strategy is proposed in this paper for HOSM observer design which provides a further attenuation of the estimation error. A recursively designed HOSM observer with integral surface is the proposed approach. The designed observer is also shown to comply continuity condition as required by super twisting controller. Simulation results are presented to validate the proposed method. © 2018 IEEE.

关键词： Closed loop control systems

Anytime planning: A motion planner for dynamic environment

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arXiv 2019年

作者： Roy, Trishant Harchowdhury, Anindya Vachhani, Leena Department of Energy Sciences IIT Bombay Mumbai400076 India IITB-Monash Research Academy Mumbai400076 India Systems and Control Engineering IIT Bombay Mumbai400076 India

Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion planning problem for multiple dynamic obstacle rich environment and propose a probabilistically, complete novel motion planning algorithm. Our claim is that given a fixed path cost i.e. the Euclidean path length, the proposed algorithm plans a path with the least computational time as compared to the state-of-the-art techniques. At the same time, given the time duration for planning, it plans the minimum cost path. Dynamic constraints have been taken into consideration while designing the planner such that the optimal planned path is feasible for implementation. The results of extensive simulation experiments show that the proposed sequential BIT* outperforms the DOVS both in the planned path length as well as the path generation time. Copyright © 2019, The Authors. All rights reserved.

关键词： Motion planning

On optimal multiplexing of an ensemble of discrete-time constrained control systems on matrix lie groups

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arXiv 2019年

作者： Maheshwari, Chinmay Srikant, Sukumar Chatterjee, Debasish EECS UC Berkeley California United States Systems and Control Engineering IIT Bombay Powai Mumbai400076 India

We study a constrained optimal control problem for an ensemble of control systems. Each sub-system (or plant) evolves on a matrix Lie group, and must satisfy given state and control action constraints pointwise in time. In addition, certain multiplexing requirement is imposed: the controller must be shared between the plants in the sense that at any time instant the control signal may be sent to only one plant. We provide first-order necessary conditions for optimality in the form of suitable Pontryagin maximum principle in this problem. Two numerical experiments are presented: first, for a system of two satellites;second, for a system of two underwater vehicles performing energy optimal maneuvers under the preceding family of *** Codes 93B27 Copyright © 2019, The Authors. All rights reserved.

关键词： Lie groups

Optimal trajectory tracking of nonholonomic mechanical systems: A geometric approach

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arXiv 2019年

作者： Nayak, Aradhana de Almagro, Rodrigo Sato Martín Colombo, Leonardo de Diego, David Martín Systems and Control Engineering IIT Bombay Mumbai400076 India Campus UAM Cantoblanco Calle Nicolás Cabrera 15 Madrid28049 Spain

We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic system and the desired reference trajectory evolving on the distribution which defines the nonholonomic constraints. We prepose a geometric framework since it describes the class of nonlinear systems under study in a coordinate-free framework. Necessary conditions for the existence of extrema are determined by the Pontryagin Minimum Principle. A nonholonomic fully actuated particle is used as a benchmark example to show how the proposed method is applied. Copyright © 2019, The Authors. All rights reserved.

关键词： Trajectories

Performance Bounds for Stochastic Receding Horizon control with Randomly Sampled Measurements

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Performance Bounds for Stochastic Receding Horizon Control w...

IEEE Annual Conference on Decision and control

作者： Aneel Tanwani Debasish Chatterjee Lars Grune LAAS–CNRS Université de Toulouse CNRS Toulouse Department of Systems and Control Engineering IIT Bombay Mumbai India Mathematical Institute University of Bayreuth Bayreuth Germany

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

This article considers the problem of analyzing the performance of model predictive controllers in minimizing infinite-horizon cost functionals associated with stochastic dynamical systems when the measurements received by the controller are randomly sampled in time. In contrast to the standard model predictive control algorithms which rely on availability of the state measurements at all times, we compute control policies which minimize cost functionals over a (finite) rolling-horizon conditioned upon the information that arrives at random time instants;although a hard upper bound equal to the length of the optimization horizon is imposed on consecutive sampling instants. Sufficient conditions are provided on the system dynamics, the cost functionals, and the statistics of the sampling process, such that the proposed policies result in computable upper bounds on the infinite-horizon average cost. The case of linear time-varying system with quadratic cost functionals is studied for the illustration of our results.

关键词： Stochastic processes Optimization Time measurement Predictive control Upper bound Minimization Optimal control

Robust Non-overshooting Tracking and Model Following controller using Multi-variable Super-twisting Algorithm

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Robust Non-overshooting Tracking and Model Following Control...

control Conference (ICC), 2019 Sixth Indian

作者： Siddhartha Ganguly Manas Kumar Bera Prasanta Roy Systems & Control Engineering IIT Bombay Powai Mumbai India Dept. of Electronics & instrumentation Engineering NIT Silchar Assam India Dept. of Electrical Engineering NIT Silchar Assam India

ISBN: (数字)9781728138602

ISBN: (纸本)9781728138619

This paper presents the design of robust tracking and model following (RTMF) controller based on multivariable super-twisting algorithm (MSTA) for a class of uncertain multi-input multi-output (MIMO) linear-time invariant (LTI) systems. The desired behavior of the uncertain plant is achieved by defining a model with ideal response characteristics, and a controller based on MSTA is designed so that the asymptotic convergence of error between the output of the plant and model can be guaranteed. To ensure the good transient response while tracking without overshoot, a model has been developed based on non-overshooting control technique. The robust super-twisting sliding mode controller helps to achieve the desired system performance by following this model response faithfully, rejecting the disturbance with a continuous control. Finally, this strategy has been validated through numerical simulation considering a MIMO quadruple tank process (QTP). The simulated results are presented to illustrate the effectiveness of the proposed RTMF controller.

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Optimal Trajectory Tracking of Nonholonomic Mechanical systems: a geometric approach

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Optimal Trajectory Tracking of Nonholonomic Mechanical Syste...

American control Conference

作者： Aradhana Nayak Rodrigo Sato Martin de Almagro Leonardo Colombo David Martin de Diego Systems and Control Engineering IIT Bombay Mumbai 400076 India Instituto de Ciencias Maternaticas (ICMAT-CSIC) Calle Nicolas Cabrera 15 Campus UAM Cantoblanco Madrid 28049 Spain

ISBN: (纸本)9781538679012;9781538679265

We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a non-holonomic system and the desired reference trajectory evolving on the distribution which defines the nonholonomic constraints. We propose a geometric framework since it describes the class of nonlinear systems under study in a coordinate-free framework. Necessary conditions for the existence of extrema are determined by the Pontryagin Minimum Principle. A nonholonomic fully actuated particle is used as a benchmark example to show how the proposed method is applied.

关键词： trajectory tracking trajectory Mechanical systems Cost functions minimum principle recasting editing

A frequency-constrained geometric Pontryagin maximum principle on matrix Lie groups

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arXiv 2018年

作者： Kotpalliwar, Shruti Paruchuri, Pradyumna Phogat, Karmvir Singh Chatterjee, Debasish Banavar, Ravi Systems & Control Engineering IIT Bombay Powai Mumbai400076 India

In this article we present a geometric discrete-time Pontryagin maximum principle (PMP) on matrix Lie groups that incorporates frequency constraints on the controls in addition to pointwise constraints on the states and control actions directly at the stage of the problem formulation. This PMP gives first order necessary conditions for optimality, and leads to two-point boundary value problems that may be solved by shooting techniques to arrive at optimal trajectories. We validate our theoretical results with a numerical experiment on the attitude control of a spacecraft on the Lie group SO(3). Copyright © 2018, The Authors. All rights reserved.

关键词： Maximum principle

Novel Higher Order Sliding Mode Observer for Output Noise Attenuation

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Novel Higher Order Sliding Mode Observer for Output Noise At...

International Workshop on Variable Structure systems, VSS

作者： Bhagyashri Tamhane Shailaja Kurode B. Bandyopadhyay Department of Electrical Engineering College of Engineering Pune India Systems and Control Engineering IIT Bombay

关键词： Observers Convergence Noise measurement Robustness Attenuation DC motors Estimation error