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Hybrid Optimal control for Aircraft Trajectory Design with a Variable Sequence of Modes

IFAC Proceedings Volumes 2011年第1期44卷 7238-7243页

作者： Maryam Kamgarpour Manuel Soler Claire J. Tomlin Alberto Olivares John Lygeros Department of Mechanical Engineering University of California at Berkeley USA Department of Statistics and Operations Research URJC 28933 Madrid Spain Department of Electrical Engineering and Computer Sciences University of California at Berkeley USA Automatic Control Laboratory ETH Zurich CH-8092 Switzerland

Abstract The problem of aircraft trajectory planning is formulated as a hybrid optimal control problem. The aircraft is modeled as a switched system, that is, a class of hybrid dynamical systems. The sequence of modes, the switching times, and the inputs for each mode are the control variables. An iterative bi-level optimization algorithm is employed to solve the optimal control problem. At the lower level, given a pre-defined sequence of flight modes, the optimal switching times and the input for each mode are determined. This is achieved by extending the continuous state to include the switching times and then solving a conventional optimal control problem for the extended state. At the higher level, the algorithm modifies the mode sequence in order to decrease the value of the cost function. We illustrate the utility of the problem formulation and the solution approach with two case studies in which short horizon aircraft trajectories are optimized in order to reduce fuel burn while avoiding hazardous weather.

关键词： Optimal control Hybrid Systems Aircraft Operations Aircraft Trajectory Design

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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Sample complexity of Linear Quadratic Gaussian (LQG) control for output feedback systems

arXiv

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arXiv 2020年

作者： Zheng, Yang Furieri, Luca Kamgarpour, Maryam Li, Na School of Engineering and Applied Sciences Harvard University United States Automatic Control Laboratory ETH Zurich Switzerland Laboratoire d'Automatique EPFL Switzerland Electrical and Computer Engineering University of British Columbia Canada

This paper studies a class of partially observed Linear Quadratic Gaussian (LQG) problems with unknown dynamics. We establish an end-to-end sample complexity bound on learning a robust LQG controller for open-loop stable plants. This is achieved using a robust synthesis procedure, where we first estimate a model from a single input-output trajectory of finite length, identify an H-infinity bound on the estimation error, and then design a robust controller using the estimated model and its quantified uncertainty. Our synthesis procedure leverages a recent control tool called Input-Output Parameterization (IOP) that enables robust controller design using convex optimization. For open-loop stable systems, we prove that the LQG performance degrades linearly with respect to the model estimation error using the proposed synthesis procedure. Despite the hidden states in the LQG problem, the achieved scaling matches previous results on learning Linear Quadratic Regulator (LQR) controllers with full state observations. Copyright © 2020, The Authors. All rights reserved.

关键词： Convex optimization

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Remote control of a domestic equipment from an Android application based on Raspberry pi card

Remote control of a domestic equipment from an Android appli...

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International Conference on sciences and techniques of automatic control and computer engineering (STA)

作者： Hayet Lamine Hafedh Abid Department Technology Informatics of ISET of Sfax High Institute of technology's studies of sfax (ISET Sfax) Sfax Tunisia Department Electrical of ENIS Laboratory of Sciences and Techniques of Automatic & computer engineering (Lab-STA) Sfax Tunisia

In this paper, we propose a Remote control of a domestic equipment from an Android application based on Raspberry pi card. Home automation has been recalled in the first stage. In the second stage an application has been developed based on the android system. The different diagrams have been presented. Different codes have been developed to allow the communication between the remote user, the web server, the raspberry pi card and the home components. Also an interface card has been developed to assure the communication between the home components and raspberry pi card. The application has been installed on a Smartphone, a web server and a raspberry pi card to order the shutter of windows. The experimental results are successful.

关键词： Androids Humanoid robots computer architecture Home automation Databases Internet Manuals

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Improved fault-tolerant fuzzy sliding-mode control for a class of MIMO nonlinear systems

Improved fault-tolerant fuzzy sliding-mode control for a cla...

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International Conference on sciences and techniques of automatic control and computer engineering (STA)

作者： Faten Baklouti Sinda Aloui Olivier Pagès Abdassattar Chaari Ahmed El Hajjaji Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA) University of Sfax Sfax Tunisia University of Picardie Jules Verne Lab. Amiens France University of Picardie Jules Verne Lab. MIS 5 Rue du moulin neuf 80000 Amiens France

This paper focuses on the synthesis of adaptive fuzzy fault tolerant controller which combines a sliding mode controller and a Proportional Integral controller (PI). The free parameters of the adaptive fuzzy controller as well as the PI controller are tuned on-line based on Lyapunov approach. The overall adaptive fuzzy sliding mode scheme guarantees the global stability of the resulting closed-loop system as well as the convergence of the reference tracking error vector. The proposed method is applied to a robot manipulator of two degrees of freedom system and achieves satisfactory simulation results.

关键词： Facsimile computers Fault tolerance Fault tolerant systems Vectors Sliding mode control

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Colour histogram analysis for skin lesions discrimination 19

Colour histogram analysis for skin lesions discrimination

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19th International Multidisciplinary Scientific Geoconference, SGEM 2019

作者： Damian, Felicia Anisoara Moldovanu, Simona Moraru, Luminita Faculty of Sciences and Environment Dunarea de Jos University of Galati Galati Romania Department of Computer Science and Information Technology Technical College Dumitru Motoc Galati Galati Romania Faculty of Automatic Control Computers Electrical Engineering and Electronics Dunarea de Jos University of Galati Galati Romania Modelling and Simulation Laboratory Dunarea de Jos University of Galati Galati Romania

One of the risk factors in skin cancer is unprotected exposure to UV radiation. Melanoma is the deadliest form of skin cancer but also curable if it is diagnosed in the early stages. This study uses a histogram analysis technique to investigate and classify two common skin lesions, nevi and melanoma. The colour feature investigated is the optimal threshold values in RGB space. Also, a boundary limit of the skin lesions is performed using a colour histogram analysis and the optimal threshold determination. A statistical analysis of the relevant threshold values for R, G and B histograms to establish a sound colour separation between benign and malignant lesions is performed. Monochromatic channel threshold values are clustered using K-means and the validity of clustering is assessed by silhouette method. The proposed method technique is evaluated using 120 colour digital images (60 melanomas and 60 nevi) from the Digital Archive of the Department of Dermatology of the University Medical Center in Groningen (UMCG)1. The reported results suggest red as the lesion representative colour in dermoscopic images. The pixel values for red channel are strongly related to the skin lesion type. © SGEM 2019.

关键词： Dermatology

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Using grey-scale hit-or-miss transform for detection of isolated foreground pixels in cerebral rmn datasets 19

Using grey-scale hit-or-miss transform for detection of isol...

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19th International Multidisciplinary Scientific Geoconference, SGEM 2019

作者： Pana, Lenuta Moldovanu, Simona Moraru, Luminita Faculty of Sciences and Environment University Dunarea de Jos of Galati Galati Romania Department of Computer Science and Information Technology Technical College Dumitru Motoc Galati Galati Romania Faculty of Automatic Control Computers Electrical Engineering and Electronics University Dunarea de Jos of Galati Galati Romania Modelling and Simulation Laboratory University Dunarea de Jos of Galati Galati Romania

MRI images contain a lot of subtle information related to various lesions which are difficult to be picked up by radiologists. computer aided diagnosis CAD is a valuable tool to improve the ability of an average radiologist to diagnose the subtle lesions. This study uses the isolated foreground pixels in MRI images as a feature able to discern a stroke patient by a healthy one. Brain MRI image was divided into eight equal sectors. The isolated foreground pixels (i.e. pixels satisfying a neighborhood configuration that corresponds to an isolated foreground pixel) were extracted using hit-or-miss and skeleton transformations. We have tested the proposed algorithms using two cerebral image datasets (healthy and acute stroke patients). The mean SD values of isolated foreground pixels for stroke patients systematically exceed the corresponding values for healthy patients. The higher numbers of isolated foreground pixel determined using hit-or-miss transform indicate this method as a promising approach for a simple and quick evaluation of stroke. © SGEM 2019.

关键词： Pixels

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Software Maintenance Optimization Based on Stackelberg Game Methods

Software Maintenance Optimization Based on Stackelberg Game ...

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IEEE International Conference on Software Reliability engineering Workshops (ISSRE Wksp)

作者： Jing Zhao Yan-Bin Wang Gao-Rong Ning Cheng-Hong Wang Kishor S. Trivedi K-Y Cai Zhen-Yu Zhang Department of Computer Science and Technology Harbin Engineering University China Department of Industrial engineering Harbin Institute of Technology China Department of Automatic Control Beihang University China Department of Electrical and Computer Engineering Duke University USA The State Key Laboratory of Computer Science Chines Academy of Sciences China

Application servers (AS) of virtualized platform may suffer from software aging problem. In this paper, we first formulate the system model including three virtual machines. Two of them act as the main servers, and the third machine acts as the backup node. The motivation of our formulated model is that the relationship between the service provider and the service maintainer is collaborative as well as having different goals between them, the service provider as a leader wants to maximize his system availability, while the service maintainer wants to minimize his maintenance cost. Thus, the problem of maximizing availability and minimizing cost between the service provider and service maintainer is Stackelberg game based. Next, we assume that the AS degradation is caused by resource consumption due to memory leaks for the AS on the active VMs, and we present the system degradation states based on Markov renewal processes. We give the analytical definitions of threshold levels for R alert at each VM, which are used to determine the optimal rejuvenation schedules. In addition, we obtain the steady-state availability expressions for the system and the mean maintenance cost. Finally, we give the Stackelberg strategy with the open-loop information and the solutions for the game theory by a numerical illustration.

关键词： Software Aging Availability Games Maintenance engineering Degradation computer crashes

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Optimal Load Management System for Aircraft Electric Power Distribution

Optimal Load Management System for Aircraft Electric Power D...

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IEEE Annual Conference on Decision and control

作者： Mehdi Maasoumy Pierluigi Nuzzo Forrest Iandola Maryam Kamgarpour Alberto Sangiovanni-Vincentelli Claire Tomlin Department of Mechanical Engineering University of California Berkeley CA 94720-1740 USA Department of Electrical Engineering and Computer Sciences University of California Berkeley CA 94720-1740 USA Automatic Control Laboratory ETH Zurich Switzerland

ISBN: (纸本)9781467357159

Aircraft Electric Power Systems (EPS) route power from generators to vital avionic loads by configuring a set of electronic control switches denoted as contactors. In this paper, we address the problem of designing a hierarchical optimal control strategy for the EPS contactors in the presence of system faults. We first formalize the system connectivity, safety and performance requirements in terms of mathematical constraints. We then show that the EPS control problem can be formulated as a Mixed-Integer Linear Program (MILP) and efficiently solved to yield load shedding, source allocation, contactor switching and battery charging policies, while optimizing a number of performance metrics, such as the number of used generators and shed loads. This solution is then integrated into a hierarchical control scheme consisting of two layers of controllers. The high-level controller provides control optimality by solving the MILP within a receding horizon approach. The low-level controller handles system faults, by directly actuating the EPS contactors, and implements the solution from the high-level controller only if it is safe. Simulation results confirm the effectiveness of the proposed approach.

关键词： contactors system failures Performance metrics level controller controllers optimal load TWO-LAYER MANAGEMENT SYSTEMS

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On the Polyhedral Set-Invariance Conditions for Time-Delay Systems

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IFAC Proceedings Volumes 2011年第1期44卷 308-313页

作者： Warody Lombardi Sorin Olaru Mircea Lazar Georges Bitsoris Silviu-Iulian Niculescu SUPELEC Systems Sciences (E3S) – Automatic Control Department France LSS – Laboratory of Signals and Systems SUPELEC-CNRS Gif-sur-Yvette France Department of Electrical and Computer Engineering – University of Patras Patras Greece Department of Electrical Engineering Eindhoven University of Technology Eindhoven The Netherlands

Abstract In this paper the concept of set invariance for time-delay systems is introduced with a specific attention to the linear discrete-time case. We are interested in the definition of a D(elay) -invariant set with respect to a bounded polyhedral subset of the state-space. D -invariance conditions are derived based on the Minkowski addition in a first stage, and subsequently translated in feasibility-based tests in order to obtain an efficient computation time

关键词： Set Invariance Constrained Systems Time-Delay Systems

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