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Parameterisation of Degenerate Solutions of the Determinantal Assignment Problem

IFAC Proceedings Volumes 2013年第2期46卷 516-521页

作者： Nicos Karcanias John Leventides Ioannis Meintanis Systems and Control Centre School of Engineering and Mathematical Sciences City University London Northampton Square London EC1V 0HB UK University of Athens Department of Economics Section of Mathematics and Informatics Pezmazoglou 8 Athens Greece

The paper is concerned with defining and parametrising the families of all degenerate compensators (feedback, squaring down etc) emerging in a variety of linear control problems. Such compensators indicate the boundaries of the control design, but they also provide the means for linearising the non-linear nature of the Determinantal Assignment Problems, which provide the unifying description for all frequency assignment problems (pole, zero) under static and dynamic compensation schemes. The conditions provide the means for the selection of appropriate degenerate solutions that allow frequency assignability in the corresponding frequencies.

关键词： Linear systems algebraic systems theory degenerate compensators global linearisation

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Computer-vision-based wheel sinkage estimation for robot navigation on lunar terrain

Computer-vision-based wheel sinkage estimation for robot nav...

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作者： Hegde, Guruprasad M. Ye, Cang Robinson, Christopher A. Stroupe, Ashley Tunstel, Edward Department of Systems Engineering University of Arkansas at Little Rock Little Rock AR 72204 United States Jaguar Land Rover Ltd. Whitley CV3 4LF United Kingdom FIS Jacksonville FL 32204 United States Advanced Robotic Control Group Mobility and Robotic Systems Section Jet Propulsion Laboratory Pasadena CA 91109 United States Space Department Johns Hopkins University Applied Physics Laboratory Laurel MD 20723 United States

This paper presents a wheel sinkage detection method that may be used in robotic lunar exploration tasks. The method extracts the boundary line between a robot wheel and lunar soil by segmenting the wheel-soil image captured from a video camera that monitors wheel-soil interaction. The detected boundary is projected onto the soil-free image of the robot wheel to determine the parameters of wheel sinkage. The segmentation method is based on a graph theory. It first clusters a wheel-soil image into homogeneous regions called superpixels and constructs a graph on the superpixels. It then partitions the graph into segments by using normalized cuts. Compared with the existing wheel sinkage detection methods, the proposed algorithm is more robust to illumination condition, shadows, and dust (covering the wheel). The method's efficacy has been validated by experiments under various conditions. © 1996-2012 IEEE.

关键词： Pixels

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Model-based Tracking for Agent-based control systems in the Case of Sensor Failures

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International Journal of Automation and computing 2012年第6期9卷 561-569页

作者： R.P.Yadav P.V.Varde P.S.V.Nataraj P.Fatnani C.P.Navathe Accelerator Control Section Accelerator Control and Beam Diagnostics DivisionRaja Ramanna Centre for Advanced Technology Life Cycle Reliability Engineering Lab Safety Evaluation and Manpower Training and Development SectionBhabha Atomic Research Centre Inter Disciplinary Program in Systems and Control Engineering Group Indian Institute of Technology Bombay

The study on artificial intelligence(AI) methods for tuning of particle accelerators has been reported in many *** paper presents tuning method for agent-based control systems of transport lines in the case of sensor/actuator *** method uses model-based tracking concept to relax the demand on sensor *** condition for successful operation of the stated scheme is derived,and the concept is demonstrated through simulation by applying it to the model of microtron,transport line-1 and booster of indus *** results show that this approach is very effective in transport line control during sensor/actuator failures.

关键词： Agent agent-based control model-based tracking transport line control artificial intelligence(AI).

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Steelmaking plant technology for steelmaking operations

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Nippon Steel Technical Report 2013年第104期 74-82页

作者： Mimura, Yoshihito Kinoshita, Junichi Umetsu, Kenji Seki, Takeshi Shia, Yoshiaki Ishimori, Yuichi Ohshita, Isao Matsuishi, Nagayuki Higashi, Hirofumi Wakida, Shuji Plant Engineering Div. Plant Engineering and Facility Management Center 20-1 Shintomi Futtsu Chiba 293-8511 Japan Steelmaking Technology Dept. Plant Engineering Div. Plant Engineering and Facility Management Center Japan Electrical and Instrument Maintenance Technology Dept. Systems and Control Engineering Div. Plant Engineering and Facility Management Center Japan Continuous Casting Plant Engineering Dept. Plant Engineering Div. Plant Engineering and Facility Management Center Japan Mechanical Maintenance Technology Dept. Mechanical Engineering Div. Plant Engineering and Facility Management Center Japan Mechanical Technology Dept. Equipment Div. Japan System and Control Technology Dept. Systems and Control Engineering Div. Plant Engineering and Facility Management Center Japan Structural Engineering Dept. Civil Engineering Div. Plant Engineering and Facility Management Center Japan Engineering and Development Section Steel Plant Engineering Dept.-II Plant and Machinery Div. Japan

Steelmaking technology have been developed by some needs and environmental changes. Among them, in steelmaking plant, more technology have been preceded by production of high quality products, approach for global environmental affairs and application of information technology and computer technology. From these viewpoints, some aspects and results of recent steelmaking plant technology will be described in this paper.

关键词： Steelmaking

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A multiobjective-based switching topology for hierarchical model predictive control applied to a hydro-power valley

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IFAC Proceedings Volumes 2013年第20期46卷 534-539页

作者： A. Núñez C. Ocampo-Martinez B. De Schutter F. Valencia J.D. López J. Espinosa Section of Road and Railway Engineering Delft University of Technology Delft The Netherlands Institut de Robòtica i Informàtica Industrial (CSIC-UPC) Technical University of Catalunya Barcelona Spain Delft Center for Systems and Control Delft University of Technology Delft The Netherlands School of Mechatronics Universidad Nacional de Colombia Medellín Colombia

In a Hierarchical Model Predictive control (H-MPC) framework, this paper explores suitable time-variant structures for the hierarchies of different local MPC controllers. The idea is to adapt to different operational conditions by changing the importance of the local controllers. This is done by defining the level of the hierarchy they belong to, and solving within each level the local MPC problem using the information provided by the higher levels at the current time step and the predicted information from the lower levels obtained in the previous time step. As selecting a hierarchy results in a combinatorial optimization problem, it is explicitly solved for a limited number of relevant topologies only and then the switching between topologies is defined with a multiobjective optimizer, so as to decide the best H-MPC scheme according to the expected performance. A comparison with fixed-topology H-MPC controllers is done, showing the effectiveness of the proposed approach for the power control of a hydro-power valley.

关键词： Hierarchical Model Predictive control Switching Topologies Supervisory control Multiobjective Optimization Hydro-Power Valley

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Model predictive control for freeway traffic using discrete speed limit signals

Model predictive control for freeway traffic using discrete ...

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European control Conference (ECC)

作者： José Ramón D. Frejo Alfredo Núñez Bart De Schutter Eduardo F. Camacho Universidad de Sevilla Sevilla AndalucÃa ES Section of Road and Railway Engineering Delft University of Technology Netherlands Delft Center for Systems and Control Delft University of Technology Netherlands Dept. de Ingeniería de Sistemas y Automática University of Seville Spain

ISBN: (纸本)9781479901890

A model predictive control (MPC) approach for freeway traffic control using discrete signals for the activation of variable speed limit panels is proposed. The discrete characteristics of the panels and some necessary constraints for their real operation are usually underestimated in the literature, so first we propose a way to include them using the macroscopic traffic model METANET within an MPC framework. For obtaining practical discrete signals, the MPC controller has to solve a highly non-linear optimization problem, including mixed-integer variables. Since solving such a problem is complex and difficult to execute in real-time, we propose some methods to obtain reasonable control actions in a limited computation time. The methods consist of first relaxing the discrete constraints for the inputs; and then, based on this continuous solution and together with different search methods, to find discrete speed limit signals that provide the best performance, keeping the number of simulations reduced. The proposed methods are tested by simulation, showing not only a good performance but also keeping the computational time reduced.

关键词： Optimization Mathematical model Genetic algorithms Computational modeling Equations Traffic control Adaptation models

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Evaporator unit as a benchmark for plug and play and fault tolerant control

Evaporator unit as a benchmark for plug and play and fault t...

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8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Izadi-Zamanabadi, Roozbeh Vinther, Kasper Mojallali, Hamed Rasmussen, Henrik Stoustrup, Jakob Danfoss A/S Nordborgvej 81 DK-6430 Nordborg Denmark Faculty of Engineering University of Guilan P.O. Box: 41635-3756 Iran Department of Electronic Systems Section of Automation and Control Aalborg University Aalborg Denmark

ISBN: (纸本)9783902823090

This paper presents a challenging industrial benchmark for implementation of control strategies under realistic working conditions. The developed control strategies should perform in a plug & play manner, i.e. adapt to varying working conditions, optimize their performance, and provide fault tolerance. A fault tolerant strategy is needed to deal with a faulty sensor measurement of the evaporation pressure. The design and algorithmic challenges in the control of an evaporator include: unknown model parameters, large parameter variations, varying loads, and external discrete phenomena such as compressor switch on/off or abrupt change in compressor speed. © 2012 IFAC.

关键词： Fault tolerance

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Worst case analysis of a launcher vehicle using surrogate models

Worst case analysis of a launcher vehicle using surrogate mo...

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7th IFAC Symposium on Robust control Design, ROCOND'12

作者： Kamath, A.K. Menon, P.P. Ganet-Schoeller, M. Maurice, G. Bennani, S. Bates, D.G. College of Engineering Mathematics and Physical Sciences University of Exeter United Kingdom ASTRIUM Space Transportation Systems Design and Tests Directorate 66 route de Verneuil 78133 Les Mureaux France Guidance Navigation and Control Section ESA ESTEC Noordwijk Netherlands

ISBN: (纸本)9783902823038

Polynomial surrogate models of an industrial standard, closed-loop launcher model during an atmospheric flight phase are developed. A probabilistic collocation method is applied to derive surrogate models of varying complexity for wind perturbations occurring at different time instances during the atmospheric flight phase. These models are employed in optimisation- based worst-case analysis to significantly reduce the computational overhead while maintaining the accuracy of the computed worst-case uncertain parameter combinations. Comparisons of worst-case analysis results obtained using standard simulation models and their polynomial surrogate equivalents demonstrate significant potential of the proposed approach for radically reducing the computational burden associated with the industrial verification and validation process. © 2012 IFAC.

关键词： Uncertainty analysis

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Robust safety margin assessment and constrained worst-case analysis of a launcher vehicle

Robust safety margin assessment and constrained worst-case a...

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7th IFAC Symposium on Robust control Design, ROCOND'12

ISBN: (纸本)9783902823038

The robustness of an industrial standard, closed-loop launcher model during an atmospheric flight phase is assessed in terms of robust safety margins in a multi-dimensional parameter space made up of various rigid and bending mode uncertainties. A single-axis launcher model with time-varying aerodynamic and thruster efficiency parameters, along with an H∞ controller and bending mode filter is considered. A constrained hybrid optimisation approach is adopted to determine the safety margins for different wind perturbations acting at different time instances of the flight. In addition, optimisation-based analysis is performed to determine the worst-case uncertain parameter combination for the launcher during the atmospheric flight phase. Probability constraints on the uncertain parameter combination satisfying the dispersion requirements are considered during the analysis. © 2012 IFAC.

关键词： Constrained optimization

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On the Existence of Compositional Barrier Certificates

On the Existence of Compositional Barrier Certificates

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IEEE Annual Conference on Decision and control

作者： Christoffer Sloth Rafael Wisniewski George J. Pappas Department of Computer Science Aalborg University Section of Automation & Control Aalborg University Department of Electrical and Systems Engineering University of Pennsylvania

ISBN: (纸本)9781467320658

This paper provides a necessary and sufficient condition for the compositional verification of a continuous system with additively separable barrier functions. The compositional safety verification enables the verification of an inter-connection of subsystems. The idea behind the compositional analysis is to allow the verification of systems with a high dimension, by the verification of multiple lower dimensional subproblems. In the compositional safety analysis, a particular structure is imposed on the barrier certificate, restricting the applicability of the method. We show an example of a system that cannot be verified using the compositional method, but can be verified using a centralized method. This example highlights how not to decompose systems, and should be used to guide the decomposition of a system into appropriate subsystems. Finally, we provide a second condition for the compositional safety analysis that enables the verification of the counterexample, by imposing a less restrictive structure of the barrier function. This shows that the counterexample can be solved with a compositional method, but at an increased computational complexity.

关键词： Verification Safety Analysis Counter example Licence optical coherence tomography angiography device system parameter Safety Verification continuous systems complexity classes decomposition SUB-SYSTEM barrier barriers

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