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IEEE International Conference on systems, Man and Cybernetics

作者： William B. Rouse Chelsea C. White Keith Hipel Yacov Y. Haimes Lotfi A. Zadeh Mo Jamshidi Dimitar P. Filev Jose del R. Millan Lawrence O. Hall Wiliam A. Gruver Georgia Institute of Technology USA “Control and Communication in Animals Machines Organizations and Societies” Georgia Institute of Technology USA “Trends in Global Supply Chains and Logistics” University of Waterloo Canada “Tackling Climate Change: A System of Systems Engineering Perspective” University of Virginia USA TBA University of California at Berkeley USA “Wiener's Cybernetics and Shannon's Information Theory: A Personal Perspective” University of Texas at San Antonio USA “Big Data Analytic Based Models of System of Systems: Applications to Energy Finances and Medicine” Ford Motor Company USA “Evolving Embedded Systems in Cyber-Physical Applications” Swiss Federal Institute of Technology in Lausanne Switzerland “Brain-Machine Interfaces: Perception-Action Closed Loop” South Florida University USA “Do we need new learning algorithms or just the ability to blend existing ones?” Simon Fraser University Canada Algorithmic Trading of the Financial Markets: Research and Personal Opportunities”

The 2014 IEEE International Conference on systems, Man, and Cybernetics is dedicated to Norbert Wiener, the Father of Cybernetics, in honor of the 120th anniversary of his birth.

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Optimal Leader-Follower control for Crowd Evacuation

Optimal Leader-Follower Control for Crowd Evacuation

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IEEE Annual Conference on Decision and control

作者： Yuecheng Yang Dimos V. Dimarogonas Xiaoming Hu Optimization and Systems Theory Department of Mathematics Royal institute of Technology (KTH) 100 44 Stockholm Sweden Automatic Control Lab School of Electrical Engineering KTH

ISBN: (纸本)9781467357159

Crowd evacuation has become a primary safety issue in many public places in a metropolitan area. Experts from different fields have worked on modeling and designing evacuating policies by using different tools and methods. In this paper, an optimal control approach is used to derive guiding strategies for the rescue agents under different circumstances. Various optimal control problems are formulated to handle different assumptions of the scenario. Both the analytic solutions and the numerical simulation confirm the efficiency of this approach, which in turn can be potentially used as decision-making support in practical applications.

关键词： Evacuation Safety Problem decision making support designs and models Optimal control numerical simulation metropolitan areas

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Estimation of Consistent Parameter Sets for Continuous-time Nonlinear systems Using Occupation Measures and LMI Relaxations

Estimation of Consistent Parameter Sets for Continuous-time ...

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IEEE Annual Conference on Decision and control

作者： Stefan Streif Philipp Rumschinski Didier Henrion Rolf Findeisen Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von-Guericke-University Magdeburg Germany LAAS-CNRS Universite de Toulouse France

ISBN: (纸本)9781467357159

Obtaining initial conditions and parameterizations leading to a model consistent with available measurements or safety specifications is important for many applications. Examples include model (in-)validation, prediction, fault diagnosis, and controller design. We present an approach to determine inner- and outer-approximations of the set containing all consistent initial conditions/parameterizations for nonlinear (polynomial) continuous-time systems. These approximations are found by occupation measures that encode the system dynamics and measurements, and give rise to an infinite-dimensional linear program. We exploit the flexibility and linearity of the decision problem to incorporate unknown-but-bounded and pointwise-in-time state and output constraints, a feature which was not addressed in previous works. The infinite-dimensional linear program is relaxed by a hierarchy of LMI problems that provide certificates in case no consistent initial condition/parameterization exists. Furthermore, the applied LMI relaxation guarantees that the approximations converge (almost uniformly) to the true consistent set. We illustrate the approach with a biochemical reaction network involving unknown initial conditions and parameters.

关键词： INITIAL CONDITIONS Decision problem Occupations safety specification System dynamics Licence Consistent linear programming Unknown parameterization

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The variable universe fuzzy controller and its application in missile homing guidance law design

The variable universe fuzzy controller and its application i...

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Chinese control Conference (CCC)

作者： Weidong Zhang Xianlin Huang Shiyong Li Xiao-Zhi Gao Center of control theory and guidance technology Harbin Institute of Technology 150000 China Department of control science and technology Harbin Institute of Technology 150000 China Department of Automation and Systems Technology Aalto University School of Electrical Engineering Helsinki 00076 Finland

As to the high-speed and high-maneuver characteristics of the airspace targets, the method of variable universe fuzzy control is applied to convert the guidance law problem to control problem for designing. In the traditional variable universe fuzzy control, the adjustable factor is constructed by the form of artificial mathematical functions. In order to introduce artificial intelligence to make the adjustable factor more to adapt to the characteristics of the system. Through the association with dynamic characteristics of the system, an improved adjustable factor is designed, whose adjustable speed and coordination are enhanced. Through the simulation, we test the capability of the corresponding controllers in guidance law, and the ideal result is achieved.

关键词： Electronic mail Fuzzy control Educational institutions Hafnium Missiles control theory Automation

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Finite horizon model predictive control with ellipsoid mapping of uncertain linear systems

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IET control theory and Applications 2012年第18期6卷 2820-2828页

作者： Yu, S. Böhm, C. Chen, H. Allgöwer, F. Jilin University Department of Control Science and Engineering Changchun China University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart 70569 Germany

A model predictive control scheme was proposed for discrete-time uncertain linear systems subject to input constraints. The cost functional to be minimised is a finite horizon quadratic cost, which describes the performance of the corresponding nominal system. The control action is specified in terms of both feedback and open-loop components. The open-loop part of the control action steers the centre of associated ellipsoids into a set around the origin, while the feedback component forces the actual system states to remain in those ellipsoids. Both feedback and open-loop control are determined online by repeatedly solving a convex optimisation problem. The predictive control scheme guarantees recursive feasibility and robust stability if the convex optimisation problem is feasible at the initial time instant. A numerical example illustrates the effectiveness of the proposed approach. © 2012 The Institution of engineering and Technology.

关键词： Model predictive control

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Obstacle Avoidance for an Extremum Seeking System using a Navigation Function

Obstacle Avoidance for an Extremum Seeking System using a Na...

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American control Conference

作者： Hans-Bernd Durr Milos S. Stankovic Dimos V. Dimarogonas Christian Ebenbauer Karl Henrik Johansson Institute for Systems Theory and Automatic Control University of Stuttgart Germany Innovation Center School of Electrical Engineering University of Belgrade Serbia ACCESS Linnaeus Center School of Electrical Engineering Royal Institute of Technology 100-44 Stockholm Sweden

ISBN: (纸本)9781479901777

The problem of autonomously steering a vehicle to a destination point, while avoiding obstacles, is considered. The vehicle is modeled as a single-integrator in the plane and it is assumed that the obstacles are unknown a priori. The control law is an extremum seeking algorithm, which steers the vehicle to the minimum of a navigation function. In this framework, obstacle avoidance and practical uniform convergence to a destination point for almost all initial conditions is proven. The theoretic results are illustrated using numerical examples.

关键词： Navigation Function autonomously steering destination point

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A multi-link-flexible robot arm catching thrown balls 7

A multi-link-flexible robot arm catching thrown balls

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7th German Conference on Robotics, ROBOTIK 2012

作者： Malzahn, Jörn Phung, Anh Son Bertram, Torsten Institute of Control Theory and Systems Engineering Technische Universität Dortmund Germany

The contribution proposes a control architecture, which enables a multi-link-flexible robot arm under gravitational influence to catch multiple balls sequentially thrown by a human. A net at the end-effector is utilized to intercept the balls when they pass the vertically oriented robot plane of motion. The ball detection, tracking as well as the prediction of the ball intercept location is based on a wall-mounted Kinect RGB-D sensor. Previously caught balls represent a varying payload, which induces also dynamic disturbances due to the pendulum motion. These disturbances as well as the coupled flexible-link vibrations are damped with a model free independent joint controller. The inverse kinematics approach is based on neural networks and augmented by an online payload estimation. © 7th German Conference on Robotics, ROBOTIK 2012

关键词： End effectors

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Trajectory modification considering dynamic constraints of autonomous robots 7

Trajectory modification considering dynamic constraints of a...

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7th German Conference on Robotics, ROBOTIK 2012

作者： Rösmann, Christoph Feiten, Wendelin Wösch, Thomas Hoffmann, Frank Bertram, Torsten Siemens Corporate Technology Intelligent Systems and Control Germany Institute of Control Theory and Systems Engineering Technische Universität Dortmund Germany

The classic "elastic band" deforms a path generated by a global planner with respect to the shortest path length while avoiding contact with obstacles. It does not take any dynamic constraints of the underlying robot into account directly. This contribution introduces a new approach called "timed elastic band" which explicitly considers temporal aspects of the motion in terms of dynamic constraints such as limited robot velocities and accelerations. The "timed elastic band" problem is formulated in a weighted multi-objective optimization framework. Most objectives are local as they depend on a few neighboring intermediate configurations. This results in a sparse system matrix for which efficient large-scale constrained least squares optimization methods exist. Results from simulations and experiments with a real robot demonstrate that the approach is robust and computationally efficient to generate optimal robot trajectories in real time. The "timed elastic band" converts an initial path composed of a sequence of way points into a trajectory with explicit dependence on time which enables the control of the robot in real time. Due to its modular formulation the approach is easily extended to incorporate additional objectives and constraints. © 7th German Conference on Robotics, ROBOTIK 2012

关键词： Robots

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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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Feed-forward friction observer (FFFO) for high-dynamic motion control

Feed-forward friction observer (FFFO) for high-dynamic motio...

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2012 20th Mediterranean Conference on control and Automation, MED 2012

作者： Ruderman, Michael Bertram, Torsten Institute of Control Theory and Systems Engineering Technische Universität Dortmund 44221 Dortmund Germany

ISBN: (纸本)9781467325318

The dynamic friction in motion systems is mostly not directly measurable and has to be observed for an efficient compensation. A novel feed-forward friction observer (FFFO) is proposed based on the two-state dynamic friction model with elasto-plasticity abbreviated by 2SEP friction model. Being involved in the underlying closed control loop the FFFO uses the control error to adjust the friction dynamics which is computed in feed-forwarding based on the reference velocity. The friction compensation is evaluated on the actuated motion system with multiple coupled frictional surfaces. The proposed FFFO approach proves to be superior in comparison to the common friction observer which uses the output velocity value. © 2012 IEEE.

关键词： Tribology

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