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AIAA/AAS Astrodynamics Specialist Conference, 2016

作者： Condurache, Daniel Burlacu, Adrian Dept. of Theoretical Mechanics Technical University of Iasi D. Mangeron Street no. 59 Iasi700050 Romania Dept. of Automatic Control and Applied Informatics Technical University of Iasi D. Mangeron Street No. 27 Iasi700050 Romania

ISBN: (数字)9781624104459

ISBN: (纸本)9781624104459

In this paper an extension of the classical attitudeWahba’s problem to a new problem that involves both position and attitude is presented. This new problem is illustrated in the dual algebra of orthogonal dual tensors. Our approach makes use of the isomorphism between the special euclidean group SE3 and the orthogonal dual tensors group SO3, which allows the development of a new technique for solving the proposed problem. This new Wahba problem is directly related to different applications such as point-to-point registration and sensor calibration. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Tensors

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Virtual control Labs Experimentation: The Water Tank System

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IFAC-PapersOnLine 2016年第6期49卷 87-92页

作者： Galan, Daniel Heradio, Ruben Torre, Luis de la Dormido, Sebastian Esquembre, Francisco Dept. of Computer Science and Automatic Control Universidad Nacional de Educación a Distancia Juan del Rosal 16 MadridE-28040 Spain Dept. of Software Engineering and Computer Systems Universidad Nacional de Educación a Distancia Juan del Rosal 16 MadridE-28040 Spain Dept. of Mathematics Universidad de Murcia Campus de Espinardo MurciaE-30071 Spain

This paper describes a new way to perform automated experiments using virtual laboratories. Experiments are developed and executed using a new software tool: the Experiment Editor. This tool uses virtual laboratories applications designed with educational purposes. The main features/advantages of the Experiment Editor are: 1) the possibility of modifying the initial functionality of the laboratories (i.e. adding new controllers to the plant), 2) analyzing the obtained results during the experiment and performing complex or repetitive tasks in a simple way, 3) and any others explained in the paper. To illustrate the utility of the Experiment Editor a very well-known system is used: the water tank system. © 2016

关键词： Distance education Computer aided software engineering Computer software Experiments Laboratories Water tanks Easy java(script) Simulations Experimentation Language Repetitive task Simulations Tank system Tool use Virtual control Virtual laboratories

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Optimal distributed control for platooning via sparse coprime factorizations

Optimal distributed control for platooning via sparse coprim...

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2016 American control Conference, ACC 2016

作者： SabǍu, Şerban OarǍ, Cristian Warnick, Sean Jadbabaie, Ali Electrical and Computer Engineering Dept. Stevens Institute of Technology HobokenNJ United States Automatic Control Dept. University Politehnica Bucharest Romania Information and Decision Algorithms Laboratories Faculty of the Computer Science Department Brigham Young University United States Electrical and Systems Engineering Dept. University of Pennsylvania United States

ISBN: (纸本)9781467386821

We introduce a novel distributed control architecture for disturbances attenuation in heterogeneous platoons of linear and time-invariant autonomous agents that inherits the performance achievable by the leader-follower control policies. We provide a Youla-like parameterization for the class of all distributed controllers such that the sparsity constraints are imposed on the controllers' left coprime factors, outlining a new concept of structural constraints in distributed control. The proposed scheme lends itself to optimal controller design via norm based costs, it guarantees string stability and completely eliminates the accordion effect from the behavior of the platoon. The distributed controller is proven to attain global optimality for heterogeneous platoons and H2 costs and can easily reconfigure such as to remain optimal during formation merging/exiting maneuvers. The scheme is amenable to a GPS time base synchronization mechanism, allowing for the exact compensation of the time delays induced by the wireless communications. © 2016 American automatic control Council (AACC).

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Sample gathering problem for different robots with limited capacity

Sample gathering problem for different robots with limited c...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Marius Kloetzer Cristian Mahulea Adrian Burlacu Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania Aragón Institute for Engineering Research University of Zaragoza Spain

ISBN: (纸本)9781509027217

In this paper we consider the problem of using mobile robots to collect a set of samples that are arbitrarily distributed in the environment. The robots are not necessarily identical and each one has a finite capacity, being able to transport only a given number of samples at each time. Furthermore, the number of transporting routes for robots can be also upper bounded. The problem is addressed in this paper by using a mathematical programming approach, namely developing a Mixed Integer Linear Program (MILP). The solution provides the optimal assignment of robots to samples, with respect to gathering all samples in a storage area in minimum time. The method is supported through simulation examples implemented in Matlab by using the CPLEX MILP solver.

关键词： Robot kinematics Mobile robots Delays Collision avoidance Resource management Vehicles

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Inexpensive robot for experimental validation of planning and control algorithms

Inexpensive robot for experimental validation of planning an...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： José Lamarca Marius Kloetzer Cristian Mahulea Dept. of Computer Science and Systems Engineering University of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania Aragón Institute for Engineering Research University of Zaragoza Spain

ISBN: (纸本)9781509027217

This paper describes the structure of a mobile robot suitable for laboratory experiments. The robot is developed with the ideas of minimizing the production costs and of executing motion commands received from an external computer that runs the (possible computational intensive) planning algorithms. The proposed system is a differential wheeled robot built based on an Arduino platform, it has a small physical size and it is capable of wireless communication. These characteristics make it useful for validating planning algorithms for mobile robots in computer-guided laboratory experiments, while lowering the expenses required by such a setup. Moreover, in order to compensate the communication delay between the central computer and the robot, an estimation algorithm is implemented on the robot for obtaining a smoother motion.

关键词： Mobile robots Wheels Computers Planning Trajectory Pins

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Positive controllability of Large-Scale Networks

Positive Controllability of Large-Scale Networks

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European control Conference

作者： Gustav Lindmark Claudio Altafini Division of Automatic Control Dept. of Electrical Engineering Link?ping University SE-58183 Linkoping Sweden

ISBN: (纸本)9781509025923

In this paper, we study the problem of controlling large scale networks with controls which can assume only positive values. Given an adjacency matrix A, an algorithm is developed that constructs an input matrix B with a minimal number of columns such that the resulting system (A, B) is positively controllable. The algorithm combines the graphical methods used for structural controllability analysis with the theory of positive linear dependence. The number of control inputs guaranteeing positive controllability is near optimal.

关键词： Positive controllability Large-Scale Networks algorithm

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Multi-criteria optimisation design of shapers with piece-wise equally distributed time-delay

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IFAC-PapersOnLine 2016年第10期49卷 112-117页

作者： Pilbauer, Dan Michiels, Wim Vyhlidal, Tomas CIIRC - Czech Institute of Informatics Robotics and Cybernetics and Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A HeverleeB-3001 Belgium

The paper presents an optimisation based method to parametrize input shapers with time delays of piece-wise-equal distribution. The design respects the two key requirements on the shaper performance that are the prompt response time and the robustness represented by residual vibration functions, which are however conflicting criteria as a rule. Thus, the optimisation task is solved as a constrained multi-objective problem where the constraints respect the additional requirements on the shaper performance such as a non-decreasing step response or zero residual function at some frequency points. The result is a Pareto front that shows a trade-off between the two main requirements. Next to the presentation of the results in an example, a user friendly shaper-design tool is presented. © 2016

关键词： Multiobjective optimization Computer control systems Constrained optimization Economic and social effects Time delay Timing circuits Distributed time delays Multi criteria optimisation Multi objective problem Pareto frontiers Residual functions Residual vibrations Signal shaper Vibration suppression

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Modelling of Greenhouse using Parabolic Trough Collectors Thermal Energy

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IFAC-PapersOnLine 2015年第30期48卷 450-455页

作者： Grigoriu, Ramona-Oana Voda, Alina Arghira, Nicoleta Iliescu, Sergiu Stelian Dept. of Automatic Control and Industrial Informatics University Politehnica of Bucharest Bucharest Romania Dept. of Control Systems GIPSA-lab University Joseph Fourier Grenoble 1 Grenoble France

The paper proposes a system developed to provide heat for a greenhouse using parabolic trough collectors (GHPTC) thermal energy. In order to ensure perfect conditions of growth for greenhouse plants, the GHPTC control system regulates the internal temperature of the greenhouse and it monitors the temperature of the conducting fluid through collector pipes. The GHTPC model is composed of two subsystems: the greenhouse model and the parabolic trough collector model. Each of these models were validated using real data, considering as a validation index the maximum error between the real and simulated data on a period of one day (24 hours). The proposed GHTPC model shows an energy gain by increasing the greenhouse internal energy even with no control applied on ether of the subsystems. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Greenhouses Smart power grids Solar collectors Thermal energy Conducting fluid Internal energies Internal temperature Maximum error Parabolic trough collectors Smart grid Solar greenhouse Validation index

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Multi-robot path planning for syntactically co-safe LTL specifications

Multi-robot path planning for syntactically co-safe LTL spec...

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International Workshop on Discrete Event Systems, WODES

作者： Marius Kloetzer Cristian Mahulea Dept. of Automatic Control and Applied Informatics Technical University “Gheorghe Asachi” of Iasi Romania Aragón Institute of Engineering Research (I3A) University of Zaragoza Zaragoza Spain

This paper presents an automatic strategy to control a team of identical robots that should satisfy a given task expressed as a syntactically co-safe Linear Temporal Logic (LTL) formula over a set of regions of interest. The team of robots is modeled by using a Petri net system with outputs (observations), thus avoiding the use of synchronized product of automatons. The strategy starts by translating the task into a Büchi automaton and by choosing a finite string satisfying the formula. Three Integer Linear Programming (ILP) formulations are used to find in the Petri net model a sequence of reachable markings such that the generated observations produce the chosen string of the Büchi automaton. If the string is not correctly followed, another one is found and the procedure is reiterated.

关键词： Automata Petri nets Collision avoidance Trajectory Computational modeling

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Persistently exciting tube MPC

Persistently exciting tube MPC

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American control Conference

作者： Bernardo Hernandez Paul Trodden Dept. of Automatic Control and Systems Engineering The University of Sheffield S1 4DW UK

ISBN: (纸本)9781467386838

This paper presents a new approach to deal with the dual problem of system identification and regulation. The main feature consists in breaking the control input to the system into a regulator part and a persistently exciting part. The former is used to regulate the plant using a robust MPC formulation, in which the latter is treated as a bounded additive disturbance. The identification process is executed by a simple recursive least squares algorithm. In order to guarantee sufficient excitation for the identification, an additional non-convex constraint is enforced over the persistently exciting part.

关键词： Stability analysis Optimization Computational modeling Numerical stability Standards Electron tubes Electron tubes Numerical stability Computational modeling Stability analysis System identification Maximum Allowable Concentration control input

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