Pub Date : 2021-06-29DOI: 10.23919/ECC54610.2021.9655123
Christine Kloock, Herbert Werner
This paper presents an approach that bases on a matrix providing and supporting the time efficient access of agent related data in a multi-agent scenario, e.g. distributed model predictive control. Under some assumptions, the matrix possesses the potential of improving the amount of time required for collecting the required data compared to a basic search routine. Due to the special structure, the matrix can be derived dynamically and can be adapted to a changing number of agents.
{"title":"Dynamic and Time Efficient Data Assignment via the Pointers Matrix","authors":"Christine Kloock, Herbert Werner","doi":"10.23919/ECC54610.2021.9655123","DOIUrl":"https://doi.org/10.23919/ECC54610.2021.9655123","url":null,"abstract":"This paper presents an approach that bases on a matrix providing and supporting the time efficient access of agent related data in a multi-agent scenario, e.g. distributed model predictive control. Under some assumptions, the matrix possesses the potential of improving the amount of time required for collecting the required data compared to a basic search routine. Due to the special structure, the matrix can be derived dynamically and can be adapted to a changing number of agents.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133857708","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ECC54610.2021.9655065
Hakan Basargan, András Mihály, P. Gáspár
The aim of this paper is to design a fault-tolerant trajectory tracking control for an autonomous vehicle based on a camera and Global Positioning System (GPS) unit. The trajectory tracking control has been founded on the Linear Quadratic control framework. The camera and GPS units calculate the lateral error of the vehicle. A standard webcam is used for lane detection and the lateral error of the vehicle is calculated by using the Hough Transform. A GPS sensor, which is the TruckSim model is used to calculate lateral error by comparing it with a reference database. In the case of lateral error calculated from the camera system is unstable and increased abruptly, the camera unit is faulty and lateral error that is provided by the GPS unit is reliable. Then, a reliable sensor signal is used to calculate the lateral error of the vehicle in order to perform trajectory tracking. The TruckSim dynamic vehicle simulation software is used with a real-time Simulink/MATLAB model for validation of this study. During the simulation, extra distortions have been integrated to perform camera fault and the GPS sensor has been considered as a reliable sensor. Results show that the system has performed successful trajectory tracking with the fault scenario.
{"title":"Fault-Tolerant Trajectory Tracking Control for Autonomous Vehicle Based on Camera and GPS","authors":"Hakan Basargan, András Mihály, P. Gáspár","doi":"10.23919/ECC54610.2021.9655065","DOIUrl":"https://doi.org/10.23919/ECC54610.2021.9655065","url":null,"abstract":"The aim of this paper is to design a fault-tolerant trajectory tracking control for an autonomous vehicle based on a camera and Global Positioning System (GPS) unit. The trajectory tracking control has been founded on the Linear Quadratic control framework. The camera and GPS units calculate the lateral error of the vehicle. A standard webcam is used for lane detection and the lateral error of the vehicle is calculated by using the Hough Transform. A GPS sensor, which is the TruckSim model is used to calculate lateral error by comparing it with a reference database. In the case of lateral error calculated from the camera system is unstable and increased abruptly, the camera unit is faulty and lateral error that is provided by the GPS unit is reliable. Then, a reliable sensor signal is used to calculate the lateral error of the vehicle in order to perform trajectory tracking. The TruckSim dynamic vehicle simulation software is used with a real-time Simulink/MATLAB model for validation of this study. During the simulation, extra distortions have been integrated to perform camera fault and the GPS sensor has been considered as a reliable sensor. Results show that the system has performed successful trajectory tracking with the fault scenario.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122547504","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9654886
Luana Chetcuti Zammit, S. Fabri, K. Scerri
Traffic signal timing plays an important role in ensuring efficient flow and reduction of traffic congestion. Fixed signal times work well when traffic conditions are consistent. However performance degrades when traffic conditions are subject to high demands or during unusual occurrences such as traffic incidents or unanticipated network obstructions, causing significant changes to the normal traffic conditions. To address these situations, several traffic-responsive systems were proposed. However in these cases, the controller parameters are typically set at installation and not adaptively tuned to changing traffic behaviour. Hence, in this work, a novel adaptive control system which can self-tune to respond to changing traffic conditions is developed, leading towards an autonomic system. This system makes use of a MPC based approach which can autonomously tune the controller to ensure good performance despite changing traffic conditions. Different norms were tested as objective functions for the optimization problem. Results highlight the effectiveness of the proposed traffic light timing controller.
{"title":"Self-tuning model predictive control for signalized traffic junctions","authors":"Luana Chetcuti Zammit, S. Fabri, K. Scerri","doi":"10.23919/ecc54610.2021.9654886","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654886","url":null,"abstract":"Traffic signal timing plays an important role in ensuring efficient flow and reduction of traffic congestion. Fixed signal times work well when traffic conditions are consistent. However performance degrades when traffic conditions are subject to high demands or during unusual occurrences such as traffic incidents or unanticipated network obstructions, causing significant changes to the normal traffic conditions. To address these situations, several traffic-responsive systems were proposed. However in these cases, the controller parameters are typically set at installation and not adaptively tuned to changing traffic behaviour. Hence, in this work, a novel adaptive control system which can self-tune to respond to changing traffic conditions is developed, leading towards an autonomic system. This system makes use of a MPC based approach which can autonomously tune the controller to ensure good performance despite changing traffic conditions. Different norms were tested as objective functions for the optimization problem. Results highlight the effectiveness of the proposed traffic light timing controller.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124458033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9654927
Hemjyoti Das, D. Pool, E. Kampen
Pneumatic cylinders provide an environment-friendly actuation means by minimizing the leakage of any harmful industrial fluids, as occurs for hydraulic actuators. However, pneumatic actuation has not been utilized widely for industrial servo applications due to its highly nonlinear nature. Incremental nonlinear dynamic inversion (INDI) is a form of nonlinear dynamic inversion (NDI) that relies less on plant-model information, and is thus inherently robust to mismatches in the known plant-model, and also to external disturbances. Developing an incremental nonlinear controller for a pneumatic system is the main focus of this research article, which is accomplished by utilizing a cascaded-control approach, where the inner-loop INDI tracks a given force and the outer-loop NDI is for controlling the piston-position. Moreover, realistic sensor noises have been added in the simulation and the robustness of the incremental approach is demonstrated with respect to a baseline PID controller.
{"title":"Incremental Nonlinear Dynamic Inversion Control of Long-Stroke Pneumatic Actuators","authors":"Hemjyoti Das, D. Pool, E. Kampen","doi":"10.23919/ecc54610.2021.9654927","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654927","url":null,"abstract":"Pneumatic cylinders provide an environment-friendly actuation means by minimizing the leakage of any harmful industrial fluids, as occurs for hydraulic actuators. However, pneumatic actuation has not been utilized widely for industrial servo applications due to its highly nonlinear nature. Incremental nonlinear dynamic inversion (INDI) is a form of nonlinear dynamic inversion (NDI) that relies less on plant-model information, and is thus inherently robust to mismatches in the known plant-model, and also to external disturbances. Developing an incremental nonlinear controller for a pneumatic system is the main focus of this research article, which is accomplished by utilizing a cascaded-control approach, where the inner-loop INDI tracks a given force and the outer-loop NDI is for controlling the piston-position. Moreover, realistic sensor noises have been added in the simulation and the robustness of the incremental approach is demonstrated with respect to a baseline PID controller.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127919513","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655140
Wei Jiang, E. Abolfazli, Themistoklis Charalambous
This paper studies the internal stability and string stability of a vehicle platooning with a varying-velocity leader using a multiple-predecessor following strategy via vehicle-to-vehicle communication. Unlike the common case in which the leader’s velocity is constant and different kinds of PID controllers are implemented, in this case, the fact that the leader has a velocity that varies over time, necessitates the design of an observer. First, in order to estimate the position, velocity and acceleration error between the follower and the leader, an observer is designed whose parameters are the entries of a matrix. The matrix format of the observer is later reduced to a specific observer parameter matrix form. This new observer turns out to have a third order integrator dynamics, which is used to generate the parameter conditions to guarantee the string stability. Additionally, instead of a typical PID controller, an observer-based controller is developed which only needs local information. The effectiveness of the proposed observer and controller is demonstrated via an illustrative example.
{"title":"Observer-based Control for Vehicle Platooning with a Leader of Varying Velocity","authors":"Wei Jiang, E. Abolfazli, Themistoklis Charalambous","doi":"10.23919/ecc54610.2021.9655140","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655140","url":null,"abstract":"This paper studies the internal stability and string stability of a vehicle platooning with a varying-velocity leader using a multiple-predecessor following strategy via vehicle-to-vehicle communication. Unlike the common case in which the leader’s velocity is constant and different kinds of PID controllers are implemented, in this case, the fact that the leader has a velocity that varies over time, necessitates the design of an observer. First, in order to estimate the position, velocity and acceleration error between the follower and the leader, an observer is designed whose parameters are the entries of a matrix. The matrix format of the observer is later reduced to a specific observer parameter matrix form. This new observer turns out to have a third order integrator dynamics, which is used to generate the parameter conditions to guarantee the string stability. Additionally, instead of a typical PID controller, an observer-based controller is developed which only needs local information. The effectiveness of the proposed observer and controller is demonstrated via an illustrative example.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121210508","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655114
T. Steentjes, M. Lazar, P. V. D. Hof
This paper considers data-driven distributed controller synthesis for interconnected linear systems subject to unmeasured disturbances. The considered problem is the op-timization of a model-reference control criterion, where the reference model is described by a decoupled system. We provide a method to determine the optimal distributed controller by performing network identification in an augmented network. Sufficient conditions are provided for which the data-driven method solves the distributed model-reference control problem, whereas state-of-the-art methods for data-driven distributed control can only provide performance guarantees in the absence of disturbances. The effectiveness of the method is demonstrated via a simple network example consisting of two interconnected systems.
{"title":"Controller identification for data-driven model-reference distributed control","authors":"T. Steentjes, M. Lazar, P. V. D. Hof","doi":"10.23919/ecc54610.2021.9655114","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655114","url":null,"abstract":"This paper considers data-driven distributed controller synthesis for interconnected linear systems subject to unmeasured disturbances. The considered problem is the op-timization of a model-reference control criterion, where the reference model is described by a decoupled system. We provide a method to determine the optimal distributed controller by performing network identification in an augmented network. Sufficient conditions are provided for which the data-driven method solves the distributed model-reference control problem, whereas state-of-the-art methods for data-driven distributed control can only provide performance guarantees in the absence of disturbances. The effectiveness of the method is demonstrated via a simple network example consisting of two interconnected systems.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121269488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655147
Rafael F. Cunha, Lorenzo Zino, M. Cao
Imitation dynamics in population games are a class of evolutionary game-theoretic models, widely used to study decision-making processes in social groups. Different from other models, imitation dynamics allow players to have minimal information on the structure of the game they are playing, and are thus suitable for many applications, including traffic management, marketing, and disease control. In this work, we study a general case of imitation dynamics where the structure of the game and the imitation mechanisms change in time due to external factors, such as weather conditions or social trends. These changes are modeled using a continuous-time Markov jump process. We present tools to identify the dominant strategy that emerges from the dynamics through methodological analysis of the function parameters. Numerical simulations are provided to support our theoretical findings.
{"title":"On imitation dynamics in population games with Markov switching","authors":"Rafael F. Cunha, Lorenzo Zino, M. Cao","doi":"10.23919/ecc54610.2021.9655147","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655147","url":null,"abstract":"Imitation dynamics in population games are a class of evolutionary game-theoretic models, widely used to study decision-making processes in social groups. Different from other models, imitation dynamics allow players to have minimal information on the structure of the game they are playing, and are thus suitable for many applications, including traffic management, marketing, and disease control. In this work, we study a general case of imitation dynamics where the structure of the game and the imitation mechanisms change in time due to external factors, such as weather conditions or social trends. These changes are modeled using a continuous-time Markov jump process. We present tools to identify the dominant strategy that emerges from the dynamics through methodological analysis of the function parameters. Numerical simulations are provided to support our theoretical findings.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129326211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655048
Wenjie Mei, D. Efimov, R. Ushirobira, A. Aleksandrov
A class of generalized Persidskii systems is considered in this work. The conditions of convergence for Persidskii systems are introduced, which can be checked through linear matrix inequalities. Also, the case of almost periodic convergence of this class of dynamics with almost periodic input is studied. The proposed results are applied to a Lotka-Volterra model.
{"title":"Convergence conditions for Persidskii systems","authors":"Wenjie Mei, D. Efimov, R. Ushirobira, A. Aleksandrov","doi":"10.23919/ecc54610.2021.9655048","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655048","url":null,"abstract":"A class of generalized Persidskii systems is considered in this work. The conditions of convergence for Persidskii systems are introduced, which can be checked through linear matrix inequalities. Also, the case of almost periodic convergence of this class of dynamics with almost periodic input is studied. The proposed results are applied to a Lotka-Volterra model.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128454434","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655098
S. Liu, Jan-Jöran Gehrt, D. Abel, R. Zweigel
Navigation systems, estimating the vehicle states with high accuracy, robustness and integrity, are crucial for guidance system in autonomous applications. This publication presents a filter-bank approach designed for a tightly-coupled navigation system, aiming at improving the integrity of the navigation system and the accuracy of the estimated navigation solution under sensor failures. In particular, this navigation system is based on an inertial measurement unit (IMU) and is aided by pseudorange and deltarange-observation of satellite systems, and 3D velocity measurements from a Doppler velocity log (DVL). The designed filter-bank approach proposes a new structure, which handles the challenge of different update rates and measurement delays of the involved sensors. Under IMU failures, the estimated states from the filter bank are reversed to estimate the vehicle acceleration, which improves the IMU bias and state estimation performance at next epochs. The designed approach is validated in a real-time test campaign with an unmanned surface vehicle (USV) in the harbor of Rostock, Germany. During the real-time test, several forms of simulative faults are added to the DVL measurements to evaluate the designed approach. Meanwhile, all necessary sensor data is recorded for further evaluation in post-processing environment. The experimental results show that the designed approach is capable of identifying the simulated sensor failures. Compared with conventional tightly-coupled extended Kalman filter (EKF), the designed approach improves the average horizontal positioning accuracy and its standard deviation under simulative DVL failures by 167% and 771%, respectively.
{"title":"Filter-Bank Approach within Tightly-Coupled Navigation System for Integrity Enhancement in Maritime Applications","authors":"S. Liu, Jan-Jöran Gehrt, D. Abel, R. Zweigel","doi":"10.23919/ecc54610.2021.9655098","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655098","url":null,"abstract":"Navigation systems, estimating the vehicle states with high accuracy, robustness and integrity, are crucial for guidance system in autonomous applications. This publication presents a filter-bank approach designed for a tightly-coupled navigation system, aiming at improving the integrity of the navigation system and the accuracy of the estimated navigation solution under sensor failures. In particular, this navigation system is based on an inertial measurement unit (IMU) and is aided by pseudorange and deltarange-observation of satellite systems, and 3D velocity measurements from a Doppler velocity log (DVL). The designed filter-bank approach proposes a new structure, which handles the challenge of different update rates and measurement delays of the involved sensors. Under IMU failures, the estimated states from the filter bank are reversed to estimate the vehicle acceleration, which improves the IMU bias and state estimation performance at next epochs. The designed approach is validated in a real-time test campaign with an unmanned surface vehicle (USV) in the harbor of Rostock, Germany. During the real-time test, several forms of simulative faults are added to the DVL measurements to evaluate the designed approach. Meanwhile, all necessary sensor data is recorded for further evaluation in post-processing environment. The experimental results show that the designed approach is capable of identifying the simulated sensor failures. Compared with conventional tightly-coupled extended Kalman filter (EKF), the designed approach improves the average horizontal positioning accuracy and its standard deviation under simulative DVL failures by 167% and 771%, respectively.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128769097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655089
R. Chaibi, M. Yagoubi, B. E. Haiek
This paper proposes a robust dynamic output feedback control for uncertain fractional-order systems based on an uncertain Takagi-Sugeno fuzzy model with a fractional-order satisfying 0<α<1. By means of a specific Lyapunov function, some sufficient conditions, expressed as linear matrix inequalities, are derived to allow the design of a stabilizing dynamic output feedback controller for the said fractional-order system. When compared with previous work, the proposed method not only shows abilities to handle the fuzzy system with the time-derivatives of the membership functions but also can deal with the parametric uncertainties effectively. A simulation example is given to demonstrate the validity of the proposed conditions.
{"title":"T-S Fuzzy Model-Based Robust Output-Feedback Control for Fractional-Order Systems","authors":"R. Chaibi, M. Yagoubi, B. E. Haiek","doi":"10.23919/ecc54610.2021.9655089","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655089","url":null,"abstract":"This paper proposes a robust dynamic output feedback control for uncertain fractional-order systems based on an uncertain Takagi-Sugeno fuzzy model with a fractional-order satisfying 0<α<1. By means of a specific Lyapunov function, some sufficient conditions, expressed as linear matrix inequalities, are derived to allow the design of a stabilizing dynamic output feedback controller for the said fractional-order system. When compared with previous work, the proposed method not only shows abilities to handle the fuzzy system with the time-derivatives of the membership functions but also can deal with the parametric uncertainties effectively. A simulation example is given to demonstrate the validity of the proposed conditions.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115842317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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