Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393895
S. Prajna, A. Papachristodoulou, Peter Seiler, Pablo A Panilo
SOSTOOLS is a free, third party MATLAB tool box for solving sum of squares programs. The techniques behind it are based on the sum of squares decomposition for multivariate polynomials. In this paper we describe recent developments and control applications of SOSTOOLS, a free third-party MATLAB toolbox for formulating and solving sum of squares programs
{"title":"SOSTOOLS: control applications and new developments","authors":"S. Prajna, A. Papachristodoulou, Peter Seiler, Pablo A Panilo","doi":"10.1109/CACSD.2004.1393895","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393895","url":null,"abstract":"SOSTOOLS is a free, third party MATLAB tool box for solving sum of squares programs. The techniques behind it are based on the sum of squares decomposition for multivariate polynomials. In this paper we describe recent developments and control applications of SOSTOOLS, a free third-party MATLAB toolbox for formulating and solving sum of squares programs","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115714668","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 : 2004-09-02DOI: 10.1109/CACSD.2004.1393875
M. Basso, G. Bagni
Control education laboratories are an important issue for graduate/undergraduate students. ARTIST is designed to provide an efficient, remote and distributed control lab. By using Matlab and Simulink users can easily test their control algorithms on real plants through an Internet connection. Safety and performance of control experiments are guaranteed by using a real-time operating system and an appropriate supervisor algorithm automatically embedded in the user control laws. Budget constraints are satisfied by choosing open-source operating systems and standard low cost equipment
{"title":"ARTIST: a real-time interactive Simulink-based telelab","authors":"M. Basso, G. Bagni","doi":"10.1109/CACSD.2004.1393875","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393875","url":null,"abstract":"Control education laboratories are an important issue for graduate/undergraduate students. ARTIST is designed to provide an efficient, remote and distributed control lab. By using Matlab and Simulink users can easily test their control algorithms on real plants through an Internet connection. Safety and performance of control experiments are guaranteed by using a real-time operating system and an appropriate supervisor algorithm automatically embedded in the user control laws. Budget constraints are satisfied by choosing open-source operating systems and standard low cost equipment","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"8 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127376871","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 : 2004-09-02DOI: 10.1109/CACSD.2004.1393864
F. Delebecque, P. Petkov
This paper describes the implementation of a classical geometric control problem within the Scilab environment. The basic primitives are based on Slicot routines and the algorithm uses standard linear algebra tools available in Scilab. The paper discusses various tests which should be performed on the data to prove the existence of a solution. In a second stage a feedback, meeting the stability constraints is calculated
{"title":"A Slicot/Scilab implementation of exact disturbance decoupling","authors":"F. Delebecque, P. Petkov","doi":"10.1109/CACSD.2004.1393864","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393864","url":null,"abstract":"This paper describes the implementation of a classical geometric control problem within the Scilab environment. The basic primitives are based on Slicot routines and the algorithm uses standard linear algebra tools available in Scilab. The paper discusses various tests which should be performed on the data to prove the existence of a solution. In a second stage a feedback, meeting the stability constraints is calculated","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122038907","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 : 2004-09-02DOI: 10.1109/CACSD.2004.1393891
K. Toh, R. Tütüncü, M. Todd
This code is designed to solve conic programming problems whose constraint cone is a product of semidefinite cones, second-order cones, nonnegative orthants and Euclidean spaces. It employs a primal-dual predictor-corrector path-following method, with either the HKM or the NT search direction. The basic code is written in MATLAB, but key subroutines in Fortran and C are incorporated via a Mex interface. Routines are provided to read in problems in either SDPA or SeDuMi format. Sparsity and block diagonal structure are exploited, but the latter needs to be given explicitly or detected via a subroutine that is provided. Various techniques to improve the efficiency and stablity of the algorithm are incorporated. For example, step-lengths associated with semidefinite cones are calculated via the Lanczos method. Numerical experiments show that this general purpose code can solve 80% of a total of about 300 problems to an accuracy of at least 10-6 in relative duality gap and infeasibilities
{"title":"On the implementation of SDPT3 (version 3.1) - a MATLAB software package for semidefinite-quadratic-linear programming","authors":"K. Toh, R. Tütüncü, M. Todd","doi":"10.1109/CACSD.2004.1393891","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393891","url":null,"abstract":"This code is designed to solve conic programming problems whose constraint cone is a product of semidefinite cones, second-order cones, nonnegative orthants and Euclidean spaces. It employs a primal-dual predictor-corrector path-following method, with either the HKM or the NT search direction. The basic code is written in MATLAB, but key subroutines in Fortran and C are incorporated via a Mex interface. Routines are provided to read in problems in either SDPA or SeDuMi format. Sparsity and block diagonal structure are exploited, but the latter needs to be given explicitly or detected via a subroutine that is provided. Various techniques to improve the efficiency and stablity of the algorithm are incorporated. For example, step-lengths associated with semidefinite cones are calculated via the Lanczos method. Numerical experiments show that this general purpose code can solve 80% of a total of about 300 problems to an accuracy of at least 10-6 in relative duality gap and infeasibilities","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114804054","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 : 2004-09-02DOI: 10.1109/CACSD.2004.1393876
F. Cheng, Lin Zhao
The common challenges in the real-time control system design are the control system integration, modeling and analysis, program coding, and real-time data communication. To address the solutions to these challenges, this paper presents the design of a control system testbed for a two degrees of freedom (2-DOF) robot. The design methodology supports the designer to (1) apply the theories of robotics and feedback control systems for feasible robot's path control solutions, (2) model, simulate and analyze the path control function using Simulink software, and (3) implement the control solution as a real-time PC-based robot control system
{"title":"The design of a control system testbed for a 2-DOF robot","authors":"F. Cheng, Lin Zhao","doi":"10.1109/CACSD.2004.1393876","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393876","url":null,"abstract":"The common challenges in the real-time control system design are the control system integration, modeling and analysis, program coding, and real-time data communication. To address the solutions to these challenges, this paper presents the design of a control system testbed for a two degrees of freedom (2-DOF) robot. The design methodology supports the designer to (1) apply the theories of robotics and feedback control systems for feasible robot's path control solutions, (2) model, simulate and analyze the path control function using Simulink software, and (3) implement the control solution as a real-time PC-based robot control system","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132004293","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 : 2004-09-02DOI: 10.1109/CACSD.2004.1393893
Didier Henrion, M. Šebek, Zdentk Hur, Sergej Celikovskl
With the help of numerical examples, we describe new fixed-order robust controller design functions implemented in version 3.0 of the polynomial toolbox for Matlab. The functions use convex optimization over linear matrix inequalities (LMIs) solved with the SeDuMi solver
{"title":"Fixed-order robust controller design with the polynomial toolbox 3.0","authors":"Didier Henrion, M. Šebek, Zdentk Hur, Sergej Celikovskl","doi":"10.1109/CACSD.2004.1393893","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393893","url":null,"abstract":"With the help of numerical examples, we describe new fixed-order robust controller design functions implemented in version 3.0 of the polynomial toolbox for Matlab. The functions use convex optimization over linear matrix inequalities (LMIs) solved with the SeDuMi solver","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132143250","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 : 2004-09-02DOI: 10.1109/CACSD.2004.1393899
G. Sanchez, J. Ferrer
This paper presents a new approach for approximating the free transfer function in Q-parametrization. Its main advantage is that the number of parameters to be tuned during the design process is reduced, when compared to others methods. As a design example, the "two-mass and spring" benchmark control problem was solved, using GESA: an evolutionary non-linear optimization technique
{"title":"A new approach for approximating the free transfer function in Q-parametrization","authors":"G. Sanchez, J. Ferrer","doi":"10.1109/CACSD.2004.1393899","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393899","url":null,"abstract":"This paper presents a new approach for approximating the free transfer function in Q-parametrization. Its main advantage is that the number of parameters to be tuned during the design process is reduced, when compared to others methods. As a design example, the \"two-mass and spring\" benchmark control problem was solved, using GESA: an evolutionary non-linear optimization technique","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127872134","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 : 2004-09-02DOI: 10.1109/CACSD.2004.1393866
Feng Chuan, S. Zeng-qi, Su Ling
Scilab is a comprehensive scientific package freely distributed by INRIA. This paper presents the design and implementation of a fuzzy logic toolbox based on Scilab, which allows the user to solve his control problem using fuzzy logic with very little effort. The fuzzy logic toolbox is written in the Scilab language and Tcl/TK. It provides complete functions for inference, an easy to use graphical editor for building complex models of fuzzy logic systems, and a simulator for Scicos. Applications of fuzzy in systems and control, and the use of fuzzy toolbox are illustrated by a simple example
{"title":"Design and implementation of Scilab fuzzy logic toolbox","authors":"Feng Chuan, S. Zeng-qi, Su Ling","doi":"10.1109/CACSD.2004.1393866","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393866","url":null,"abstract":"Scilab is a comprehensive scientific package freely distributed by INRIA. This paper presents the design and implementation of a fuzzy logic toolbox based on Scilab, which allows the user to solve his control problem using fuzzy logic with very little effort. The fuzzy logic toolbox is written in the Scilab language and Tcl/TK. It provides complete functions for inference, an easy to use graphical editor for building complex models of fuzzy logic systems, and a simulator for Scicos. Applications of fuzzy in systems and control, and the use of fuzzy toolbox are illustrated by a simple example","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115363936","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 : 2004-09-02DOI: 10.1109/CACSD.2004.1393869
Y. Ohta, M. Nagahara
In this paper, the issue of computing a good estimate of the value set of a characteristic polynomial f(s, q) is addressed, where q denotes a vector of uncertain parameters belonging to a box and f is a multi-linear function of q. If f(s, p) is a totally decomposed expression, then a good estimate of the value set can be computed very fast by using non-convex polygon interval arithmetic. In this paper, an efficient method to compute good estimate of the value set is proposed when f is not a totally decomposed expression
{"title":"On the computation of value sets of multi-linear functions","authors":"Y. Ohta, M. Nagahara","doi":"10.1109/CACSD.2004.1393869","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393869","url":null,"abstract":"In this paper, the issue of computing a good estimate of the value set of a characteristic polynomial f(s, q) is addressed, where q denotes a vector of uncertain parameters belonging to a box and f is a multi-linear function of q. If f(s, p) is a totally decomposed expression, then a good estimate of the value set can be computed very fast by using non-convex polygon interval arithmetic. In this paper, an efficient method to compute good estimate of the value set is proposed when f is not a totally decomposed expression","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124694425","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 : 2004-09-02DOI: 10.1109/CACSD.2004.1393841
R. Wallin, A. Hansson
Semidefinite programs derived from the Kalman-Yakubovich-Popov lemma are quite common in control and signal processing applications. The programs are often of high dimension making them hard or impossible to solve with general-purpose solvers. KYPD is a customized solver for KYP-SDPs that utilizes the inherent structure of the optimization problem thus improving efficiency significantly
{"title":"KYPD: a solver for semidefinite programs derived from the Kalman-Yakubovich-Popov lemma","authors":"R. Wallin, A. Hansson","doi":"10.1109/CACSD.2004.1393841","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393841","url":null,"abstract":"Semidefinite programs derived from the Kalman-Yakubovich-Popov lemma are quite common in control and signal processing applications. The programs are often of high dimension making them hard or impossible to solve with general-purpose solvers. KYPD is a customized solver for KYP-SDPs that utilizes the inherent structure of the optimization problem thus improving efficiency significantly","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"188 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129453017","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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