Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099574
R. Haber, R. Bars
Three different approaches in control design are considered, which correspond to different control structures: (1) feedback controller with filtering of the reference signal, (2) two-degree-of-freedom internal model control and (3) generic control scheme. It is shown that all these structures are equivalent if the control aim e.g., the tracking and the disturbance rejection behaviors, respectively, are the same in the three cases. Also inverse unstable and dead time processes are dealt with.
{"title":"Equivalence of different two-degree-of-freedom control structures","authors":"R. Haber, R. Bars","doi":"10.23919/ECC.1999.7099574","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099574","url":null,"abstract":"Three different approaches in control design are considered, which correspond to different control structures: (1) feedback controller with filtering of the reference signal, (2) two-degree-of-freedom internal model control and (3) generic control scheme. It is shown that all these structures are equivalent if the control aim e.g., the tracking and the disturbance rejection behaviors, respectively, are the same in the three cases. Also inverse unstable and dead time processes are dealt with.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134505817","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 : 1999-08-01DOI: 10.23919/ecc.1999.7099783
D. Luzeaux
Learning robots are faced with two major issues: identification of the dynamics of the robot and identification of the environment as well as its interaction with the robot. We discuss in this paper a way to acquire representations of both these concepts through an iterative learning procedure. Furthermore we will concentrate on qualitative representations, since we are not necessarily interested in the precise equations of the dynamics or the exact location of potential limits of the viability domain. A more "fuzzy" knowledge can be sufficient to guarantee a satisfactory control of a robot. The key notion of our representations is the phase space: it will be used to express the dynamics of the controlled robot, as well as the landmark values, corresponding to the environment, that refer either to control goals or obstacles to be avoided. The important issue is that the exposed learning procedure provides a way to acquire these various knowledges.
{"title":"Acquisition of qualitative representations for learning robots","authors":"D. Luzeaux","doi":"10.23919/ecc.1999.7099783","DOIUrl":"https://doi.org/10.23919/ecc.1999.7099783","url":null,"abstract":"Learning robots are faced with two major issues: identification of the dynamics of the robot and identification of the environment as well as its interaction with the robot. We discuss in this paper a way to acquire representations of both these concepts through an iterative learning procedure. Furthermore we will concentrate on qualitative representations, since we are not necessarily interested in the precise equations of the dynamics or the exact location of potential limits of the viability domain. A more \"fuzzy\" knowledge can be sufficient to guarantee a satisfactory control of a robot. The key notion of our representations is the phase space: it will be used to express the dynamics of the controlled robot, as well as the landmark values, corresponding to the environment, that refer either to control goals or obstacles to be avoided. The important issue is that the exposed learning procedure provides a way to acquire these various knowledges.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127422095","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099309
T. Löhl, S. Pegel, K. Klatt, S. Engell, C. Schmid, A. Ali
A CBT system for system dynamics and control engineering is presented and an introduction into the related educational aspects, the elements and their realisation is given. The system is based on multimedia web components, which integrate the MATLAB/MAPLE V system for calculations in the background. CACSD operation is completely hidden from the learner, which can concentrate on the tutorial, exercises and experiments. The latter are realised in an integrated virtual laboratory, which uses virtual reality techniques to animate and interact with virtual laboratory plants.
{"title":"Dynamit — Learning system dynamics using multimedia","authors":"T. Löhl, S. Pegel, K. Klatt, S. Engell, C. Schmid, A. Ali","doi":"10.23919/ECC.1999.7099309","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099309","url":null,"abstract":"A CBT system for system dynamics and control engineering is presented and an introduction into the related educational aspects, the elements and their realisation is given. The system is based on multimedia web components, which integrate the MATLAB/MAPLE V system for calculations in the background. CACSD operation is completely hidden from the learner, which can concentrate on the tutorial, exercises and experiments. The latter are realised in an integrated virtual laboratory, which uses virtual reality techniques to animate and interact with virtual laboratory plants.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133771231","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 : 1999-08-01DOI: 10.23919/ECC.1999.7100049
J. Lückel, R. Naumann, R. Rasche
In this paper we present an approach to a decentralized intersection management which will not require much additional infrastructure at the intersection and which can operate in today's traffic so as to increase safety and to avoid congestion. For online optimization purposes which are required to avoid collisions, reduce fuel consumption or enhance traffic throughput, we use workflow processes to prepare available and proven optimization methods so as to configure and run them in an automated manner. Simulation results will prove the efficiency of the strategy.
{"title":"Systematic design of crosslinked mechatronic systems, exemplified by a decentralized intersection management","authors":"J. Lückel, R. Naumann, R. Rasche","doi":"10.23919/ECC.1999.7100049","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100049","url":null,"abstract":"In this paper we present an approach to a decentralized intersection management which will not require much additional infrastructure at the intersection and which can operate in today's traffic so as to increase safety and to avoid congestion. For online optimization purposes which are required to avoid collisions, reduce fuel consumption or enhance traffic throughput, we use workflow processes to prepare available and proven optimization methods so as to configure and run them in an automated manner. Simulation results will prove the efficiency of the strategy.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115334723","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 : 1999-08-01DOI: 10.23919/ECC.1999.7100106
S. Theil, M. Wiegand, T. Diedrich, O. Matthews
Small satellite missions for scientific purpose gained more and more importance during the last years in Germany. There are several missions in-orbit or scheduled for launch in the near future like GFZ (1995), Equator-S (in-orbit, launch Dec 1997), ABRIXAS (launch April 1999) and other missions are on the horizon. One of these highly ambitious projects is the small astrometry satellite DIVA (German Interferometer for Multichannel Photometry and Astrometry). DIVA will be the successor of the HIPPARCOS satellite and a pathfinder to much larger missions like GAIA (Global Astrometric Interferometer for Astrophysics), FAME (Fizeau Astro-metric Mapping Explorer) and SIM (Space Interferometry Mission). This work deals with the recent results from spacecraft dynamics simulations performed for the 248% DIVA satellite. The attitude determination re-guirements are guite ambitious for a small satellite mission, while the control reguirements of barcmin are moderate. The attitude determination system has to provide attitude information to the scientific payload with an accuracy of larcsec in scan direction and Zarcsec perpendicular to it using a Kalman filter that relies on attitude sensors and the scientific telescope. The scientific goal is a post mission scientific attitude accuracy of about 0.8raas. The attitude control system relies on a cold gas system for first acguisition, safe mode and coarse attitude control. For fine attitude control field emission electric propulsion thrusters (FEEP's) are investigated.
{"title":"Attitude determination and control of the small satellite diva using the scientific instrument","authors":"S. Theil, M. Wiegand, T. Diedrich, O. Matthews","doi":"10.23919/ECC.1999.7100106","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100106","url":null,"abstract":"Small satellite missions for scientific purpose gained more and more importance during the last years in Germany. There are several missions in-orbit or scheduled for launch in the near future like GFZ (1995), Equator-S (in-orbit, launch Dec 1997), ABRIXAS (launch April 1999) and other missions are on the horizon. One of these highly ambitious projects is the small astrometry satellite DIVA (German Interferometer for Multichannel Photometry and Astrometry). DIVA will be the successor of the HIPPARCOS satellite and a pathfinder to much larger missions like GAIA (Global Astrometric Interferometer for Astrophysics), FAME (Fizeau Astro-metric Mapping Explorer) and SIM (Space Interferometry Mission). This work deals with the recent results from spacecraft dynamics simulations performed for the 248% DIVA satellite. The attitude determination re-guirements are guite ambitious for a small satellite mission, while the control reguirements of barcmin are moderate. The attitude determination system has to provide attitude information to the scientific payload with an accuracy of larcsec in scan direction and Zarcsec perpendicular to it using a Kalman filter that relies on attitude sensors and the scientific telescope. The scientific goal is a post mission scientific attitude accuracy of about 0.8raas. The attitude control system relies on a cold gas system for first acguisition, safe mode and coarse attitude control. For fine attitude control field emission electric propulsion thrusters (FEEP's) are investigated.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115887696","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099742
Ü. Kotta
The paper deals with nonlinear system described by the set of higher-order difference equations in the inputs and the outputs. A theorem for transforming such a system around a regular equilibrium point into a locally equivalent one, but having the so-called row- and column-reduced form, is formulated. The importance of this form comes from the fact that this is a suitable starting point for studing the realization problem for a set of nonlinear multi-input multi-output difference equations.
{"title":"Towards a solution of the state-space realization problem of a set of multi-input multi-output nonlinear difference equations","authors":"Ü. Kotta","doi":"10.23919/ECC.1999.7099742","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099742","url":null,"abstract":"The paper deals with nonlinear system described by the set of higher-order difference equations in the inputs and the outputs. A theorem for transforming such a system around a regular equilibrium point into a locally equivalent one, but having the so-called row- and column-reduced form, is formulated. The importance of this form comes from the fact that this is a suitable starting point for studing the realization problem for a set of nonlinear multi-input multi-output difference equations.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124161259","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099521
U. Jönsson, A. Megretski
Worst case average performance analysis is considered in this paper. The disturbance in the system is assumed to belong to a “class of inputs signals”. A class of signals is here defined to be a set of families of signals, where each family satisfies an average spectral constraint. Exact characterizations in terms of integral quadratic constraints (IQC) are given for a class of white signals and a class of signals that are generated by autonomous linear systems. The IQCs are defined in terms of multipliers and important issues in numerical optimization of the multipliers are discussed in the paper.
{"title":"IQC characterizations of signal classes","authors":"U. Jönsson, A. Megretski","doi":"10.23919/ECC.1999.7099521","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099521","url":null,"abstract":"Worst case average performance analysis is considered in this paper. The disturbance in the system is assumed to belong to a “class of inputs signals”. A class of signals is here defined to be a set of families of signals, where each family satisfies an average spectral constraint. Exact characterizations in terms of integral quadratic constraints (IQC) are given for a class of white signals and a class of signals that are generated by autonomous linear systems. The IQCs are defined in terms of multipliers and important issues in numerical optimization of the multipliers are discussed in the paper.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124194361","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099312
C. Tarín, H. Brugger, B. Tibken, E. Hofer
In this paper we design a position controller for an autonomous mobile robot, a nonlinear nonholonomic control system. The designed time invariant non smooth stabilizing control law assures limitation of the velocity inputs, human like driving behaviour and smooth trajectories. The global asymptotic stability of the closed loop system is proved using the Lyapunov stability theory and the In-variance Principle of La Salle and Lefschetz. Moreover a real time software environment is developed for implementing the designed controller on a real platform, which is in our case the autonomous mobile robot B21 from Real World Interface (RWI). Experimental results demonstrate the excellent performance of the designed contoller.
{"title":"Globally asymptotically stable position control for an autonomous mobile robot","authors":"C. Tarín, H. Brugger, B. Tibken, E. Hofer","doi":"10.23919/ECC.1999.7099312","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099312","url":null,"abstract":"In this paper we design a position controller for an autonomous mobile robot, a nonlinear nonholonomic control system. The designed time invariant non smooth stabilizing control law assures limitation of the velocity inputs, human like driving behaviour and smooth trajectories. The global asymptotic stability of the closed loop system is proved using the Lyapunov stability theory and the In-variance Principle of La Salle and Lefschetz. Moreover a real time software environment is developed for implementing the designed controller on a real platform, which is in our case the autonomous mobile robot B21 from Real World Interface (RWI). Experimental results demonstrate the excellent performance of the designed contoller.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114747392","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099981
M. Kárný, K. Hangos, L. Tesar
This paper provides a unified background of probabilistic modeling methods which should serve to model-based fault detection (FD). This background should help in orientation within within the set of the problems to be addressed when developing a novel method as well as within a wide set of available methods and in recognition of their suitability to a particular problem in hands.
{"title":"On probabilistic modeling in fault detection","authors":"M. Kárný, K. Hangos, L. Tesar","doi":"10.23919/ECC.1999.7099981","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099981","url":null,"abstract":"This paper provides a unified background of probabilistic modeling methods which should serve to model-based fault detection (FD). This background should help in orientation within within the set of the problems to be addressed when developing a novel method as well as within a wide set of available methods and in recognition of their suitability to a particular problem in hands.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114785195","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099738
F. Amato, G. Celentano, D. Freni
In this paper we consider the problem of reducing the sound generated by the engine inside a car enclosure by using piezoelectric actuators located on the car's roof and microphones placed in correspondence of the passengers. A preliminary analysis shows that the frequency responses from the actuators to the microphones are characterized by a very large band and exhibit a high modal density with many resonance peaks. Based on these facts, the design of a feedback control law could originate spillover phenomena, which will manifest through the generation of high frequency sounds even more unpleasent than the original noise. Therefore we propose the design of a controller based on an open loop control philosophy; that is the control action is designed in such a way that the spectrum of the control signals is contained into the disturbance band. Since the noise we deal with is not of a classical type (pure sinusoidal or multi-tonal) but is a wide band disturbance, classical open loop control techniques, based on model inversion, cannot be implemented; to this end the concept of Generalized Frequency Response, which allows us to deal with wide band signals, is introduced in the paper. Numerical simulations show the benefits of the proposed control technique.
{"title":"An \"open loop\" control methodology for sound reduction inside a car","authors":"F. Amato, G. Celentano, D. Freni","doi":"10.23919/ECC.1999.7099738","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099738","url":null,"abstract":"In this paper we consider the problem of reducing the sound generated by the engine inside a car enclosure by using piezoelectric actuators located on the car's roof and microphones placed in correspondence of the passengers. A preliminary analysis shows that the frequency responses from the actuators to the microphones are characterized by a very large band and exhibit a high modal density with many resonance peaks. Based on these facts, the design of a feedback control law could originate spillover phenomena, which will manifest through the generation of high frequency sounds even more unpleasent than the original noise. Therefore we propose the design of a controller based on an open loop control philosophy; that is the control action is designed in such a way that the spectrum of the control signals is contained into the disturbance band. Since the noise we deal with is not of a classical type (pure sinusoidal or multi-tonal) but is a wide band disturbance, classical open loop control techniques, based on model inversion, cannot be implemented; to this end the concept of Generalized Frequency Response, which allows us to deal with wide band signals, is introduced in the paper. Numerical simulations show the benefits of the proposed control technique.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"170 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117275522","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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