Pub Date : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.00646
Antoine Butez, S. Lafortune, Yin Wang
Abstract We consider the solution of supervisory control problems for discrete event systems modeled by automata or bounded Petri nets where the specification is expressed as a regular sublanguage of the system language and where the supervisor is restricted to be state-partition-based with respect to original system state space, i.e., the state space of the automaton or the set of reachable markings of the Petri net. State-partition-based supervisors are completely characterized by a partition of the original system state space into legal and illegal states: transitions between legal states are always enabled while transitions from legal to illegal states are always disabled. We present a general algorithm that calculates all state-partition-based supervisors that result in safe and non-blocking controlled languages. The algorithm uses a vertex-cover-type algorithm on the representation of the supremal controllable sublanguage in order to obtain the desired partitions. This work is motivated by the application of discrete event control techniques to the avoidance of classes of concurrency bugs in multithreaded programs. State-partition-based supervisors are especially advantageous in that application as they allow more concurrency at run-time. More generally, this class of supervisors is required when the representation of the supervisor must be based on the system's original state space; this occurs for memoryless supervisors in automaton-based control or in supervision based on place invariants in Petri-net-based control, for instance.
{"title":"State-Partition-Based Control of Discrete Event Systems for Enforcement of Regular Language Specifications","authors":"Antoine Butez, S. Lafortune, Yin Wang","doi":"10.3182/20140824-6-ZA-1003.00646","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.00646","url":null,"abstract":"Abstract We consider the solution of supervisory control problems for discrete event systems modeled by automata or bounded Petri nets where the specification is expressed as a regular sublanguage of the system language and where the supervisor is restricted to be state-partition-based with respect to original system state space, i.e., the state space of the automaton or the set of reachable markings of the Petri net. State-partition-based supervisors are completely characterized by a partition of the original system state space into legal and illegal states: transitions between legal states are always enabled while transitions from legal to illegal states are always disabled. We present a general algorithm that calculates all state-partition-based supervisors that result in safe and non-blocking controlled languages. The algorithm uses a vertex-cover-type algorithm on the representation of the supremal controllable sublanguage in order to obtain the desired partitions. This work is motivated by the application of discrete event control techniques to the avoidance of classes of concurrency bugs in multithreaded programs. State-partition-based supervisors are especially advantageous in that application as they allow more concurrency at run-time. More generally, this class of supervisors is required when the representation of the supervisor must be based on the system's original state space; this occurs for memoryless supervisors in automaton-based control or in supervision based on place invariants in Petri-net-based control, for instance.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"49 1","pages":"2414-2421"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74986300","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.00567
D. Feliu-Talegón, V. Feliu-Batlle, C. Castillo-Berrio
Abstract Flexible links combined with force and torque sensors can be used to detect obstacles in mobile robotics, as well as for surface and object recognition. These devices, called sensing antennae, perform an active sensing strategy in which a servomotor system moves the link back and forth until it hits and object. At this instant, information of the motor angles combined with force and torque measurements allow calculating the positions of the hitting points, which are valuable information about the object surface. In order to move the antenna fast and accurately, this article proposes a new open loop control for driving this flexible link based sensor. The control strategy is based on an ( IS ) Input Shaping technique, in order to reduce link vibrations. The antenna performs free azimuthal and vertical movements. However, the vertical movement is clearly non-linear due to the gravity effect, which prevents the use of standard linear IS techniques. Then a new nonlinear IS has been developed in this article which includes a linearization term of the gravity. Experiments have shown the improvements attained with this technique in the accurate and vibration free motion of our antenna.
{"title":"A Nonlinear Input Shaping Technique for Motion Control of a Sensing Antenna","authors":"D. Feliu-Talegón, V. Feliu-Batlle, C. Castillo-Berrio","doi":"10.3182/20140824-6-ZA-1003.00567","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.00567","url":null,"abstract":"Abstract Flexible links combined with force and torque sensors can be used to detect obstacles in mobile robotics, as well as for surface and object recognition. These devices, called sensing antennae, perform an active sensing strategy in which a servomotor system moves the link back and forth until it hits and object. At this instant, information of the motor angles combined with force and torque measurements allow calculating the positions of the hitting points, which are valuable information about the object surface. In order to move the antenna fast and accurately, this article proposes a new open loop control for driving this flexible link based sensor. The control strategy is based on an ( IS ) Input Shaping technique, in order to reduce link vibrations. The antenna performs free azimuthal and vertical movements. However, the vertical movement is clearly non-linear due to the gravity effect, which prevents the use of standard linear IS techniques. Then a new nonlinear IS has been developed in this article which includes a linearization term of the gravity. Experiments have shown the improvements attained with this technique in the accurate and vibration free motion of our antenna.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"23 1","pages":"4733-4738"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76482390","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 : 2014-01-01DOI: 10.3182/20140313-3-IN-3024.00008
Vijay Muralidharan , Anup K. Ekbote , Arun D. Mahindrakar
This paper deals with the finite-time control of a quadrotor unmanned aerial vehicle about the hovering position by converting the linearized model to its Brunovský canonical form. It is shown that all the sliding surfaces have relative degree five or three. Simulations are carried out using higher order continuous finite time controllers.
{"title":"Finite-Time Control of a Quadrotor System","authors":"Vijay Muralidharan , Anup K. Ekbote , Arun D. Mahindrakar","doi":"10.3182/20140313-3-IN-3024.00008","DOIUrl":"10.3182/20140313-3-IN-3024.00008","url":null,"abstract":"<div><p>This paper deals with the finite-time control of a quadrotor unmanned aerial vehicle about the hovering position by converting the linearized model to its Brunovský canonical form. It is shown that all the sliding surfaces have relative degree five or three. Simulations are carried out using higher order continuous finite time controllers.</p></div>","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"47 1","pages":"Pages 643-647"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.3182/20140313-3-IN-3024.00008","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76492029","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.02465
Pushpendra Kumar, R. Merzouki, B. Conrard, B. Ould-Bouamama
In the present work, a generic method for multilevel modeling and reconfiguration of the System of Systems Engineering (SoSE) is proposed based on the bond graph modeling approach. The proposed formulation is applied to the road traffic dynamic for a platoon of Intelligent Autonomous Vehicles (IAVs). A bond graph model-based reconfiguration strategy is proposed for the multilevel model of the road traffic dynamic combining three levels namely submicroscopic, microscopic and macroscopic. This multilevel model is simulated for two scenarios of normal and faulty situations in a platoon of four IAVs.
{"title":"Multilevel Reconfiguration Strategy for the System of Systems Engineering: Application to Platoon of Vehicles","authors":"Pushpendra Kumar, R. Merzouki, B. Conrard, B. Ould-Bouamama","doi":"10.3182/20140824-6-ZA-1003.02465","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02465","url":null,"abstract":"In the present work, a generic method for multilevel modeling and reconfiguration of the System of Systems Engineering (SoSE) is proposed based on the bond graph modeling approach. The proposed formulation is applied to the road traffic dynamic for a platoon of Intelligent Autonomous Vehicles (IAVs). A bond graph model-based reconfiguration strategy is proposed for the multilevel model of the road traffic dynamic combining three levels namely submicroscopic, microscopic and macroscopic. This multilevel model is simulated for two scenarios of normal and faulty situations in a platoon of four IAVs.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"15 1","pages":"8103-8109"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77661057","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.01859
Y. Hamada, Taro Tsukamoto, Shinji Ishimoto
Abstract This paper describes a novel lateral guidance law of an unmanned aerial vehicle using model predictive control and shows its flight test results. The guidance law is accompanied with an extended Kalman filter which estimates steady wind velocities in order to follow a pre-specified reference path defined in the ground-fixed coordinate system. A small scale research vehicle, developed by Japan Aerospace Exploration Agency, is used for flight tests and the results show the proposed system's high guidance performance.
{"title":"Flight Test Results for Circular Path Following by Model Predictive Control","authors":"Y. Hamada, Taro Tsukamoto, Shinji Ishimoto","doi":"10.3182/20140824-6-ZA-1003.01859","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.01859","url":null,"abstract":"Abstract This paper describes a novel lateral guidance law of an unmanned aerial vehicle using model predictive control and shows its flight test results. The guidance law is accompanied with an extended Kalman filter which estimates steady wind velocities in order to follow a pre-specified reference path defined in the ground-fixed coordinate system. A small scale research vehicle, developed by Japan Aerospace Exploration Agency, is used for flight tests and the results show the proposed system's high guidance performance.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"8 1","pages":"3419-3424"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77699841","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.01339
Paulo R. C. Mendes, J. Normey-Rico, V. Joao, Daniel Miranda Cruz
Abstract This paper presents a SPC based in the filtered Smith predictor structure in order to improve the performance of SPC when applied to a stable or integrative dead-time processes. This technique combines the robustness of subspace identification algorithms, the ability of predictive controllers to deal with multi variable processes and operational constraints and robustness of filtered Smith predictor in presence of model uncertainties. The proposed controller is applied in two simulation cases. The first is a boiler temperature control and the second is the control of effluent concentration and temperature in a stirred tank reactor. The obtained results show that the proposed strategy gives good performance when controlling dead-time processes considering estimation errors in dynamics and dead time.
{"title":"A filtered Smith predictor based subspace predictive controller","authors":"Paulo R. C. Mendes, J. Normey-Rico, V. Joao, Daniel Miranda Cruz","doi":"10.3182/20140824-6-ZA-1003.01339","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.01339","url":null,"abstract":"Abstract This paper presents a SPC based in the filtered Smith predictor structure in order to improve the performance of SPC when applied to a stable or integrative dead-time processes. This technique combines the robustness of subspace identification algorithms, the ability of predictive controllers to deal with multi variable processes and operational constraints and robustness of filtered Smith predictor in presence of model uncertainties. The proposed controller is applied in two simulation cases. The first is a boiler temperature control and the second is the control of effluent concentration and temperature in a stirred tank reactor. The obtained results show that the proposed strategy gives good performance when controlling dead-time processes considering estimation errors in dynamics and dead time.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"140 1","pages":"1011-1016"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77718273","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 : 2014-01-01DOI: 10.3182/20140313-3-IN-3024.00099
Gopal Jee
Abstract Output feedback pole placement problem is not solvable analytically for the plants having either number of inputs or number of outputs, more than two. There is even lack of a good numerical method which solves any general pole assignment problem. Due to the multi-linear nature of the pole placement problem there is a possibility to utilize multi-linear structure and arrive at a better numerical solution. This paper shows that it is possible to compute analytically the Jacobian and Hessian matrix in an easy manner and utilize them in an iterative numerical method to solve the pole-placement problem. Newton-Raphson method is used with analytical solution of Jacobian matrix to give an iterative solution of pole placement equations with better percentage success rate than the other methods quoted in literature.
{"title":"Application of Newton's Method with Analytical Computation of Jacobian Matrix to Solve Multi-linear Pole Assignment Equations","authors":"Gopal Jee","doi":"10.3182/20140313-3-IN-3024.00099","DOIUrl":"https://doi.org/10.3182/20140313-3-IN-3024.00099","url":null,"abstract":"Abstract Output feedback pole placement problem is not solvable analytically for the plants having either number of inputs or number of outputs, more than two. There is even lack of a good numerical method which solves any general pole assignment problem. Due to the multi-linear nature of the pole placement problem there is a possibility to utilize multi-linear structure and arrive at a better numerical solution. This paper shows that it is possible to compute analytically the Jacobian and Hessian matrix in an easy manner and utilize them in an iterative numerical method to solve the pole-placement problem. Newton-Raphson method is used with analytical solution of Jacobian matrix to give an iterative solution of pole placement equations with better percentage success rate than the other methods quoted in literature.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"53 1","pages":"706-710"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77719504","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.00962
M. Inoue, Takayuki Arai, J. Imura, K. Kashima, K. Aihara
Abstract We analyze the robustness of a system-level genetic circuit which is constructed by a bottom-up strategy. The latest trend in synthetic biology is to create large-scale and complex genetic circuits realizing desired programmable functions. An approach for the creation is bottom-up construction, that is, well-characterized small-scale circuits are coupled into large-scale system-level circuits involving desired programmable functions that can be predicted from the modules. However, in general, an intrinsic property in a circuit may be broken by internally connecting external circuits. We analyze a successful circuit created by a bottom-up construction strategy to identify the reason behind a successful synthesis. Utilizing the robustness analysis method based on the structured singular value, we can guarantee the validity of the bottom-up construction.
{"title":"Robustness Analysis of Genetic Circuits Constructed by Bottom-Up Strategy","authors":"M. Inoue, Takayuki Arai, J. Imura, K. Kashima, K. Aihara","doi":"10.3182/20140824-6-ZA-1003.00962","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.00962","url":null,"abstract":"Abstract We analyze the robustness of a system-level genetic circuit which is constructed by a bottom-up strategy. The latest trend in synthetic biology is to create large-scale and complex genetic circuits realizing desired programmable functions. An approach for the creation is bottom-up construction, that is, well-characterized small-scale circuits are coupled into large-scale system-level circuits involving desired programmable functions that can be predicted from the modules. However, in general, an intrinsic property in a circuit may be broken by internally connecting external circuits. We analyze a successful circuit created by a bottom-up construction strategy to identify the reason behind a successful synthesis. Utilizing the robustness analysis method based on the structured singular value, we can guarantee the validity of the bottom-up construction.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"53 1","pages":"1736-1741"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78168065","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.01054
P. Widłak, Michalina Gramatyka, M. Kimmel
Abstract The signaling pathways depending on NF-κB, p53 and HSF1 transcription factors are components of the cellular response to stress. NF-κB transcription factor regulates genes responsible for inflammation, immune response and cell survival. p53 either activates cell cycle arrest and DNA repair or induces apoptosis in cells with DNA damage. HSF1 activates under stress conditions and induces the heat shock response. All there pathways are essential for cancer and other human diseases. Here we review biological data on these signal transduction pathways and introduce complex crosstalk between these regulatory circuits as an apparent challenge for mathematical modeling.
{"title":"Crosstalk between stress-induced NF-κB, p53 and HSF1 signaling pathways – review.","authors":"P. Widłak, Michalina Gramatyka, M. Kimmel","doi":"10.3182/20140824-6-ZA-1003.01054","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.01054","url":null,"abstract":"Abstract The signaling pathways depending on NF-κB, p53 and HSF1 transcription factors are components of the cellular response to stress. NF-κB transcription factor regulates genes responsible for inflammation, immune response and cell survival. p53 either activates cell cycle arrest and DNA repair or induces apoptosis in cells with DNA damage. HSF1 activates under stress conditions and induces the heat shock response. All there pathways are essential for cancer and other human diseases. Here we review biological data on these signal transduction pathways and introduce complex crosstalk between these regulatory circuits as an apparent challenge for mathematical modeling.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"1 1","pages":"11518-11523"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79924531","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.02330
M. H. Dabladji, D. Ichalal, Hichem Arioui, S. Mammar, L. Fridman
Abstract In this work, two high order sliding mode observers under cascade form are proposed in order to estimate the important states and inputs affecting the lateral dynamics of two-wheeled vehicles. The first observer is based on a vision system and is used to estimate the lateral velocity of the vehicle. This velocity is considered as an additional measure for the second observer which is designed to estimate the tire forces, the roll angle and torque applied to the handle-bar. The main contribution of this work is the estimation of the tire forces even with the variation of the longitudinal velocity and without the prior knowledge of the pneumatic coefficients.
{"title":"Estimation of Lateral Dynamics and Road Curvature for Two-Wheeled Vehicles: A HOSM Observer approach","authors":"M. H. Dabladji, D. Ichalal, Hichem Arioui, S. Mammar, L. Fridman","doi":"10.3182/20140824-6-ZA-1003.02330","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02330","url":null,"abstract":"Abstract In this work, two high order sliding mode observers under cascade form are proposed in order to estimate the important states and inputs affecting the lateral dynamics of two-wheeled vehicles. The first observer is based on a vision system and is used to estimate the lateral velocity of the vehicle. This velocity is considered as an additional measure for the second observer which is designed to estimate the tire forces, the roll angle and torque applied to the handle-bar. The main contribution of this work is the estimation of the tire forces even with the variation of the longitudinal velocity and without the prior knowledge of the pneumatic coefficients.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"90 1","pages":"2806-2811"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79951141","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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