Pub Date : 2016-07-06DOI: 10.1109/ACC.2016.7524975
Daniel T. Pollock, Matthew A. Williams, Brandon Hencey
Challenges for next generation aircraft thermal management using vapor compression systems (VCS) include larger transient thermal loads, tighter temperature constraints, and increasingly strict power and sizing requirements. Conventional control approaches, such as proportional-integral (PI) control, are well-suited for steady-state operation without system constraints. In this work, we investigate the ability of model predictive control to enable larger transient thermal loads subject to tighter temperature limits through anticipation and load-shedding. Our results include (1) a linear model predictive control validated on a nonlinear model of the vapor compression system, and (2) direct comparisons to state-of-the-art PI control for stressing scenarios.
{"title":"Model predictive control of temperature-sensitive and transient loads in aircraft vapor compression systems","authors":"Daniel T. Pollock, Matthew A. Williams, Brandon Hencey","doi":"10.1109/ACC.2016.7524975","DOIUrl":"https://doi.org/10.1109/ACC.2016.7524975","url":null,"abstract":"Challenges for next generation aircraft thermal management using vapor compression systems (VCS) include larger transient thermal loads, tighter temperature constraints, and increasingly strict power and sizing requirements. Conventional control approaches, such as proportional-integral (PI) control, are well-suited for steady-state operation without system constraints. In this work, we investigate the ability of model predictive control to enable larger transient thermal loads subject to tighter temperature limits through anticipation and load-shedding. Our results include (1) a linear model predictive control validated on a nonlinear model of the vapor compression system, and (2) direct comparisons to state-of-the-art PI control for stressing scenarios.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125184472","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 : 2016-07-06DOI: 10.1109/ACC.2016.7525348
Jianliang Chen, W. Zhang, Yong-Yan Cao, Yunze Cai, Lixiu Yao
This paper addresses the robust consensus reliable control protocol design problem against actuator faults for linear parameter-varying multi-agent systems. First, the actuator faults are modeled via a polytopic uncertainty method. Second, a distributed observer is designed for the single agent by sharing the communication network sensors to estimate the state information. Then by these estimated information, a robust consensus reliable control protocol against actuator faults is obtained and desired disturbance rejection performance can be guaranteed by this proposed protocol. Third, the non-convexity conditions of the consensus control protocol can be translated into a LMI optimization problem via simple matrix calculation. Finally, the effectiveness of the proposed reliable controller scheme is illustrated by the example.
{"title":"Observer-based consensus control against actuator faults for linear parameter-varying multi-agent Systems","authors":"Jianliang Chen, W. Zhang, Yong-Yan Cao, Yunze Cai, Lixiu Yao","doi":"10.1109/ACC.2016.7525348","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525348","url":null,"abstract":"This paper addresses the robust consensus reliable control protocol design problem against actuator faults for linear parameter-varying multi-agent systems. First, the actuator faults are modeled via a polytopic uncertainty method. Second, a distributed observer is designed for the single agent by sharing the communication network sensors to estimate the state information. Then by these estimated information, a robust consensus reliable control protocol against actuator faults is obtained and desired disturbance rejection performance can be guaranteed by this proposed protocol. Third, the non-convexity conditions of the consensus control protocol can be translated into a LMI optimization problem via simple matrix calculation. Finally, the effectiveness of the proposed reliable controller scheme is illustrated by the example.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"176 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123258222","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 : 2016-07-06DOI: 10.1109/ACC.2016.7525449
Changliu Liu, M. Tomizuka
The development of automated vehicles brings new challenges to road safety. The behavior of the automated vehicles should be carefully designed in order to interact with the environment and other vehicles efficiently and safely. This paper is focused on the learning and decision making methods for the automated vehicles towards safe freeway driving. Based on a multi-agent traffic model, the decision making problem is posed as an optimal control problem, which is solved by 1) behavior classification and trajectory prediction of the surrounding vehicles, and 2) a unique parallel planner architecture which addresses the efficiency goal and the safety goal separately. The simulation results demonstrate the effectiveness of the algorithm.
{"title":"Enabling safe freeway driving for automated vehicles","authors":"Changliu Liu, M. Tomizuka","doi":"10.1109/ACC.2016.7525449","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525449","url":null,"abstract":"The development of automated vehicles brings new challenges to road safety. The behavior of the automated vehicles should be carefully designed in order to interact with the environment and other vehicles efficiently and safely. This paper is focused on the learning and decision making methods for the automated vehicles towards safe freeway driving. Based on a multi-agent traffic model, the decision making problem is posed as an optimal control problem, which is solved by 1) behavior classification and trajectory prediction of the surrounding vehicles, and 2) a unique parallel planner architecture which addresses the efficiency goal and the safety goal separately. The simulation results demonstrate the effectiveness of the algorithm.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123599203","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 : 2016-07-06DOI: 10.1109/ACC.2016.7526665
Ling Xu, F. Ding, Hongfeng Tao
Frequency response tests are used widely in system identification, parameter estimation and system analysis. This paper studies the parameter estimation problem for dynamical systems based on the sinusoidal frequency response experiment. Because the output response is a nonlinear function with respect to the parameters to be estimated, a nonlinear criterion function is constructed for finding the parameter estimates. Using the nonlinear optimization technique, we present an iterative algorithm for estimating the system parameters. In order to overcome the problems of singular and ill-conditioned matrix during the iterative process, we put forward a damping iterative algorithm. Finally, an example is provided and the simulation results indicate that the proposed method has good performance.
{"title":"The adaptive damping iterative parameter estimation algorithm for dynamical systems","authors":"Ling Xu, F. Ding, Hongfeng Tao","doi":"10.1109/ACC.2016.7526665","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526665","url":null,"abstract":"Frequency response tests are used widely in system identification, parameter estimation and system analysis. This paper studies the parameter estimation problem for dynamical systems based on the sinusoidal frequency response experiment. Because the output response is a nonlinear function with respect to the parameters to be estimated, a nonlinear criterion function is constructed for finding the parameter estimates. Using the nonlinear optimization technique, we present an iterative algorithm for estimating the system parameters. In order to overcome the problems of singular and ill-conditioned matrix during the iterative process, we put forward a damping iterative algorithm. Finally, an example is provided and the simulation results indicate that the proposed method has good performance.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125553652","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 : 2016-07-06DOI: 10.1109/ACC.2016.7525393
Quan Ouyang, Jian Chen, C. Xu, H. Su
In this paper, modified bidirectional Cûk converters are utilized as the equalizing circuits for battery cell balancing, and they are designed to be operated in discontinuous inductor conduction mode (DICM). A topology model of the serially connected battery pack with cell equalizers is developed here. Based on this topology model, an optimal balancing method is proposed to regulate the equalizing currents with coordinately controlling all converters. Simulation results indicate that the difference between the cells' state of charge (SOC) could converge to an acceptable range in a relatively short time under the optimal equalizing control.
{"title":"Cell balancing control for serially connected lithium-ion batteries","authors":"Quan Ouyang, Jian Chen, C. Xu, H. Su","doi":"10.1109/ACC.2016.7525393","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525393","url":null,"abstract":"In this paper, modified bidirectional Cûk converters are utilized as the equalizing circuits for battery cell balancing, and they are designed to be operated in discontinuous inductor conduction mode (DICM). A topology model of the serially connected battery pack with cell equalizers is developed here. Based on this topology model, an optimal balancing method is proposed to regulate the equalizing currents with coordinately controlling all converters. Simulation results indicate that the difference between the cells' state of charge (SOC) could converge to an acceptable range in a relatively short time under the optimal equalizing control.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126737293","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 : 2016-07-06DOI: 10.1109/ACC.2016.7526487
Sarah Mechhoud, T. Laleg‐Kirati
In this paper, boundary adaptive estimation of solar radiation in a solar collector plant is investigated. The solar collector is described by a 1D first-order hyperbolic partial differential equation where the solar radiation models the source term and only boundary measurements are available. Using boundary injection, the estimator is developed in the Lyapunov approach and consists of a combination of a state observer and a parameter adaptation law which guarantee the asymptotic convergence of the state and parameter estimation errors. Simulation results are provided to illustrate the performance of the proposed identifier.
{"title":"Source term boundary adaptive estimation in a first-order 1D hyperbolic PDE: Application to a one loop solar collector through","authors":"Sarah Mechhoud, T. Laleg‐Kirati","doi":"10.1109/ACC.2016.7526487","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526487","url":null,"abstract":"In this paper, boundary adaptive estimation of solar radiation in a solar collector plant is investigated. The solar collector is described by a 1D first-order hyperbolic partial differential equation where the solar radiation models the source term and only boundary measurements are available. Using boundary injection, the estimator is developed in the Lyapunov approach and consists of a combination of a state observer and a parameter adaptation law which guarantee the asymptotic convergence of the state and parameter estimation errors. Simulation results are provided to illustrate the performance of the proposed identifier.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126949249","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 : 2016-07-06DOI: 10.1109/ACC.2016.7525533
G. Nelson, R. Rajamani
This paper presents a method for improved auscultation with an electronic stethoscope by estimating and removing the effects of unknown disturbance inputs. By replacing the single transducer in a stethoscope with a dual piezo transducer assembly, it is shown that an inverse dynamic mapping can be used to relate the two measured signals to original directional inputs acting on the stethoscope. Specifically, model inversion is used to estimate and remove physician handling noise from chest sound signals. An experimental test platform which uses a vibration shaker to simulate the desired auscultation signal is used to experimentally demonstrate the feasibility of the dual-piezo stethoscope approach in improving auscultation.
{"title":"Improved auscultation with a stethoscope using model inversion for unknown input estimation","authors":"G. Nelson, R. Rajamani","doi":"10.1109/ACC.2016.7525533","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525533","url":null,"abstract":"This paper presents a method for improved auscultation with an electronic stethoscope by estimating and removing the effects of unknown disturbance inputs. By replacing the single transducer in a stethoscope with a dual piezo transducer assembly, it is shown that an inverse dynamic mapping can be used to relate the two measured signals to original directional inputs acting on the stethoscope. Specifically, model inversion is used to estimate and remove physician handling noise from chest sound signals. An experimental test platform which uses a vibration shaker to simulate the desired auscultation signal is used to experimentally demonstrate the feasibility of the dual-piezo stethoscope approach in improving auscultation.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115076020","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 : 2016-07-06DOI: 10.1109/ACC.2016.7525574
Diego Pereira-Dias, A. J. Peixoto, Alessandro S. de Lima, R. Costa, O. Mattos
This paper addresses the design, implementation and experimental evaluation of a recently proposed force control scheme for fatigue testing machines. The phase shift between the desired force signal and the applied force to the specimen is irrelevant for keeping the force within the fatigue testing requirements considered here. Thus, the proposed approach relies only on an appropriate amplitude and mean value tracking control, disregarding the phase. An estimator for the amplitude and mean value of the output force signal is proposed based on a demodulation technique. Global exponential stability of the complete error system with respect to a small residual set is guaranteed via averaging analysis, for the plant operating at low frequencies. Experimental results and numerical simulations performed at the Non-destructive, Corrosion and Welding Laboratory (LNDC/COPPE/UFRJ) illustrate the remarkable behavior of the proposed scheme, considering real fatigue testing machines.
{"title":"Amplitude and mean value force control for fatigue testing machines operating at low frequency","authors":"Diego Pereira-Dias, A. J. Peixoto, Alessandro S. de Lima, R. Costa, O. Mattos","doi":"10.1109/ACC.2016.7525574","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525574","url":null,"abstract":"This paper addresses the design, implementation and experimental evaluation of a recently proposed force control scheme for fatigue testing machines. The phase shift between the desired force signal and the applied force to the specimen is irrelevant for keeping the force within the fatigue testing requirements considered here. Thus, the proposed approach relies only on an appropriate amplitude and mean value tracking control, disregarding the phase. An estimator for the amplitude and mean value of the output force signal is proposed based on a demodulation technique. Global exponential stability of the complete error system with respect to a small residual set is guaranteed via averaging analysis, for the plant operating at low frequencies. Experimental results and numerical simulations performed at the Non-destructive, Corrosion and Welding Laboratory (LNDC/COPPE/UFRJ) illustrate the remarkable behavior of the proposed scheme, considering real fatigue testing machines.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116559224","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 : 2016-07-06DOI: 10.1109/ACC.2016.7525430
Michael Mercurio, Nagavenkat Adurthi, P. Singla, M. Majji
This paper presents an approach to derive the optimal feedback control laws by solving the finite time Hamilton Jacobi Ballman equation. Conventional methods to solve the HJB equation suffer from curse of dimensionality as the number of spatial variables is equal to the state dimension, which is twice the number of degrees of freedom of a mechanical system. The presented approach exploits the recently developed non-product quadrature method known as Conjugate Unscented Transformation (CUT) in conjunction with sparse approximation tools to devise a collocation method to solve the HJB equation in a computationally efficient manner. Numerical simulation results are presented to assess the efficacy of the proposed ideas.
{"title":"A collocation-based approach to solve the finite horizon Hamilton-Jacobi-Bellman equation","authors":"Michael Mercurio, Nagavenkat Adurthi, P. Singla, M. Majji","doi":"10.1109/ACC.2016.7525430","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525430","url":null,"abstract":"This paper presents an approach to derive the optimal feedback control laws by solving the finite time Hamilton Jacobi Ballman equation. Conventional methods to solve the HJB equation suffer from curse of dimensionality as the number of spatial variables is equal to the state dimension, which is twice the number of degrees of freedom of a mechanical system. The presented approach exploits the recently developed non-product quadrature method known as Conjugate Unscented Transformation (CUT) in conjunction with sparse approximation tools to devise a collocation method to solve the HJB equation in a computationally efficient manner. Numerical simulation results are presented to assess the efficacy of the proposed ideas.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"218 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122394188","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 : 2016-07-06DOI: 10.1109/ACC.2016.7526686
Woo-Hyun Ko, P. Kumar
This paper addresses the problem of cross-layer design of cyber-physical systems to cope with interactions between the cyber layer and the physical layer in a dynamic environment. We propose a bi-directional middleware that allows the optimal utilization of the common resources for the benefit of either or both the layers in order to obtain overall system performance. This has been implemented over Etherware, a prior developed separation-based middleware for networked control systems as the bridge between the layers. Our implementation employs a Resource Manager module to handle common resources between the layers on Etherware. A case study of network connectivity preservation in vehicular formation control illustrates how this approach applies to particular situations of interest.
{"title":"Cross-layer design for cyber-physical systems of coordinated networked vehicles over bi-directional middleware","authors":"Woo-Hyun Ko, P. Kumar","doi":"10.1109/ACC.2016.7526686","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526686","url":null,"abstract":"This paper addresses the problem of cross-layer design of cyber-physical systems to cope with interactions between the cyber layer and the physical layer in a dynamic environment. We propose a bi-directional middleware that allows the optimal utilization of the common resources for the benefit of either or both the layers in order to obtain overall system performance. This has been implemented over Etherware, a prior developed separation-based middleware for networked control systems as the bridge between the layers. Our implementation employs a Resource Manager module to handle common resources between the layers on Etherware. A case study of network connectivity preservation in vehicular formation control illustrates how this approach applies to particular situations of interest.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122529404","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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