Pub Date : 2016-07-06DOI: 10.1109/ACC.2016.7526729
Nestor R. Polanco, E. Hernandez
This paper explores the robustness of the Kalman filter in structural dynamics and fatigue monitoring applications. The study is carried out using simulations and small scale experiments. We investigate robustness to non-parametric errors in the description the unmeasured excitations, measurement noise and structural model.
{"title":"Kalman filter robustness for fatigue usage monitoring of flexible frame structures","authors":"Nestor R. Polanco, E. Hernandez","doi":"10.1109/ACC.2016.7526729","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526729","url":null,"abstract":"This paper explores the robustness of the Kalman filter in structural dynamics and fatigue monitoring applications. The study is carried out using simulations and small scale experiments. We investigate robustness to non-parametric errors in the description the unmeasured excitations, measurement noise and structural model.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"66 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":"129439612","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.2016.7525034
Jack Umenberger, I. Manchester
Recently Lagrangian relaxation has been used to generate convex approximations of the challenging simulation error minimization problem arising in system identification. In this paper, we present a specialized algorithm to optimize the convex bounds generated by Lagrangian relaxation, applicable to linear state-space models. The algorithm demonstrates superior scalability over general-purpose semidefinite programming solvers. In addition, we show empirically that Lagrangian relaxation is more resilient to a biasing effect commonly observed in other identification methods that guarantee model stability.
{"title":"Specialized algorithm for identification of stable linear systems using Lagrangian relaxation","authors":"Jack Umenberger, I. Manchester","doi":"10.1109/ACC.2016.7525034","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525034","url":null,"abstract":"Recently Lagrangian relaxation has been used to generate convex approximations of the challenging simulation error minimization problem arising in system identification. In this paper, we present a specialized algorithm to optimize the convex bounds generated by Lagrangian relaxation, applicable to linear state-space models. The algorithm demonstrates superior scalability over general-purpose semidefinite programming solvers. In addition, we show empirically that Lagrangian relaxation is more resilient to a biasing effect commonly observed in other identification methods that guarantee model stability.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"69 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":"129458792","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.2016.7525317
T. Samad
All control systems have users, even those we deem “autonomous.” But when the span of control goes from a system to a system of systems, as is the case with critical infrastructures, the role and even the concept of the user are dramatically altered. Thus in designing and operating cyberphysical systems (CPS) for infrastructures, we need to explicate their human footprint. This presentation will review selected CPS infrastructures with a focus on the complexities introduced by their multifarious users. Examples that will be discussed include smart buildings and intelligent transportation systems. The broader challenge, though, is to abstract from the specifics to a general framework and ultimately theory. Questions to this end will be posed that the control systems research community is best-equipped to address.
{"title":"Infrastructure cyberphysical systems and their users","authors":"T. Samad","doi":"10.1109/ACC.2016.7525317","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525317","url":null,"abstract":"All control systems have users, even those we deem “autonomous.” But when the span of control goes from a system to a system of systems, as is the case with critical infrastructures, the role and even the concept of the user are dramatically altered. Thus in designing and operating cyberphysical systems (CPS) for infrastructures, we need to explicate their human footprint. This presentation will review selected CPS infrastructures with a focus on the complexities introduced by their multifarious users. Examples that will be discussed include smart buildings and intelligent transportation systems. The broader challenge, though, is to abstract from the specifics to a general framework and ultimately theory. Questions to this end will be posed that the control systems research community is best-equipped to address.","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":"129643641","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.2016.7525605
Indrasis Chakraborty, Serhat Obuz, Ryan A. Licitra, W. Dixon
A partial differential equation-based tracking controller is developed for a class of uncertain nonlinear systems with bounded external disturbances and time-varying input delay. A novel robust controller is designed such that the control input varies with both time and a spatial variable. The designed controller features gains to compensate for the delay and delay derivative independently and further robustness is achieved since the controller does not require exact model knowledge. A novel Lyapunov-Krasovskii functional is used in the Lyapunov-based stability analysis to prove uniform ultimate boundedness of the error signals. Numerical simulation results illustrate the performance of the proposed robust controller.
{"title":"Control of an uncertain Euler-Lagrange system with known time-varying input delay: A pde-based approach","authors":"Indrasis Chakraborty, Serhat Obuz, Ryan A. Licitra, W. Dixon","doi":"10.1109/ACC.2016.7525605","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525605","url":null,"abstract":"A partial differential equation-based tracking controller is developed for a class of uncertain nonlinear systems with bounded external disturbances and time-varying input delay. A novel robust controller is designed such that the control input varies with both time and a spatial variable. The designed controller features gains to compensate for the delay and delay derivative independently and further robustness is achieved since the controller does not require exact model knowledge. A novel Lyapunov-Krasovskii functional is used in the Lyapunov-based stability analysis to prove uniform ultimate boundedness of the error signals. Numerical simulation results illustrate the performance of the proposed robust controller.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"17 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":"126811405","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.2016.7525531
Jonqlan Lin, H. Lai, Julian Chang
The objectives of the research are to exploit a novel cart-seesaw laboratory apparatus which is driven by servo motors and gear transmission, and develop balancing approach for such system. In order to stabilize the system, the two controls approaches are implemented as examples of how the system can be used to demonstrate controls concepts. Experimental results indicate that utilizing the proposed novel cart-seesaw system play a superior performance than the existed pneumatic type in balancing and tracking operation. Moreover, the proposed control methodology significantly signifying the usefulness of the fuzzy controller in suppressing the seesaw tilt angle in the time domain. The development the proposed software/hardware platform can be beneficial for standardizing laboratory equipment, and the development of amusement apparatus.
{"title":"Balancing control with neuro-fuzzy approach for electrical cart-seesaw system","authors":"Jonqlan Lin, H. Lai, Julian Chang","doi":"10.1109/ACC.2016.7525531","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525531","url":null,"abstract":"The objectives of the research are to exploit a novel cart-seesaw laboratory apparatus which is driven by servo motors and gear transmission, and develop balancing approach for such system. In order to stabilize the system, the two controls approaches are implemented as examples of how the system can be used to demonstrate controls concepts. Experimental results indicate that utilizing the proposed novel cart-seesaw system play a superior performance than the existed pneumatic type in balancing and tracking operation. Moreover, the proposed control methodology significantly signifying the usefulness of the fuzzy controller in suppressing the seesaw tilt angle in the time domain. The development the proposed software/hardware platform can be beneficial for standardizing laboratory equipment, and the development of amusement apparatus.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"37 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":"129199283","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.2016.7526629
Arash Rahnama, M. Xia, Shige Wang, P. Antsaklis
In this paper, we apply an input-output transformation passivation method developed in our previous work to an Adaptive Cruise Control system and analyze the system's performance. A co-simulation framework that makes use of an online optimization method called extremum-seeking is used to determine the passivation parameters. It is known that systems with input-output time-delays are not passive. Additionally, time-delays are unavoidable in automotive systems and commonly emerge in software implementations, communication units, as well as driver's behavior. We show that by using our passivation method, we can passivate a time-delay system and improve its overall performance by using an extremum-seeking co-simulation framework. To validate our work, we present simulation results in CarSim and Simulink.
{"title":"Passivation and performance optimization using an extremum seeking co-simulation framework with application to Adaptive Cruise Control systems","authors":"Arash Rahnama, M. Xia, Shige Wang, P. Antsaklis","doi":"10.1109/ACC.2016.7526629","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526629","url":null,"abstract":"In this paper, we apply an input-output transformation passivation method developed in our previous work to an Adaptive Cruise Control system and analyze the system's performance. A co-simulation framework that makes use of an online optimization method called extremum-seeking is used to determine the passivation parameters. It is known that systems with input-output time-delays are not passive. Additionally, time-delays are unavoidable in automotive systems and commonly emerge in software implementations, communication units, as well as driver's behavior. We show that by using our passivation method, we can passivate a time-delay system and improve its overall performance by using an extremum-seeking co-simulation framework. To validate our work, we present simulation results in CarSim and Simulink.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"47 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":"129206678","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.2016.7526750
Chunhui Zhao, Wei Wang
Fault reconstruction has been widely applied for fault diagnosis recently, which, however, treats the fault data as a single subject without analyzing the specific effects of different variables. To address this problem, a faulty variable selection method is proposed which can extract more meaningful discriminant directions and probe into the specific faulty variables. By pairwise performing nested-loop Fisher discriminant analysis (NeLFDA) algorithm on normal and fault process data, some projection directions that are useful for classification between normal and fault cases are extracted. Then along these directions, an iterative faulty variable selection procedure is designed by evaluating ratio of variable contribution to the fault variations so that process variables that are significantly fault-relevant are identified and distinguished from those general variables. Based on variable selection results, fault reconstruction model is developed for faulty variables, which is used for fault diagnosis. Online fault diagnosis is then performed by dually checking the characteristics of fault samples for faulty variables and general variables. Its performance is illustrated with the industrial process data from the cut-made process of cigarette.
{"title":"Faulty variable selection based fault reconstruction for industrial processes","authors":"Chunhui Zhao, Wei Wang","doi":"10.1109/ACC.2016.7526750","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526750","url":null,"abstract":"Fault reconstruction has been widely applied for fault diagnosis recently, which, however, treats the fault data as a single subject without analyzing the specific effects of different variables. To address this problem, a faulty variable selection method is proposed which can extract more meaningful discriminant directions and probe into the specific faulty variables. By pairwise performing nested-loop Fisher discriminant analysis (NeLFDA) algorithm on normal and fault process data, some projection directions that are useful for classification between normal and fault cases are extracted. Then along these directions, an iterative faulty variable selection procedure is designed by evaluating ratio of variable contribution to the fault variations so that process variables that are significantly fault-relevant are identified and distinguished from those general variables. Based on variable selection results, fault reconstruction model is developed for faulty variables, which is used for fault diagnosis. Online fault diagnosis is then performed by dually checking the characteristics of fault samples for faulty variables and general variables. Its performance is illustrated with the industrial process data from the cut-made process of cigarette.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"46 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":"129235099","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.2016.7525429
Michael Hauser, Yue Li, Jihang Li, A. Ray
This paper proposes a framework for analyzing video of physical processes as a paradigm of dynamic data-driven application systems (DDDAS). The algorithms were tested on a combustion system under fuel lean and ultra-lean conditions. The main challenge here is to develop feature extraction and information compression algorithms with low computational complexity such that they can be applied to real-time analysis of video captured by a high-speed camera. In the proposed method, image frames of the video is compressed into a sequence of image features. Then, these image features are mapped to a sequence of symbols by partitioning of the feature space. Finally, a special class of probabilistic finite state automata (PFSA), called D-Markov machines, are constructed from the symbol strings to extract pertinent features representing the embedded dynamic characteristics of the physical process. This paper compares the performance and efficiency of three image feature extraction algorithms: Histogram of Oriented Gradients, Gabor Wavelets, and Fractal Dimension. The k-means clustering algorithm has been used for feature space partitioning. The proposed algorithm has been validated on experimental data in a laboratory environment combustor with a single fuel-injector.
{"title":"Real-time combustion state identification via image processing: A dynamic data-driven approach","authors":"Michael Hauser, Yue Li, Jihang Li, A. Ray","doi":"10.1109/ACC.2016.7525429","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525429","url":null,"abstract":"This paper proposes a framework for analyzing video of physical processes as a paradigm of dynamic data-driven application systems (DDDAS). The algorithms were tested on a combustion system under fuel lean and ultra-lean conditions. The main challenge here is to develop feature extraction and information compression algorithms with low computational complexity such that they can be applied to real-time analysis of video captured by a high-speed camera. In the proposed method, image frames of the video is compressed into a sequence of image features. Then, these image features are mapped to a sequence of symbols by partitioning of the feature space. Finally, a special class of probabilistic finite state automata (PFSA), called D-Markov machines, are constructed from the symbol strings to extract pertinent features representing the embedded dynamic characteristics of the physical process. This paper compares the performance and efficiency of three image feature extraction algorithms: Histogram of Oriented Gradients, Gabor Wavelets, and Fractal Dimension. The k-means clustering algorithm has been used for feature space partitioning. The proposed algorithm has been validated on experimental data in a laboratory environment combustor with a single fuel-injector.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"1 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":"130613560","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.2016.7525387
R. Findeisen, M. Grover, C. Wagner, Michael Maiworm, R. Temirov, F. Tautz, M. Salapaka, S. Salapaka, R. Braatz, S. Moheimani
Imaging and manipulating objects down to the molecular level plays a crucial role in many disciplines. It allows to unravel molecular phenomena, to form materials with new chemical and physical properties, or to build objects on an atomic scale. Science on the nanoscale is inherently interdisciplinary. It requires knowledge and insight into many fields, spanning from modeling, measuring, imaging, actuation to control. Often feedback control facilitates operation with molecular precision, despite the fact that many physical phenomena at the molecular level are still not well understood, and that stochastic and nonlinear effects are inherently present. This work provides an insight into some of the current control related research activities on a molecular scale. This is done considering examples from different fields: control related to scanning probe microscopy such as atomic force microscopy, controlled self assembly on a molecular scale, control aspects of molecular transport, and the use of control for manipulation of single molecules using macroscopic probe tips. The hope is that control related researchers, who are not experts in these fields, become aware of the opportunities present, which could also drive new theoretical developments.
{"title":"Control on a molecular scale: A perspective","authors":"R. Findeisen, M. Grover, C. Wagner, Michael Maiworm, R. Temirov, F. Tautz, M. Salapaka, S. Salapaka, R. Braatz, S. Moheimani","doi":"10.1109/ACC.2016.7525387","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525387","url":null,"abstract":"Imaging and manipulating objects down to the molecular level plays a crucial role in many disciplines. It allows to unravel molecular phenomena, to form materials with new chemical and physical properties, or to build objects on an atomic scale. Science on the nanoscale is inherently interdisciplinary. It requires knowledge and insight into many fields, spanning from modeling, measuring, imaging, actuation to control. Often feedback control facilitates operation with molecular precision, despite the fact that many physical phenomena at the molecular level are still not well understood, and that stochastic and nonlinear effects are inherently present. This work provides an insight into some of the current control related research activities on a molecular scale. This is done considering examples from different fields: control related to scanning probe microscopy such as atomic force microscopy, controlled self assembly on a molecular scale, control aspects of molecular transport, and the use of control for manipulation of single molecules using macroscopic probe tips. The hope is that control related researchers, who are not experts in these fields, become aware of the opportunities present, which could also drive new theoretical developments.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"1 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":"124015632","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.2016.7525589
L. B. Groff, L. Moreira, J. G. D. Silva, D. Sbarbaro-Hofer
This paper addresses the problem of designing an event-triggered strategy for discrete-time systems with an observer-based controller. The considered system has the actuator and the sensor in different nodes separated by a network. The strategy consists in minimizing the use of the network by only transmitting data from the observer to the controller and from the controller to the actuator when a trigger is generated by an event-trigger function. Based on the Lyapunov theory, conditions for the stability of the closed-loop system in terms of linear matrix inequalities (LMIs) are derived. Convex optimization problems are provided to tune the proposed trigger functions aiming at reducing the usage of the network. Simulation examples illustrate the proposed method and compare the efficiency of the proposed optimization problems.
{"title":"Observer-based event-triggered control: A discrete-time approach","authors":"L. B. Groff, L. Moreira, J. G. D. Silva, D. Sbarbaro-Hofer","doi":"10.1109/ACC.2016.7525589","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525589","url":null,"abstract":"This paper addresses the problem of designing an event-triggered strategy for discrete-time systems with an observer-based controller. The considered system has the actuator and the sensor in different nodes separated by a network. The strategy consists in minimizing the use of the network by only transmitting data from the observer to the controller and from the controller to the actuator when a trigger is generated by an event-trigger function. Based on the Lyapunov theory, conditions for the stability of the closed-loop system in terms of linear matrix inequalities (LMIs) are derived. Convex optimization problems are provided to tune the proposed trigger functions aiming at reducing the usage of the network. Simulation examples illustrate the proposed method and compare the efficiency of the proposed optimization problems.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"472 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":"123232530","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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