Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983222
A. Benamor, L. Chrifi-Alaoui, M. Chabaane, P. Bussy, H. Messaoud
The paper proposes a new second order sliding mode control (SOSMC) approach for coupled multi-input multi-output (MIMO) nonlinear uncertain systems. This proposed new SOSMC is designed by the choice of a judicious Lyapunov function which depends on the sliding surfaces and its derivative. This control can be applied to a large class of nonlinear coupled MIMO processes affected by uncertainties and disturbances. The applicability and the efficiency of our approach are illustrated by simulation results for an interconnected three-tank system.
{"title":"A new second order sliding mode control approach for coupled MIMO nonlinear uncertain systems","authors":"A. Benamor, L. Chrifi-Alaoui, M. Chabaane, P. Bussy, H. Messaoud","doi":"10.1109/MED.2011.5983222","DOIUrl":"https://doi.org/10.1109/MED.2011.5983222","url":null,"abstract":"The paper proposes a new second order sliding mode control (SOSMC) approach for coupled multi-input multi-output (MIMO) nonlinear uncertain systems. This proposed new SOSMC is designed by the choice of a judicious Lyapunov function which depends on the sliding surfaces and its derivative. This control can be applied to a large class of nonlinear coupled MIMO processes affected by uncertainties and disturbances. The applicability and the efficiency of our approach are illustrated by simulation results for an interconnected three-tank system.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114501698","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 : 2011-06-20DOI: 10.1109/MED.2011.5983011
F. Amato, G. Carannante, G. De Tommasi
In this paper we deal with the finite-time stability analysis and control of switching linear systems, which are linear continuous-time systems with isolated discrete switching events, and whose state can undergo finite jump discontinuities. Moreover, the case in which the time occurrence of the switching events is unknown is considered. Sufficient conditions for finite-time stability and stabilization are provided in terms of feasibility problems involving differential LMIs. Numerical examples are provided to better illustrate the proposed approach.
{"title":"Finite-time stabilization of switching linear systems with uncertain resetting times","authors":"F. Amato, G. Carannante, G. De Tommasi","doi":"10.1109/MED.2011.5983011","DOIUrl":"https://doi.org/10.1109/MED.2011.5983011","url":null,"abstract":"In this paper we deal with the finite-time stability analysis and control of switching linear systems, which are linear continuous-time systems with isolated discrete switching events, and whose state can undergo finite jump discontinuities. Moreover, the case in which the time occurrence of the switching events is unknown is considered. Sufficient conditions for finite-time stability and stabilization are provided in terms of feasibility problems involving differential LMIs. Numerical examples are provided to better illustrate the proposed approach.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114602872","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 : 2011-06-20DOI: 10.1109/MED.2011.5983001
G. Fusco, M. Russo
This paper presents the design of two decentralized state-feedback controllers to ensure system stability and voltage regulation in multimachine power systems. The power system is decomposed in n subsystems each of them contains a generation node. Two state-space models for each subsystem are proposed both presenting parameter uncertainties while the couplings between the others generators through the transmission lines are modeled as time functions. The controllers are sequentially designed and counteract the effects of model input disturbances. The proposed design is simple to apply and does not require to solve difficult equations. Numerical results obtained on 2 machines power system test show the performance exhibit by the designed controllers in presence of severe contingencies.
{"title":"A straightforward design of decentralized controllers for multimachine power systems","authors":"G. Fusco, M. Russo","doi":"10.1109/MED.2011.5983001","DOIUrl":"https://doi.org/10.1109/MED.2011.5983001","url":null,"abstract":"This paper presents the design of two decentralized state-feedback controllers to ensure system stability and voltage regulation in multimachine power systems. The power system is decomposed in n subsystems each of them contains a generation node. Two state-space models for each subsystem are proposed both presenting parameter uncertainties while the couplings between the others generators through the transmission lines are modeled as time functions. The controllers are sequentially designed and counteract the effects of model input disturbances. The proposed design is simple to apply and does not require to solve difficult equations. Numerical results obtained on 2 machines power system test show the performance exhibit by the designed controllers in presence of severe contingencies.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117268102","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 : 2011-06-20DOI: 10.1109/MED.2011.5983102
H. Min, N. Papanikolopoulos, Christopher E. Smith, V. Morellas
In this work we present a moving target segmentation technique and apply it to a vision-based robot-following problem. The capability to do autonomous multi-robot following is useful for many robot-team applications; however, the problem becomes very challenging when the robots can carry only a small camera or when they exhibit unpredictable motion. The ability to segment a moving target while the camera is also in motion is critical to the solution of this problem and is the focus of our work. Our contributions include: (i) Matching targets using feature-based covariance matrices; (ii) Enhancing matching performance by using features based upon the Fourier transform; and (iii) Initializing a target model for cases without a known target model. We compare the proposed method with the scale-invariant feature transform and existing covariance matching methods. We then validate our proposed segmentation method through real-robot experiments.
{"title":"Feature-based covariance matching for a moving target in multi-robot following","authors":"H. Min, N. Papanikolopoulos, Christopher E. Smith, V. Morellas","doi":"10.1109/MED.2011.5983102","DOIUrl":"https://doi.org/10.1109/MED.2011.5983102","url":null,"abstract":"In this work we present a moving target segmentation technique and apply it to a vision-based robot-following problem. The capability to do autonomous multi-robot following is useful for many robot-team applications; however, the problem becomes very challenging when the robots can carry only a small camera or when they exhibit unpredictable motion. The ability to segment a moving target while the camera is also in motion is critical to the solution of this problem and is the focus of our work. Our contributions include: (i) Matching targets using feature-based covariance matrices; (ii) Enhancing matching performance by using features based upon the Fourier transform; and (iii) Initializing a target model for cases without a known target model. We compare the proposed method with the scale-invariant feature transform and existing covariance matching methods. We then validate our proposed segmentation method through real-robot experiments.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123119303","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 : 2011-06-20DOI: 10.1109/MED.2011.5983043
J. Ghommam, Yassine Bouterra, F. Mnif, G. Poisson
This paper considers the cooperative control problem of networked class of underactuated systems. We propose a new set up for synchronization of this type of systems based on the use of passivity as a design tool to solve the problem in hand. First the underactuated system is transformed to a class of nonlinear system with chain structure using a suitable non-linear static feedback. The cooperative control is designed using a combination of the standard backstepping procedure and the passivity theory by which a synchronizing outputs are constructed recursively then shared within the group. The proposed design technique is based on strongly connected digraph communication structures. Numerical simulations are carried out to illustrate the effectiveness of the proposed approach.
{"title":"Distributed backstepping control for synchronization of networked class of underactuated systems: A passivity approach","authors":"J. Ghommam, Yassine Bouterra, F. Mnif, G. Poisson","doi":"10.1109/MED.2011.5983043","DOIUrl":"https://doi.org/10.1109/MED.2011.5983043","url":null,"abstract":"This paper considers the cooperative control problem of networked class of underactuated systems. We propose a new set up for synchronization of this type of systems based on the use of passivity as a design tool to solve the problem in hand. First the underactuated system is transformed to a class of nonlinear system with chain structure using a suitable non-linear static feedback. The cooperative control is designed using a combination of the standard backstepping procedure and the passivity theory by which a synchronizing outputs are constructed recursively then shared within the group. The proposed design technique is based on strongly connected digraph communication structures. Numerical simulations are carried out to illustrate the effectiveness of the proposed approach.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124451084","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 : 2011-06-20DOI: 10.1109/MED.2011.5983154
Gianni Cario, A. Casavola, G. Franzé, Marco Lupia
This paper discusses an algorithm for driver drowsiness detection based on the theory of hybrid observers. A hybrid observer is designed on the basis of a driver's model whose parameters change according to the assumed drowsiness levels which are identified on-line from measurements of relevant vehicle signals. Simulations have been undertaken with Carsim to verify the capability of the proposed methodology to correctly identify on-line the current driver's drowsiness level.
{"title":"A hybrid observer approach for driver drowsiness detection","authors":"Gianni Cario, A. Casavola, G. Franzé, Marco Lupia","doi":"10.1109/MED.2011.5983154","DOIUrl":"https://doi.org/10.1109/MED.2011.5983154","url":null,"abstract":"This paper discusses an algorithm for driver drowsiness detection based on the theory of hybrid observers. A hybrid observer is designed on the basis of a driver's model whose parameters change according to the assumed drowsiness levels which are identified on-line from measurements of relevant vehicle signals. Simulations have been undertaken with Carsim to verify the capability of the proposed methodology to correctly identify on-line the current driver's drowsiness level.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123266771","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 : 2011-06-20DOI: 10.1109/MED.2011.5982997
R. Herzallah, D. Lowe
Theoretical developments on pinning control of complex dynamical networks have mainly focused on the deterministic versions of the model dynamics. However, the dynamical behavior of most real networks is often affected by stochastic noise components. In this paper the pinning control of a stochastic version of the coupled map lattice network with spatiotemporal characteristics is studied. The control of these complex dynamical networks have functional uncertainty which should be considered when calculating stabilizing control signals. Two feedback control methods are considered: the conventional feedback control and modified stochastic feedback control. It is shown that the typically-used conventional control method suffers from the ignorance of model uncertainty leading to a reduction and potentially a collapse in the control efficiency. Numerical verification of the main result is provided for a chaotic coupled map lattice network.
{"title":"Comparison between conventional and stochastic pinning control","authors":"R. Herzallah, D. Lowe","doi":"10.1109/MED.2011.5982997","DOIUrl":"https://doi.org/10.1109/MED.2011.5982997","url":null,"abstract":"Theoretical developments on pinning control of complex dynamical networks have mainly focused on the deterministic versions of the model dynamics. However, the dynamical behavior of most real networks is often affected by stochastic noise components. In this paper the pinning control of a stochastic version of the coupled map lattice network with spatiotemporal characteristics is studied. The control of these complex dynamical networks have functional uncertainty which should be considered when calculating stabilizing control signals. Two feedback control methods are considered: the conventional feedback control and modified stochastic feedback control. It is shown that the typically-used conventional control method suffers from the ignorance of model uncertainty leading to a reduction and potentially a collapse in the control efficiency. Numerical verification of the main result is provided for a chaotic coupled map lattice network.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123841373","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 : 2011-06-20DOI: 10.1109/MED.2011.5983157
I. Muntean, M. Stuckert, M. Abrudean
Being one of the most approached subjects in the field of chemical engineering, a lot of numerical modeling methods for the distillation columns were presented in scientific papers. This means that in order to find a model that would suit a specific process requires a considerable amount of time. This paper will present a general first principle model that aims at providing users with a framework that can be easily adapted for any type of distillation process. In order to prove these assumptions an isotopic distillation process for the enrichment of 13C has been selected.
{"title":"A general distillation modeling framework applied to an isotopic distillation column","authors":"I. Muntean, M. Stuckert, M. Abrudean","doi":"10.1109/MED.2011.5983157","DOIUrl":"https://doi.org/10.1109/MED.2011.5983157","url":null,"abstract":"Being one of the most approached subjects in the field of chemical engineering, a lot of numerical modeling methods for the distillation columns were presented in scientific papers. This means that in order to find a model that would suit a specific process requires a considerable amount of time. This paper will present a general first principle model that aims at providing users with a framework that can be easily adapted for any type of distillation process. In order to prove these assumptions an isotopic distillation process for the enrichment of 13C has been selected.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123789029","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 : 2011-06-20DOI: 10.1109/MED.2011.5983219
T. Giotis, H. E. Psillakis, Agapi Panagiotidou, Nikolina Chatzidamianou, M. Christodoulou
In this paper a RISE (Robust Integral of the Sign Error) observer approach is used for estimating the concentrations of the proteins that participate in the reactions of a biological system. The system under study is the Epidermal Growth Factor Receptor (EGFR) Signaling Pathway. The EGFR family is directly related with diseases such as multiple sclerosis or Alzheimer and its members are important in basic research and drug development. The RISE observer provides estimates that rapidly converge asymptotically to the system's states and their derivatives. Simulation studies verify the effectiveness of the proposed approach.
本文采用符号误差鲁棒积分(Robust Integral of the Sign Error)观测器方法来估计参与生物系统反应的蛋白质的浓度。所研究的系统是表皮生长因子受体(EGFR)信号通路。EGFR家族与多发性硬化症或阿尔茨海默症等疾病直接相关，其成员在基础研究和药物开发中很重要。RISE观测器提供了快速渐近收敛到系统状态及其导数的估计。仿真研究验证了该方法的有效性。
{"title":"EGFR Signaling Pathway estimation using a RISE-based asymptotic observer","authors":"T. Giotis, H. E. Psillakis, Agapi Panagiotidou, Nikolina Chatzidamianou, M. Christodoulou","doi":"10.1109/MED.2011.5983219","DOIUrl":"https://doi.org/10.1109/MED.2011.5983219","url":null,"abstract":"In this paper a RISE (Robust Integral of the Sign Error) observer approach is used for estimating the concentrations of the proteins that participate in the reactions of a biological system. The system under study is the Epidermal Growth Factor Receptor (EGFR) Signaling Pathway. The EGFR family is directly related with diseases such as multiple sclerosis or Alzheimer and its members are important in basic research and drug development. The RISE observer provides estimates that rapidly converge asymptotically to the system's states and their derivatives. Simulation studies verify the effectiveness of the proposed approach.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121368767","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 : 2011-06-20DOI: 10.1109/MED.2011.5983009
A. Varga
We discuss the solution of the fault detection problem for parameter uncertain nonlinear systems using a gain scheduling based approach. By using a set of linearized plant models, a set of least order linear fault detection filters is determined to serve for interpolation based gain scheduling. The basic synthesis approach is the nullspace method for constant linear systems, whose extension to the case of linear parameter varying (LPV) models provides the methodological framework for the synthesis of robust fault detection filters. The resulting gain scheduled fault detection filter provides robustness with respect to both model nonlinearities as well as parametric uncertainties. In a general setting, we consider the case when part of the uncertain parameters are non-measurable and part of them are measurable.
{"title":"Synthesis of robust gain scheduling based fault detection filters for a class of parameter uncertain nonlinear systems","authors":"A. Varga","doi":"10.1109/MED.2011.5983009","DOIUrl":"https://doi.org/10.1109/MED.2011.5983009","url":null,"abstract":"We discuss the solution of the fault detection problem for parameter uncertain nonlinear systems using a gain scheduling based approach. By using a set of linearized plant models, a set of least order linear fault detection filters is determined to serve for interpolation based gain scheduling. The basic synthesis approach is the nullspace method for constant linear systems, whose extension to the case of linear parameter varying (LPV) models provides the methodological framework for the synthesis of robust fault detection filters. The resulting gain scheduled fault detection filter provides robustness with respect to both model nonlinearities as well as parametric uncertainties. In a general setting, we consider the case when part of the uncertain parameters are non-measurable and part of them are measurable.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126892639","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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