Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547804
F. Bayat, T. Johansen, A. Jalali
The online computational burden of linear model predictive control (MPC) can be moved offline by using multi-parametric programming, so called explicit MPC. The explicit MPC is a piecewise affine (PWA) function defined over a polyhedral subdivision of the set of feasible states. The online evaluation of such a control law needs to determine the polyhedral region in which the current state lies. This procedure is called the point location problem and its computational complexity is challenging. In this paper a new flexible algorithm is proposed which enables the designer to tradeoff between time and storage complexities. Utilizing the concept of hash tables and the associate hash functions the proposed method is modified to solve an aggregated point location problem in processing complexity independent of the number of polyhedral regions while the storage needs remains tractable. The effectiveness of this approach is supported by several numerical examples.
{"title":"Managing time-storage complexity in point location problem: Application to explicit model predictive control","authors":"F. Bayat, T. Johansen, A. Jalali","doi":"10.1109/MED.2010.5547804","DOIUrl":"https://doi.org/10.1109/MED.2010.5547804","url":null,"abstract":"The online computational burden of linear model predictive control (MPC) can be moved offline by using multi-parametric programming, so called explicit MPC. The explicit MPC is a piecewise affine (PWA) function defined over a polyhedral subdivision of the set of feasible states. The online evaluation of such a control law needs to determine the polyhedral region in which the current state lies. This procedure is called the point location problem and its computational complexity is challenging. In this paper a new flexible algorithm is proposed which enables the designer to tradeoff between time and storage complexities. Utilizing the concept of hash tables and the associate hash functions the proposed method is modified to solve an aggregated point location problem in processing complexity independent of the number of polyhedral regions while the storage needs remains tractable. The effectiveness of this approach is supported by several numerical examples.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130343547","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 : 2010-06-23DOI: 10.1109/MED.2010.5547702
L. Rodrigues
This paper presents an inverse optimality method to solve the Hamilton-Jacobi-Bellman equation for a class of second order nonlinear problems for which the cost is quadratic and the dynamics are affine in the input. The running cost that renders the control input optimal is also explicitly determined. One special feature of this method, as compared to other methods in the literature, is the fact that the solution is obtained directly for the control input without needing to assume or compute a value function first. Additionaly, the value function can also be obtained after one solves for the control input. A Lyapunov function that proves stability of the controller is also obtained for a subclass of problems.
{"title":"An inverse optimality method to solve a class of second order optimal control problems","authors":"L. Rodrigues","doi":"10.1109/MED.2010.5547702","DOIUrl":"https://doi.org/10.1109/MED.2010.5547702","url":null,"abstract":"This paper presents an inverse optimality method to solve the Hamilton-Jacobi-Bellman equation for a class of second order nonlinear problems for which the cost is quadratic and the dynamics are affine in the input. The running cost that renders the control input optimal is also explicitly determined. One special feature of this method, as compared to other methods in the literature, is the fact that the solution is obtained directly for the control input without needing to assume or compute a value function first. Additionaly, the value function can also be obtained after one solves for the control input. A Lyapunov function that proves stability of the controller is also obtained for a subclass of problems.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"53 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114042558","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 : 2010-06-23DOI: 10.1109/MED.2010.5547763
U. Nurges, S. Avanessov
The geometry of stable discrete polynomials using their coefficients and reflection coefficients is investigated. Stable polytopes of different reflection vector sets are defined and the volume of these stable polytopes is calculated.
{"title":"Stable polytope of reflection vector sets","authors":"U. Nurges, S. Avanessov","doi":"10.1109/MED.2010.5547763","DOIUrl":"https://doi.org/10.1109/MED.2010.5547763","url":null,"abstract":"The geometry of stable discrete polynomials using their coefficients and reflection coefficients is investigated. Stable polytopes of different reflection vector sets are defined and the volume of these stable polytopes is calculated.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115370209","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 : 2010-06-23DOI: 10.1109/MED.2010.5547807
A. Sala
A fairly general class of nonlinear plants can be modeled as as a time-varying polytopic combination of “vertex” linear systems also known as Takagi-Sugeno fuzzy systems. As many linear LMI control results naturally generalize to such systems, LMI formulations for TS control became the tool of choice in the 1990s. Important results have since been obtained, although significant sources of conservativeness remain. Using a Taylor-series formalism, a polytopic combination of polynomials can be used to describe such nonlinear systems. The sum-of-squares paradigm can be used for such polytopic polynomial systems. This paper reviews the main motivation behind such modelling techniques and the sources of conservatism of control designs based on the linear vertex models instead of the original nonlinear equations. The reader is referred to [31] for further discussion.
{"title":"The polytopic/fuzzy polynomial approach for non-linear control: Advantages and drawbacks","authors":"A. Sala","doi":"10.1109/MED.2010.5547807","DOIUrl":"https://doi.org/10.1109/MED.2010.5547807","url":null,"abstract":"A fairly general class of nonlinear plants can be modeled as as a time-varying polytopic combination of “vertex” linear systems also known as Takagi-Sugeno fuzzy systems. As many linear LMI control results naturally generalize to such systems, LMI formulations for TS control became the tool of choice in the 1990s. Important results have since been obtained, although significant sources of conservativeness remain. Using a Taylor-series formalism, a polytopic combination of polynomials can be used to describe such nonlinear systems. The sum-of-squares paradigm can be used for such polytopic polynomial systems. This paper reviews the main motivation behind such modelling techniques and the sources of conservatism of control designs based on the linear vertex models instead of the original nonlinear equations. The reader is referred to [31] for further discussion.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115662076","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 : 2010-06-23DOI: 10.1109/MED.2010.5547741
Guoqing Zhang, M. Xie, Hejin Yang, Jing Li, Xuepei Wu
Design of the locomotion control system for the LOCH robot is presented in this paper. Gait planning and control algorithm for uneven terrain is also considered. The LOCH robot is an adult-sized biped humanoid robot. It adopts the distributed control structure based on CAN bus, and uses a Linux operating system as the software platform. The architecture of both the hardware and software system is introduced. The emphasis is then put onto the biped planning and control. An on-line planner is designed on the basis of the inverted arm model. It generates walking gaits adaptively according to user inputs and floor flatness changes. In handling uneven floor, an imaginary foot approach is proposed to convert the problem into flat floor planning. Stability control and compliant landing control are also investigated. Both experiments and simulations are performed to show the effectiveness of the proposed design.
{"title":"Locomotion control system design for the LOCH humanoid robot","authors":"Guoqing Zhang, M. Xie, Hejin Yang, Jing Li, Xuepei Wu","doi":"10.1109/MED.2010.5547741","DOIUrl":"https://doi.org/10.1109/MED.2010.5547741","url":null,"abstract":"Design of the locomotion control system for the LOCH robot is presented in this paper. Gait planning and control algorithm for uneven terrain is also considered. The LOCH robot is an adult-sized biped humanoid robot. It adopts the distributed control structure based on CAN bus, and uses a Linux operating system as the software platform. The architecture of both the hardware and software system is introduced. The emphasis is then put onto the biped planning and control. An on-line planner is designed on the basis of the inverted arm model. It generates walking gaits adaptively according to user inputs and floor flatness changes. In handling uneven floor, an imaginary foot approach is proposed to convert the problem into flat floor planning. Stability control and compliant landing control are also investigated. Both experiments and simulations are performed to show the effectiveness of the proposed design.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114189514","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 : 2010-06-23DOI: 10.1109/MED.2010.5547773
S. Boubaker, M. Djemai, N. Manamanni, F. M'sahli
Many control applications in real-world processes require accurate models for the active system. In particular, hybrid systems which are defined as an interaction of continuous dynamics, usually described by differential equations, and discrete dynamics, described through switching sequences. Note that the sub-models of a hybrid system are activated alternatively by a switching rule which indicates the active sub-model at each time instant. Nowadays, the estimation of both the time-interval in which a sub-model is active and the parameters of such sub-model is an important issue. In fact, it allows suitable choice of the operating modes in a real process. Hence, the hybrid identification problem is a challenging task due to the inherent nonconvexity of the prediction-error function according to the parameters to be identified. In this paper, the Particle Swarm Optimization (PSO) technique is exploited to locate the switching instants of Autonomous Switched Linear Systems (ASLS) and to estimate the parameters of the sub-models only by using measurements from the real process. Then, statistical validations are proposed to show the efficiency of the framework through a literature benchmark.
{"title":"Identification of Autonomous Switched Linear Systems: A Particle Swarm Optimization approach","authors":"S. Boubaker, M. Djemai, N. Manamanni, F. M'sahli","doi":"10.1109/MED.2010.5547773","DOIUrl":"https://doi.org/10.1109/MED.2010.5547773","url":null,"abstract":"Many control applications in real-world processes require accurate models for the active system. In particular, hybrid systems which are defined as an interaction of continuous dynamics, usually described by differential equations, and discrete dynamics, described through switching sequences. Note that the sub-models of a hybrid system are activated alternatively by a switching rule which indicates the active sub-model at each time instant. Nowadays, the estimation of both the time-interval in which a sub-model is active and the parameters of such sub-model is an important issue. In fact, it allows suitable choice of the operating modes in a real process. Hence, the hybrid identification problem is a challenging task due to the inherent nonconvexity of the prediction-error function according to the parameters to be identified. In this paper, the Particle Swarm Optimization (PSO) technique is exploited to locate the switching instants of Autonomous Switched Linear Systems (ASLS) and to estimate the parameters of the sub-models only by using measurements from the real process. Then, statistical validations are proposed to show the efficiency of the framework through a literature benchmark.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123846642","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 : 2010-06-23DOI: 10.1109/MED.2010.5547677
M. Bouattour, M. Chadli, A. El Hajjaji, M. Chaabane
In this paper, a robust fault detection observer is designed for a class of nonlinear systems described by T-S (Takagi-Sugeno) fuzzy model with sensor faults and unknown bounded disturbances. The method uses the technique of descriptor systems by considering sensor faults as an auxiliary state variables. The basic idea of our study is to formulate the robust fault detection observer design as a H-/H∞ problem. A solution of the considered problem is then given via a Linear Matrix Inequality (LMI) formulation. The considered robust fault detection observer design problem is solved with a given sufficient conditions based on an iterative LMI procedure.
{"title":"Robust fault detection observer design for Takagi-Sugeno systems: A descriptor approach","authors":"M. Bouattour, M. Chadli, A. El Hajjaji, M. Chaabane","doi":"10.1109/MED.2010.5547677","DOIUrl":"https://doi.org/10.1109/MED.2010.5547677","url":null,"abstract":"In this paper, a robust fault detection observer is designed for a class of nonlinear systems described by T-S (Takagi-Sugeno) fuzzy model with sensor faults and unknown bounded disturbances. The method uses the technique of descriptor systems by considering sensor faults as an auxiliary state variables. The basic idea of our study is to formulate the robust fault detection observer design as a H-/H∞ problem. A solution of the considered problem is then given via a Linear Matrix Inequality (LMI) formulation. The considered robust fault detection observer design problem is solved with a given sufficient conditions based on an iterative LMI procedure.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124277293","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 : 2010-06-23DOI: 10.1109/MED.2010.5547709
R. Zivanovic
In this paper, we propose an algorithm for state and parameter estimation of nonlinear dynamical systems. In a usual manner, estimation is obtained by solving iteratively a sequence of linear least squares problems with equality constraints. Formulation of the least squares problem is based on Chebyshev spectral discretization. Chebyshev grid resolution is determined automatically to maximize computation accuracy. The key quality of the algorithm lies in the use of the barycentric interpolation formula when solving the least squares problem with various grid resolutions. High-accuracy of the proposed estimation method is contributed to this interpolation formula that is found to be numerically stable and computationally effective. Two numerical examples are presented to demonstrate accuracy of the proposed algorithm.
{"title":"High-accuracy state and parameter estimation using Chebyshev spectral discretization method","authors":"R. Zivanovic","doi":"10.1109/MED.2010.5547709","DOIUrl":"https://doi.org/10.1109/MED.2010.5547709","url":null,"abstract":"In this paper, we propose an algorithm for state and parameter estimation of nonlinear dynamical systems. In a usual manner, estimation is obtained by solving iteratively a sequence of linear least squares problems with equality constraints. Formulation of the least squares problem is based on Chebyshev spectral discretization. Chebyshev grid resolution is determined automatically to maximize computation accuracy. The key quality of the algorithm lies in the use of the barycentric interpolation formula when solving the least squares problem with various grid resolutions. High-accuracy of the proposed estimation method is contributed to this interpolation formula that is found to be numerically stable and computationally effective. Two numerical examples are presented to demonstrate accuracy of the proposed algorithm.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130558677","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 : 2010-06-23DOI: 10.1109/MED.2010.5547639
H. Benderradji, A. Makouf, L. Chrifi-Alaoui
In the following paper, we propose a new input-output sliding mode linearization control for induction motor combined with field oriented control (FOC). We develop two loops to control the speed and rotor flux modulus. The first one, inner loop, allows to linearize the system by a choose of closed loop poles to achieve a good linearization. The choice of a particular sliding surface permits to create a link between sliding mode theory and input- output linearization. The second loop, an outer one, allows to modifying the dynamics obtained by the first one using PI controller to guarantee stability and tracking performance of speed and rotor flux modulus. When the rotor flux cannot be measured, a nonlinear sliding mode observer is introduced to estimate the rotor flux. The effectiveness of this new approach has been successfully verified through computer simulations
{"title":"Field-oriented control using sliding mode linearization technique for induction motor","authors":"H. Benderradji, A. Makouf, L. Chrifi-Alaoui","doi":"10.1109/MED.2010.5547639","DOIUrl":"https://doi.org/10.1109/MED.2010.5547639","url":null,"abstract":"In the following paper, we propose a new input-output sliding mode linearization control for induction motor combined with field oriented control (FOC). We develop two loops to control the speed and rotor flux modulus. The first one, inner loop, allows to linearize the system by a choose of closed loop poles to achieve a good linearization. The choice of a particular sliding surface permits to create a link between sliding mode theory and input- output linearization. The second loop, an outer one, allows to modifying the dynamics obtained by the first one using PI controller to guarantee stability and tracking performance of speed and rotor flux modulus. When the rotor flux cannot be measured, a nonlinear sliding mode observer is introduced to estimate the rotor flux. The effectiveness of this new approach has been successfully verified through computer simulations","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121266967","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 : 2010-06-23DOI: 10.3182/20100705-3-BE-2011.00100
S. Dubljevic
This paper deals with the optimal control of multi-dynamics process described by the rigid body dynamics equation and time-varying parabolic PDE. The optimal control is realized for the crystal growth process described by the underlying dynamics of the transport-reaction process given by the parabolic partial differential equations (PDEs) with the time varying spatial domain that is coupled with the rigid body dynamics representing the pulling of the pure crystal out of melt. The underlying transport-reaction system is developed from the first principles and the associated dynamics is analyzed in the appropriate functional state space setting. The complete description of the evolutionary parabolic domain time varying PDE is provided in the operator form and exploited within the optimal control setting, together with the optimal control of crystal pulling out of melt. Numerical simulations demonstrate a realization of optimal control law and its effects on both the temperature profile in the crystal with the time varying domain and crystal domain time evolution.
{"title":"Optimal control of transport-reaction system with time varying spatial domain","authors":"S. Dubljevic","doi":"10.3182/20100705-3-BE-2011.00100","DOIUrl":"https://doi.org/10.3182/20100705-3-BE-2011.00100","url":null,"abstract":"This paper deals with the optimal control of multi-dynamics process described by the rigid body dynamics equation and time-varying parabolic PDE. The optimal control is realized for the crystal growth process described by the underlying dynamics of the transport-reaction process given by the parabolic partial differential equations (PDEs) with the time varying spatial domain that is coupled with the rigid body dynamics representing the pulling of the pure crystal out of melt. The underlying transport-reaction system is developed from the first principles and the associated dynamics is analyzed in the appropriate functional state space setting. The complete description of the evolutionary parabolic domain time varying PDE is provided in the operator form and exploited within the optimal control setting, together with the optimal control of crystal pulling out of melt. Numerical simulations demonstrate a realization of optimal control law and its effects on both the temperature profile in the crystal with the time varying domain and crystal domain time evolution.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122381828","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：