Pub Date : 2013-11-01DOI: 10.1109/AUCC.2013.6697314
S. Das, H. Pota, I. Petersen
This paper presents an analytical framework to examine the unconditional stability of two stable, linear timeinvariant systems in a positive feedback interconnection where one system has “mixed” negative-imaginary and passivity properties and other system has “mixed” negative-imaginary and negative-passivity properties. The examination of the stability of above mentioned interconnection is done by using a Nyquist criteria, and it is shown that the positive feedback interconnection between such two systems is guaranteed to be finite-gain stable. A numerical example is presented in the paper to demonstrate the usefulness of the proposed analytical framework.
{"title":"Stability analysis for interconnected systems with “mixed” negative-imaginary and passivity","authors":"S. Das, H. Pota, I. Petersen","doi":"10.1109/AUCC.2013.6697314","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697314","url":null,"abstract":"This paper presents an analytical framework to examine the unconditional stability of two stable, linear timeinvariant systems in a positive feedback interconnection where one system has “mixed” negative-imaginary and passivity properties and other system has “mixed” negative-imaginary and negative-passivity properties. The examination of the stability of above mentioned interconnection is done by using a Nyquist criteria, and it is shown that the positive feedback interconnection between such two systems is guaranteed to be finite-gain stable. A numerical example is presented in the paper to demonstrate the usefulness of the proposed analytical framework.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128768217","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697275
Dexiang Zhou, K. Ling
Sample/Hold (S/H) time plays an important role in the implementation of Model Predictive Control (MPC). The purpose of this paper is to investigate how the S/H time effects the size of initial feasible set in MPC design. Many factors influence S/H time choice, e.g. the process dynamics, the computational power of the implementation platform, etc. An illustrated example is given to show how to select S/H time in MPC designs, especially from the perspective of trade-off between their on-line computational complexity, initial feasible set, and closed-loop performance.
{"title":"The effect of sample/hold time on initial feasible set in model predictive control design","authors":"Dexiang Zhou, K. Ling","doi":"10.1109/AUCC.2013.6697275","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697275","url":null,"abstract":"Sample/Hold (S/H) time plays an important role in the implementation of Model Predictive Control (MPC). The purpose of this paper is to investigate how the S/H time effects the size of initial feasible set in MPC design. Many factors influence S/H time choice, e.g. the process dynamics, the computational power of the implementation platform, etc. An illustrated example is given to show how to select S/H time in MPC designs, especially from the perspective of trade-off between their on-line computational complexity, initial feasible set, and closed-loop performance.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"250 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126345182","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697299
Qingling Wang, Huijun Gao, Changbin Yu
This paper investigates the problem of global leader-following consensus of a discrete-time linear multiagent system subject to actuator saturation. Global leader-following consensus algorithm is developed with proper choice of relative coupling gains. Under the assumption that each agent is marginally stable, it is shown that global consensus of the discrete-time multiagent system can be reached under the general undirected graph provided that its generated graph contains a directed spanning tree. Numerical examples are provided to demonstrate the theoretical results.
{"title":"Global leader-following consensus of discrete-time linear multiagent systems subject to actuator saturation","authors":"Qingling Wang, Huijun Gao, Changbin Yu","doi":"10.1109/AUCC.2013.6697299","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697299","url":null,"abstract":"This paper investigates the problem of global leader-following consensus of a discrete-time linear multiagent system subject to actuator saturation. Global leader-following consensus algorithm is developed with proper choice of relative coupling gains. Under the assumption that each agent is marginally stable, it is shown that global consensus of the discrete-time multiagent system can be reached under the general undirected graph provided that its generated graph contains a directed spanning tree. Numerical examples are provided to demonstrate the theoretical results.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125353369","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697285
A. Mohammadi, D. Nešić, C. Manzie
The vast majority of extremum seeking designs in the literature are in continuous-time, however their practical implementation is typically done using digital technology. In this paper, a sampled-data implementation of extremum seeking controllers using emulation design methods is studied to address this gap. The conditions under which the emulated controller preserves the performance of the continuous-time plant are investigated. The main result also provides a guideline on how to tune the controller parameters including sample period in order to achieve the desired performance. The examples of anti-lock braking and spark timing calibration are used to illustrate the proposed design method through simulation and experimental tests.
{"title":"Emulation design for a class of extremum seeking controllers: Case studies in ABS design and spark timing calibration","authors":"A. Mohammadi, D. Nešić, C. Manzie","doi":"10.1109/AUCC.2013.6697285","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697285","url":null,"abstract":"The vast majority of extremum seeking designs in the literature are in continuous-time, however their practical implementation is typically done using digital technology. In this paper, a sampled-data implementation of extremum seeking controllers using emulation design methods is studied to address this gap. The conditions under which the emulated controller preserves the performance of the continuous-time plant are investigated. The main result also provides a guideline on how to tune the controller parameters including sample period in order to achieve the desired performance. The examples of anti-lock braking and spark timing calibration are used to illustrate the proposed design method through simulation and experimental tests.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122329202","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697303
Shiping Yang, Y. Tan, Jian-xin Xu
This work addresses a leader-follower synchronization problem of a group of agents whose dynamics are represented by general nonlinear multi-input multi-output (MIMO) equations. The group of agents can be non-identical, and their dynamics contain both parametric and lumped nonparametric uncertainties. A distributed adaptive and robust iterative learning control (ILC) algorithm is proposed. It is shown that under appropriate conditions, the proposed ILC algorithm can synchronize the trajectories of all followers to the desired one even only a few followers are able to access the trajectory of the leader. Simulation study supports the theoretical developments.
{"title":"On iterative learning control for synchronization of MIMO heterogeneous systems","authors":"Shiping Yang, Y. Tan, Jian-xin Xu","doi":"10.1109/AUCC.2013.6697303","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697303","url":null,"abstract":"This work addresses a leader-follower synchronization problem of a group of agents whose dynamics are represented by general nonlinear multi-input multi-output (MIMO) equations. The group of agents can be non-identical, and their dynamics contain both parametric and lumped nonparametric uncertainties. A distributed adaptive and robust iterative learning control (ILC) algorithm is proposed. It is shown that under appropriate conditions, the proposed ILC algorithm can synchronize the trajectories of all followers to the desired one even only a few followers are able to access the trajectory of the leader. Simulation study supports the theoretical developments.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125668675","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697281
S. Knorn, A. Donaire, J. C. Agüero, R. Middleton
It is shown how some classes of symmetric bidirectional heterogeneous vehicle strings can be modelled using a Hamiltonian framework. Hamiltonian systems theory is applied to show stability and string stability of certain vehicle strings. We also indicate how this analysis might be extended to classes of nonlinear controllers.
{"title":"Energy-based control of bidirectional vehicle strings","authors":"S. Knorn, A. Donaire, J. C. Agüero, R. Middleton","doi":"10.1109/AUCC.2013.6697281","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697281","url":null,"abstract":"It is shown how some classes of symmetric bidirectional heterogeneous vehicle strings can be modelled using a Hamiltonian framework. Hamiltonian systems theory is applied to show stability and string stability of certain vehicle strings. We also indicate how this analysis might be extended to classes of nonlinear controllers.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131337193","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697274
A. Kumar, S. Dasgupta, R. Mudumbai
We present a novel approach to the problem of distributed nullforming where a set of transmitters cooperatively transmit a common message signal in such a way that their individual transmissions precisely cancel each other at a designated receiver. Under our approach, each transmitter iteratively makes an adjustment to the phase and frequency of its transmitted RF signal, by effectively implementing an algorithm to reduce the amplitude of the overall received signal to zero. We show that this algorithm can be implemented in a purely distributed fashion at each transmitter as each transmitter needs only an estimate of its own channel gain to the receiver, and a feedback signal from the receiver, that is common across all the transmitters. This is an important advantage of our approach and assures its scalability; in contrast any non-iterative approach to the nullforming problem requires that each transmitter know every other transmitter's channel gain. We prove analytically that the algorithm practically, globally converges to a null at the designated receiver. By practical convergence we mean that (i) the algorithm always converges to a stationary trajectory, (ii) that though some of these trajectories may not correspond to a null, those that do not are locally unstable, while those that do are locally stable. We also present numerical simulations to illustrate the robustness of this approach. A key novelty of this paper is that unlike its predecessors it does not assume prior frequency synchronization among the transmitters.
{"title":"Distributed nullforming without prior frequency synchronization","authors":"A. Kumar, S. Dasgupta, R. Mudumbai","doi":"10.1109/AUCC.2013.6697274","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697274","url":null,"abstract":"We present a novel approach to the problem of distributed nullforming where a set of transmitters cooperatively transmit a common message signal in such a way that their individual transmissions precisely cancel each other at a designated receiver. Under our approach, each transmitter iteratively makes an adjustment to the phase and frequency of its transmitted RF signal, by effectively implementing an algorithm to reduce the amplitude of the overall received signal to zero. We show that this algorithm can be implemented in a purely distributed fashion at each transmitter as each transmitter needs only an estimate of its own channel gain to the receiver, and a feedback signal from the receiver, that is common across all the transmitters. This is an important advantage of our approach and assures its scalability; in contrast any non-iterative approach to the nullforming problem requires that each transmitter know every other transmitter's channel gain. We prove analytically that the algorithm practically, globally converges to a null at the designated receiver. By practical convergence we mean that (i) the algorithm always converges to a stationary trajectory, (ii) that though some of these trajectories may not correspond to a null, those that do not are locally unstable, while those that do are locally stable. We also present numerical simulations to illustrate the robustness of this approach. A key novelty of this paper is that unlike its predecessors it does not assume prior frequency synchronization among the transmitters.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130038112","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697257
M. S. Hadi, I. Darus, H. Yatim
This paper presents an investigation of system modeling using genetic algorithm and active vibration control of flexible plate structure. The experimental rig was designed and fabricated with free-free-clamped-clamped edges boundary condition in this research. The experimental study was conducted using experimental rig complete with data acquisition and instrumentation system to collect the input-output data of flexible plate structure. This input-output data used to develop the system identification to obtain a dynamic model of flexible plate based on auto-regressive with exogenous input structure. The developed model using genetic algorithm were validated using mean squared error, one step-ahead prediction and correlation test. The fitness function of genetic algorithm is mean squared error between the measured and estimated outputs of flexible plate. The validations of developed model were presented in time domain and frequency domain. The modeling of flexible plate using genetic algorithm was used in active vibration control system design for vibration suppression on the plate structure. The performance of developed controller assessed in term of spectral attenuation obtained for resonance modes.
{"title":"Active vibration control of flexible plate with free-free-clamped-clamped edges using genetic algorithm","authors":"M. S. Hadi, I. Darus, H. Yatim","doi":"10.1109/AUCC.2013.6697257","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697257","url":null,"abstract":"This paper presents an investigation of system modeling using genetic algorithm and active vibration control of flexible plate structure. The experimental rig was designed and fabricated with free-free-clamped-clamped edges boundary condition in this research. The experimental study was conducted using experimental rig complete with data acquisition and instrumentation system to collect the input-output data of flexible plate structure. This input-output data used to develop the system identification to obtain a dynamic model of flexible plate based on auto-regressive with exogenous input structure. The developed model using genetic algorithm were validated using mean squared error, one step-ahead prediction and correlation test. The fitness function of genetic algorithm is mean squared error between the measured and estimated outputs of flexible plate. The validations of developed model were presented in time domain and frequency domain. The modeling of flexible plate using genetic algorithm was used in active vibration control system design for vibration suppression on the plate structure. The performance of developed controller assessed in term of spectral attenuation obtained for resonance modes.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132547489","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697250
Timothy L. Molloy, J. Ford
In this paper, we propose a novel online hidden Markov model (HMM) parameter estimator based on Kerridge inaccuracy rate (KIR) concepts. Under mild identifiability conditions, we prove that our online KIR-based estimator is strongly consistent. In simulation studies, we illustrate the convergence behaviour of our proposed online KIR-based estimator and provide a counter-example illustrating the local convergence properties of the well known recursive maximum likelihood estimator (arguably the best existing solution).
{"title":"Consistent HMM parameter estimation using Kerridge inaccuracy rates","authors":"Timothy L. Molloy, J. Ford","doi":"10.1109/AUCC.2013.6697250","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697250","url":null,"abstract":"In this paper, we propose a novel online hidden Markov model (HMM) parameter estimator based on Kerridge inaccuracy rate (KIR) concepts. Under mild identifiability conditions, we prove that our online KIR-based estimator is strongly consistent. In simulation studies, we illustrate the convergence behaviour of our proposed online KIR-based estimator and provide a counter-example illustrating the local convergence properties of the well known recursive maximum likelihood estimator (arguably the best existing solution).","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114155042","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697240
Timothy L. Molloy, J. Ford
Machine vision is emerging as a viable sensing approach for mid-air collision avoidance (particularly for small to medium aircraft such as unmanned aerial vehicles). In this paper, using relative entropy rate concepts, we propose and investigate a new change detection approach that uses hidden Markov model filters to sequentially detect aircraft manoeuvres from morphologically processed image sequences. Experiments using simulated and airborne image sequences illustrate the performance of our proposed algorithm in comparison to other sequential change detection approaches applied to this application.
{"title":"HMM relative entropy rate concepts for vision-based aircraft manoeuvre detection","authors":"Timothy L. Molloy, J. Ford","doi":"10.1109/AUCC.2013.6697240","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697240","url":null,"abstract":"Machine vision is emerging as a viable sensing approach for mid-air collision avoidance (particularly for small to medium aircraft such as unmanned aerial vehicles). In this paper, using relative entropy rate concepts, we propose and investigate a new change detection approach that uses hidden Markov model filters to sequentially detect aircraft manoeuvres from morphologically processed image sequences. Experiments using simulated and airborne image sequences illustrate the performance of our proposed algorithm in comparison to other sequential change detection approaches applied to this application.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130385541","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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