Pub Date : 2014-12-15DOI: 10.1109/CDC.2014.7039826
C. Prieur, S. Tarbouriech, J. G. D. Silva
In this paper, it is considered a wave equation with a one-dimensional space variable, which describes the dynamics of string deflection. The slope has a finite length and is attached at both boundaries. It is equipped with a distributed actuator subject to a saturation. By closing the loop with a saturating input proportional to the speed of the deformation, it is thus obtained a nonlinear partial differential equation, which is the generalization of the classical 1D wave equation. The well-posedness is proven by using nonlinear semigroups technics. The asymptotic stability of the closed-loop system, when the tuning parameter has a suitable sign, is proven by Lyapunov technics and a sector condition describing the saturating input.
{"title":"Well-posedness and stability of a 1D wave equation with saturating distributed input","authors":"C. Prieur, S. Tarbouriech, J. G. D. Silva","doi":"10.1109/CDC.2014.7039826","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039826","url":null,"abstract":"In this paper, it is considered a wave equation with a one-dimensional space variable, which describes the dynamics of string deflection. The slope has a finite length and is attached at both boundaries. It is equipped with a distributed actuator subject to a saturation. By closing the loop with a saturating input proportional to the speed of the deformation, it is thus obtained a nonlinear partial differential equation, which is the generalization of the classical 1D wave equation. The well-posedness is proven by using nonlinear semigroups technics. The asymptotic stability of the closed-loop system, when the tuning parameter has a suitable sign, is proven by Lyapunov technics and a sector condition describing the saturating input.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124714444","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 : 2014-12-15DOI: 10.1109/CDC.2014.7039845
Alexander Werner, R. Lampariello, C. Ott
Series elastic actuators are a promising feature for future walking robots. Utilizing the natural oscillation of the elastic actuation can lead to efficient locomotion. However finding a matching combination of joint stiffness and actuator input is challenging as these robots share the properties of underactuated and hybrid dynamic systems. In this paper an optimization problem for cyclic walking of a robot with series elastic actuators is formulated and a flatness based solution method is presented. The method efficiently generates trajectories which exploit the actuator capabilities while respecting all limitations of the system. Additionally the relevant aspects of the trajectories for the design of a flexible robot are discussed.
{"title":"Trajectory optimization for walking robots with series elastic actuators","authors":"Alexander Werner, R. Lampariello, C. Ott","doi":"10.1109/CDC.2014.7039845","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039845","url":null,"abstract":"Series elastic actuators are a promising feature for future walking robots. Utilizing the natural oscillation of the elastic actuation can lead to efficient locomotion. However finding a matching combination of joint stiffness and actuator input is challenging as these robots share the properties of underactuated and hybrid dynamic systems. In this paper an optimization problem for cyclic walking of a robot with series elastic actuators is formulated and a flatness based solution method is presented. The method efficiently generates trajectories which exploit the actuator capabilities while respecting all limitations of the system. Additionally the relevant aspects of the trajectories for the design of a flexible robot are discussed.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116749278","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 : 2014-12-14DOI: 10.1109/CDC.2014.7040303
J. Sánchez‐Torres, Martin J. Loza-Lopez, R. Ruiz-Cruz, E. Sánchez, A. Loukianov
The aim of this paper is to present a new dynamical system which solves linear programming. Its design is considered as a sliding mode control problem, where its structure is based on the Karush-Kuhn-Tucker optimality conditions, and its multipliers are the control inputs to be implemented by using fixed time stabilizing terms with vectorial structure, based on the unit control, instead of common terms used in other approaches. Thus, the main features of the proposed system are the fixed convergence time to the programming solution and the fixed parameters number despite of the optimization problem dimension. That is, there is a time independent to the initial conditions in which the system converges to the solution and, the proposed structure can be easily scaled from a small to a higher dimension problem. The applicability of the proposed scheme is tested on real-time optimization of an electrical Microgrid prototype.
{"title":"A fixed time convergent dynamical system to solve linear programming","authors":"J. Sánchez‐Torres, Martin J. Loza-Lopez, R. Ruiz-Cruz, E. Sánchez, A. Loukianov","doi":"10.1109/CDC.2014.7040303","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040303","url":null,"abstract":"The aim of this paper is to present a new dynamical system which solves linear programming. Its design is considered as a sliding mode control problem, where its structure is based on the Karush-Kuhn-Tucker optimality conditions, and its multipliers are the control inputs to be implemented by using fixed time stabilizing terms with vectorial structure, based on the unit control, instead of common terms used in other approaches. Thus, the main features of the proposed system are the fixed convergence time to the programming solution and the fixed parameters number despite of the optimization problem dimension. That is, there is a time independent to the initial conditions in which the system converges to the solution and, the proposed structure can be easily scaled from a small to a higher dimension problem. The applicability of the proposed scheme is tested on real-time optimization of an electrical Microgrid prototype.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132882411","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 : 2014-12-13DOI: 10.1109/CDC.2014.7040099
Luc Le-Tien, A. Albu-Schaffer
In this paper a control scheme is addressed to improve the tracking accuracy of flexible joint robots without replacing the structure of a MIMO state feedback controller which is used effectually with the DLR medical robots. By using the desired position, the new desired link torque, as well as their derivatives the effects of nonlinear dynamics are compensated and the tracking accuracy is thereby increased. Hereby, the new desired link torque takes the whole rigid body dynamics into account, not only the friction and gravitation compensation terms. A stability analysis based on the Lyapunov theory and Barbalat's lemma is given for this new MIMO state feedback control scheme. Experimental results validate the practical efficiency of the approach.
{"title":"Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots","authors":"Luc Le-Tien, A. Albu-Schaffer","doi":"10.1109/CDC.2014.7040099","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040099","url":null,"abstract":"In this paper a control scheme is addressed to improve the tracking accuracy of flexible joint robots without replacing the structure of a MIMO state feedback controller which is used effectually with the DLR medical robots. By using the desired position, the new desired link torque, as well as their derivatives the effects of nonlinear dynamics are compensated and the tracking accuracy is thereby increased. Hereby, the new desired link torque takes the whole rigid body dynamics into account, not only the friction and gravitation compensation terms. A stability analysis based on the Lyapunov theory and Barbalat's lemma is given for this new MIMO state feedback control scheme. Experimental results validate the practical efficiency of the approach.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"15 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126096554","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 : 2014-12-11DOI: 10.1109/CDC.2014.7040325
M. Dinh, A. Korniienko, G. Scorletti
The performance analysis of uncertain large-scale systems is under consideration. It is performed via a hierarchical modeling and analysis of the systems thanks to the recursive application of a propagation of dissipativity properties result. In contrast to an one-step approach such as (upper bound) μ-analysis where computation time can be prohibitive for largescale systems, the proposed method allows to set the trade-off between conservatism and computation time. The approach is used on a PLL network example and illustrates the new trade-off achieved.
{"title":"Convex hierarchical analysis for the performances of uncertain large-scale systems","authors":"M. Dinh, A. Korniienko, G. Scorletti","doi":"10.1109/CDC.2014.7040325","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040325","url":null,"abstract":"The performance analysis of uncertain large-scale systems is under consideration. It is performed via a hierarchical modeling and analysis of the systems thanks to the recursive application of a propagation of dissipativity properties result. In contrast to an one-step approach such as (upper bound) μ-analysis where computation time can be prohibitive for largescale systems, the proposed method allows to set the trade-off between conservatism and computation time. The approach is used on a PLL network example and illustrates the new trade-off achieved.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129574341","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039936
Saida Flila, A. Rachid
This paper presents an application of model based predictive control strategy to a CHP (Combined Heat and Power) system with Stirling Engine. A model predictive control framework is provided for the temperature trajectory tracking. The problem is directly addressed for the nonlinear system that describes the process dynamics. The mathematical model takes into account the main physical phenomena, including heat transfer. The presented algorithm allows general control of a continuous process in closed loop using optimal constrained control. The obtained results show the efficiency of the proposed control trough simulations using a software developed under MATLAB.
{"title":"Dynamic modelling and control of a μ-CHP system with Stirling Engine","authors":"Saida Flila, A. Rachid","doi":"10.1109/CDC.2014.7039936","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039936","url":null,"abstract":"This paper presents an application of model based predictive control strategy to a CHP (Combined Heat and Power) system with Stirling Engine. A model predictive control framework is provided for the temperature trajectory tracking. The problem is directly addressed for the nonlinear system that describes the process dynamics. The mathematical model takes into account the main physical phenomena, including heat transfer. The presented algorithm allows general control of a continuous process in closed loop using optimal constrained control. The obtained results show the efficiency of the proposed control trough simulations using a software developed under MATLAB.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115164403","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 : 2014-12-01DOI: 10.1109/CDC.2014.7040383
A. Hably, N. Marchand
In this paper, a state feedback control is proposed for the control of second-order chained form system with bounded inputs. The feedback law is based on a receding horizon strategy that provides convergence of the system to any desired final state. Numerical simulations are given to show the effectiveness of the proposed control strategy.
{"title":"Bounded control of a general extended chained form systems","authors":"A. Hably, N. Marchand","doi":"10.1109/CDC.2014.7040383","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040383","url":null,"abstract":"In this paper, a state feedback control is proposed for the control of second-order chained form system with bounded inputs. The feedback law is based on a receding horizon strategy that provides convergence of the system to any desired final state. Numerical simulations are given to show the effectiveness of the proposed control strategy.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115417357","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039398
Bin Jia, M. Xin
In this paper, a new joint probabilistic data association information filter (JPDAIF) is proposed based on a high-degree cubature rule to improve the multiple sensor multiple target tracking performance. The cubature rule embedded JPDAIF can achieve more accurate estimation than that of joint probabilistic data association filters based on the linearization or unscented transformation. Simulation of tracking two maneuvering targets with two sensors is used to demonstrate the excellent performance of the proposed filter and compare it with several other conventional filters.
{"title":"High-degree cubature joint probabilistic data association information filter for multiple sensor multiple target tracking","authors":"Bin Jia, M. Xin","doi":"10.1109/CDC.2014.7039398","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039398","url":null,"abstract":"In this paper, a new joint probabilistic data association information filter (JPDAIF) is proposed based on a high-degree cubature rule to improve the multiple sensor multiple target tracking performance. The cubature rule embedded JPDAIF can achieve more accurate estimation than that of joint probabilistic data association filters based on the linearization or unscented transformation. Simulation of tracking two maneuvering targets with two sensors is used to demonstrate the excellent performance of the proposed filter and compare it with several other conventional filters.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"227 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115499943","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 : 2014-12-01DOI: 10.1109/CDC.2014.7040242
Xingwen Liu, Duyu Liu
This paper mainly addresses the relationship between attractivity, asymptotic stability, and exponential stability of switched systems with delays and uncertainties under four classes of switching signals: Arbitrary switching signals, periodic switching signals, switching signals with constraints of dwell time and average dwell time. The following results are established: If a homogeneous switched system of degree one is robustly uniformly attractive over some class of switching signals, then it is robustly uniformly exponentially stable (and therefore robustly uniformly asymptotically stable) over the same class of switching signals. Applying the result to switched linear systems with delays and uncertainties, one can check their exponential stability by their asymptotic stability.
{"title":"Equivalence between different stabilities of discrete-time delayed switched systems with uncertainties","authors":"Xingwen Liu, Duyu Liu","doi":"10.1109/CDC.2014.7040242","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040242","url":null,"abstract":"This paper mainly addresses the relationship between attractivity, asymptotic stability, and exponential stability of switched systems with delays and uncertainties under four classes of switching signals: Arbitrary switching signals, periodic switching signals, switching signals with constraints of dwell time and average dwell time. The following results are established: If a homogeneous switched system of degree one is robustly uniformly attractive over some class of switching signals, then it is robustly uniformly exponentially stable (and therefore robustly uniformly asymptotically stable) over the same class of switching signals. Applying the result to switched linear systems with delays and uncertainties, one can check their exponential stability by their asymptotic stability.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115605132","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039405
Anup Menon, J. Baras
This paper addresses a distributed, model-free optimization problem in the context of multi-agent systems. The set-up comprises of a fixed number of agents, each of which can pick an action and receive/measure a private utility function that can depend on the collective actions taken by all agents. The exact functional form (or model) of the agent utility functions is unknown, and an agent can only measure the numeric value of its utility. The objective of the multi-agent system is to optimize the welfare function (i.e. sum of the individual utility functions). A model-free, distributed, on-line learning algorithm is developed that achieves this objective. The proposed solution requires information exchange between the agents over an undirected, connected communication graph, and is based on ideas from extremum seeking control. A result on local convergence of the proposed algorithm to an arbitrarily small neighborhood of a local minimizer of the welfare function is proved. Application of the solution to distributed control of wind turbines for maximizing wind farm-level power capture is explored via numerical simulations. Also included is a novel analysis of a dynamic average consensus algorithm that may be of independent interest.
{"title":"Collaborative extremum seeking for welfare optimization","authors":"Anup Menon, J. Baras","doi":"10.1109/CDC.2014.7039405","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039405","url":null,"abstract":"This paper addresses a distributed, model-free optimization problem in the context of multi-agent systems. The set-up comprises of a fixed number of agents, each of which can pick an action and receive/measure a private utility function that can depend on the collective actions taken by all agents. The exact functional form (or model) of the agent utility functions is unknown, and an agent can only measure the numeric value of its utility. The objective of the multi-agent system is to optimize the welfare function (i.e. sum of the individual utility functions). A model-free, distributed, on-line learning algorithm is developed that achieves this objective. The proposed solution requires information exchange between the agents over an undirected, connected communication graph, and is based on ideas from extremum seeking control. A result on local convergence of the proposed algorithm to an arbitrarily small neighborhood of a local minimizer of the welfare function is proved. Application of the solution to distributed control of wind turbines for maximizing wind farm-level power capture is explored via numerical simulations. Also included is a novel analysis of a dynamic average consensus algorithm that may be of independent interest.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115736783","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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