Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044491
K. Krishnamoorthy, M. Pachter, P. Chandler
This paper addresses the following base defense scenario: an Unmanned Aerial Vehicle (UAV) performs the task of perimeter alert patrol. There are m alert stations/sites located on the perimeter where a nearby breaching of the perimeter by an intruder can be sensed and is flagged by an Unattended Ground Sensor (UGS). We assume that the alert arrival process is Poisson. In order to determine whether an incursion flagged by a UGS is a false alarm or a real threat, a patrolling UAV flies to the alert site to investigate the alert. The decision problem for a UAV is to determine, in real-time, which station to head toward next, upon completion of a service, so as to maximize the system throughput or equivalently minimize the mean waiting time of an alert in the system. The throughput is defined as the number of messages/alerts serviced on average in unit time.
{"title":"Maximizing the throughput of a patrolling UAV by dynamic programming","authors":"K. Krishnamoorthy, M. Pachter, P. Chandler","doi":"10.1109/CCA.2011.6044491","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044491","url":null,"abstract":"This paper addresses the following base defense scenario: an Unmanned Aerial Vehicle (UAV) performs the task of perimeter alert patrol. There are m alert stations/sites located on the perimeter where a nearby breaching of the perimeter by an intruder can be sensed and is flagged by an Unattended Ground Sensor (UGS). We assume that the alert arrival process is Poisson. In order to determine whether an incursion flagged by a UGS is a false alarm or a real threat, a patrolling UAV flies to the alert site to investigate the alert. The decision problem for a UAV is to determine, in real-time, which station to head toward next, upon completion of a service, so as to maximize the system throughput or equivalently minimize the mean waiting time of an alert in the system. The throughput is defined as the number of messages/alerts serviced on average in unit time.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134515829","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044485
Indira Nagesh, C. Edwards
This paper proposes a method to identify and isolate actuator faults in a nonlinear benchmark satellite system Mars Express (Mex), subject to model uncertainties and sensor noise. A nonlinear sliding mode observer is designed to estimate the faults induced in the thrusters. The nonlinear Mex system gives rise to a special case of a sliding mode observer with no reduced order dynamics. The equivalent injection signal is filtered to generate a residual signal which is used to identify the faults present by means of threshold selection. Fault isolation is based on directional residual set evaluation using the equivalent injection signal. Finally performance of the designed FDI is verified using Monte Carlo simulations.
{"title":"A sliding mode observer based FDI scheme for a nonlinear satellite systems","authors":"Indira Nagesh, C. Edwards","doi":"10.1109/CCA.2011.6044485","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044485","url":null,"abstract":"This paper proposes a method to identify and isolate actuator faults in a nonlinear benchmark satellite system Mars Express (Mex), subject to model uncertainties and sensor noise. A nonlinear sliding mode observer is designed to estimate the faults induced in the thrusters. The nonlinear Mex system gives rise to a special case of a sliding mode observer with no reduced order dynamics. The equivalent injection signal is filtered to generate a residual signal which is used to identify the faults present by means of threshold selection. Fault isolation is based on directional residual set evaluation using the equivalent injection signal. Finally performance of the designed FDI is verified using Monte Carlo simulations.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133412192","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044394
T. Murao, H. Kawai, M. Fujita
This paper investigates iterative learning control based on passivity for three-dimensional (3-D) visual feedback systems. Firstly, a brief summary of a visual motion observer is given. Next, a pose control error system for iterative learning control that has an output strictly passivity property is constructed. Then, iterative learning control for 3-D visual feedback systems is proposed. The transient response of the proposed control law should be improved because of the repeatability. Convergence analysis of the closed-loop system is discussed based on passivity. Finally, simulation results are shown in order to confirm the proposed method.
{"title":"Passivity-based iterative learning control for visual feedback system","authors":"T. Murao, H. Kawai, M. Fujita","doi":"10.1109/CCA.2011.6044394","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044394","url":null,"abstract":"This paper investigates iterative learning control based on passivity for three-dimensional (3-D) visual feedback systems. Firstly, a brief summary of a visual motion observer is given. Next, a pose control error system for iterative learning control that has an output strictly passivity property is constructed. Then, iterative learning control for 3-D visual feedback systems is proposed. The transient response of the proposed control law should be improved because of the repeatability. Convergence analysis of the closed-loop system is discussed based on passivity. Finally, simulation results are shown in order to confirm the proposed method.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129484791","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044439
M. Gholami, H. Schiøler, T. Bak
An active fault diagnostic (AFD) approach for diagnosis of actuator faults is proposed. The AFD approach excites the system by injecting a so-called excitation input. Here, the input is designed off-line based on sensitivity analysis such that the maximum sensitivity for each individual system parameter is obtained. Using maximum sensitivity, results in a better precision in the estimation of the corresponding parameter. The fault detection and isolation is done by comparing the nominal parameters with those estimated by an adaptive filter. Gaussian noise is used as the input disturbance as well as the measurement noise for simulation. The method is implemented and demonstrated on the large scale livestock hybrid ventilation model which was obtained during previous research.
{"title":"Active fault diagnosis for hybrid systems based on sensitivity analysis and adaptive filter","authors":"M. Gholami, H. Schiøler, T. Bak","doi":"10.1109/CCA.2011.6044439","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044439","url":null,"abstract":"An active fault diagnostic (AFD) approach for diagnosis of actuator faults is proposed. The AFD approach excites the system by injecting a so-called excitation input. Here, the input is designed off-line based on sensitivity analysis such that the maximum sensitivity for each individual system parameter is obtained. Using maximum sensitivity, results in a better precision in the estimation of the corresponding parameter. The fault detection and isolation is done by comparing the nominal parameters with those estimated by an adaptive filter. Gaussian noise is used as the input disturbance as well as the measurement noise for simulation. The method is implemented and demonstrated on the large scale livestock hybrid ventilation model which was obtained during previous research.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130533361","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044435
M. Reichhartinger, M. Horn
In this paper, a control law based on the ideas of backstepping is presented. A plant model, motivated by mechanical systems, serves as controller design model. In order to ensure robustness and an improved convergence time of the closed loop system, techniques of sliding mode control are introduced. The convergence time of the closed loop system is estimated with the help of Lyapunov's direct method. A real world system is considered in order to discuss the performance of the proposed strategy. The controller parameters are tuned based on stability conditions and numerical simulations. Finally the performance of the method is compared to two alternative control strategies.
{"title":"Finite-time stabilization by robust backstepping for a class of mechanical systems","authors":"M. Reichhartinger, M. Horn","doi":"10.1109/CCA.2011.6044435","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044435","url":null,"abstract":"In this paper, a control law based on the ideas of backstepping is presented. A plant model, motivated by mechanical systems, serves as controller design model. In order to ensure robustness and an improved convergence time of the closed loop system, techniques of sliding mode control are introduced. The convergence time of the closed loop system is estimated with the help of Lyapunov's direct method. A real world system is considered in order to discuss the performance of the proposed strategy. The controller parameters are tuned based on stability conditions and numerical simulations. Finally the performance of the method is compared to two alternative control strategies.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115529748","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044516
Ricardo Cardenas, L. Aguilar
This paper focuses on the regulation problem of a planar vertical take-off and landing (PVTOL) aircraft using output feedback sliding mode controller where a sliding mode observer is used to estimate the velocity. The observer design is independent of the feedback control design (separation principle). Considering as important the actuators response in the performance of the closed-loop systems, the dynamics of the PVTOL is augmented with the dynamics of the actuators. The performance of the closed-loop system is illustrated through simulation results.
{"title":"Output feedback sliding mode control of a PVTOL including actuators dynamics","authors":"Ricardo Cardenas, L. Aguilar","doi":"10.1109/CCA.2011.6044516","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044516","url":null,"abstract":"This paper focuses on the regulation problem of a planar vertical take-off and landing (PVTOL) aircraft using output feedback sliding mode controller where a sliding mode observer is used to estimate the velocity. The observer design is independent of the feedback control design (separation principle). Considering as important the actuators response in the performance of the closed-loop systems, the dynamics of the PVTOL is augmented with the dynamics of the actuators. The performance of the closed-loop system is illustrated through simulation results.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116268599","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044374
M. Balas, J. P. Nelson
Many systems must operate in the presence of delays both internal to the system and in its inputs and outputs. In this paper we present a new robustness result for nonlinear systems. We use this result to show that for small unknown input delays, a simple adaptive controller with leakage can produce output regulation to a neighborhood with radius dependent upon the size of the delay. This regulation occurs in the presence of persistent disturbances and the convergence is exponential. We conclude with an example to illustrate the behavior of this adaptive control law.
{"title":"New robustness theorem with application to adaptive control of nonlinear systems with input/output delays","authors":"M. Balas, J. P. Nelson","doi":"10.1109/CCA.2011.6044374","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044374","url":null,"abstract":"Many systems must operate in the presence of delays both internal to the system and in its inputs and outputs. In this paper we present a new robustness result for nonlinear systems. We use this result to show that for small unknown input delays, a simple adaptive controller with leakage can produce output regulation to a neighborhood with radius dependent upon the size of the delay. This regulation occurs in the presence of persistent disturbances and the convergence is exponential. We conclude with an example to illustrate the behavior of this adaptive control law.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"249 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116116184","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044499
S. Longo, Tingli Su, G. Herrmann, P. Barber, U. Gerlinger
In this paper, we consider the optimal and robust communication scheduling of the static part of the automotive communication protocol FlexRay from the system dynamic and control viewpoint. In general, given a plant and a controller, we design a communication policy between ‘nodes’ (or ECUs) that minimizes the performance degradation introduced by the communication bus, using an H∞ framework. The resulting combinatorial optimization is performed by a fast versatile algorithm that can guarantee schedule calculation close to the optimum and that can easily handle the constraints imposed by FlexRay (such as bandwidth demands on selected ECUs). The theoretical results are validated using commercial FlexRay simulation products.
{"title":"Scheduling of the FlexRay static segment for robust controller integration","authors":"S. Longo, Tingli Su, G. Herrmann, P. Barber, U. Gerlinger","doi":"10.1109/CCA.2011.6044499","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044499","url":null,"abstract":"In this paper, we consider the optimal and robust communication scheduling of the static part of the automotive communication protocol FlexRay from the system dynamic and control viewpoint. In general, given a plant and a controller, we design a communication policy between ‘nodes’ (or ECUs) that minimizes the performance degradation introduced by the communication bus, using an H∞ framework. The resulting combinatorial optimization is performed by a fast versatile algorithm that can guarantee schedule calculation close to the optimum and that can easily handle the constraints imposed by FlexRay (such as bandwidth demands on selected ECUs). The theoretical results are validated using commercial FlexRay simulation products.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121595855","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044440
S. Sridharan, Divakar Chitturi, Armando A. Rodriguez
In this paper, we consider the problem of financial portfolio optimization. A hierarchical framework is used, and receding horizon control (RHC) ideas are exploited to pose and solve two relevant constrained optimization problems. We first present the classic problem of wealth maximization subject to risk constraints. We also formulate a new approach to portfolio optimization which attempts to minimize the peak risk over the prediction horizon, while trying to track a wealth objective. This approach is designed to assist investors that might be unable to precisely specify their risk tolerance. We compare this methodology with the classical approach. It is concluded that this approach may be particularly beneficial during downturns — appreciably limiting losses during downturns while providing most of the upturn benefits.
{"title":"A receding horizon control approach to portfolio optimization using a risk-minimax objective for wealth tracking","authors":"S. Sridharan, Divakar Chitturi, Armando A. Rodriguez","doi":"10.1109/CCA.2011.6044440","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044440","url":null,"abstract":"In this paper, we consider the problem of financial portfolio optimization. A hierarchical framework is used, and receding horizon control (RHC) ideas are exploited to pose and solve two relevant constrained optimization problems. We first present the classic problem of wealth maximization subject to risk constraints. We also formulate a new approach to portfolio optimization which attempts to minimize the peak risk over the prediction horizon, while trying to track a wealth objective. This approach is designed to assist investors that might be unable to precisely specify their risk tolerance. We compare this methodology with the classical approach. It is concluded that this approach may be particularly beneficial during downturns — appreciably limiting losses during downturns while providing most of the upturn benefits.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"71 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122062709","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044362
Yiming Chen, Wenjie Dong, J. Farrell
This paper considers the optimal control of unknown nonlinear systems. To deal with the unknown nonlin-earities in the system, small learning regions are assigned online along the system trajectory in a manner dictated by a Lyapunov based self-organization method. In each of these regions, a local affine approximation is developed. A state observer-based approach method adapts the approximator parameters. With the aid of this state observer, analytic optimal controllers are proposed by solving corresponding linear quadratic regulation problems in each learning region. To show the effectiveness of the proposed controllers, a numerical example is included.
{"title":"Self-organizing locally linear optimal regulation for unknown nonlinear systems","authors":"Yiming Chen, Wenjie Dong, J. Farrell","doi":"10.1109/CCA.2011.6044362","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044362","url":null,"abstract":"This paper considers the optimal control of unknown nonlinear systems. To deal with the unknown nonlin-earities in the system, small learning regions are assigned online along the system trajectory in a manner dictated by a Lyapunov based self-organization method. In each of these regions, a local affine approximation is developed. A state observer-based approach method adapts the approximator parameters. With the aid of this state observer, analytic optimal controllers are proposed by solving corresponding linear quadratic regulation problems in each learning region. To show the effectiveness of the proposed controllers, a numerical example is included.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125265845","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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