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.2011.6044374
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.2011.6044516
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.2011.6044484
S. Emrani, A. Dirafzoon, H. Talebi
In this paper, we propose an adaptive distributed control for a group of autonomous underwater vehicles (AUVs). In comparison with previous studies on formation control of multiple AUVs, the hydrodynamic parameter uncertainties of the vehicles are incorporated into the formation control law. Moreover, a distributed controller is presented in order to deal with communication constraints imposed by limited bandwidth in underwater environment. We suggest the distributed control laws using adaptive control techniques and standard control methods in a two loop design approach. To deal with the uncertainties, an adaptive control rule, mainly based on inverse dynamics of the plant, is developed. Numerical simulations have been carried on in order to approve the capability of the proposed method.
{"title":"Adaptive distributed formation control of multiple autonomous underwater vehicles","authors":"S. Emrani, A. Dirafzoon, H. Talebi","doi":"10.1109/CCA.2011.6044484","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044484","url":null,"abstract":"In this paper, we propose an adaptive distributed control for a group of autonomous underwater vehicles (AUVs). In comparison with previous studies on formation control of multiple AUVs, the hydrodynamic parameter uncertainties of the vehicles are incorporated into the formation control law. Moreover, a distributed controller is presented in order to deal with communication constraints imposed by limited bandwidth in underwater environment. We suggest the distributed control laws using adaptive control techniques and standard control methods in a two loop design approach. To deal with the uncertainties, an adaptive control rule, mainly based on inverse dynamics of the plant, is developed. Numerical simulations have been carried on in order to approve the capability of the proposed method.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"43 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":"121258410","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.2011.6044429
M. Mirzaei, H. Niemann, N. K. Poulsen
The problem of robust control of a wind turbine is considered in this paper. A controller is designed based on a 2 degrees of freedom linearized model. An extended Kalman filter is used to estimate effective wind speed and the estimated wind speed is used to find the operating point of the wind turbine. Due to imprecise wind speed estimation, uncertainty in the obtained linear model is considered. Uncertainties in the drivetrain stiffness and damping parameters are also considered as these values are lumped parameters of a distributed system and therefore they include inherent uncertainties. We include these uncertainties as parametric uncertainties in the model and design a robust controller using DK-iteration method. The controller is applied on a full complexity simulation model and simulations are performed for wind speed step changes.
{"title":"DK-iteration robust control design of a wind turbine","authors":"M. Mirzaei, H. Niemann, N. K. Poulsen","doi":"10.1109/CCA.2011.6044429","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044429","url":null,"abstract":"The problem of robust control of a wind turbine is considered in this paper. A controller is designed based on a 2 degrees of freedom linearized model. An extended Kalman filter is used to estimate effective wind speed and the estimated wind speed is used to find the operating point of the wind turbine. Due to imprecise wind speed estimation, uncertainty in the obtained linear model is considered. Uncertainties in the drivetrain stiffness and damping parameters are also considered as these values are lumped parameters of a distributed system and therefore they include inherent uncertainties. We include these uncertainties as parametric uncertainties in the model and design a robust controller using DK-iteration method. The controller is applied on a full complexity simulation model and simulations are performed for wind speed step changes.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"4 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":"126183455","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.2011.6044504
T. Pedersen, P. Andersen, K. M. Nielsen, H. L. Starmose, P. Pedersen
The extensive growth of installed wind energy plants lead to increasing balancing problems in the power grid due to the nature of wind fields and diurnal variations in consumption. One way to overcome these problems is to move consumption to times where wind power otherwise cause overproduction and large fluctuations in prices. The paper presents a method which takes advantage of heat capacity in single-family houses using heat pumps which are anticipated to be installed in large numbers in Denmark in next decade. This type of heating gives a large time constant and it is shown possible to move consumption without compromising the comfort of house residents. In the paper an optimization exploiting forecasts of weather and energy prices combined with prediction models of house dynamics is presented. The results show that with the presented method it will be possible to move a substantial amount of energy from one time to another.
{"title":"Using heat pump energy storages in the power grid","authors":"T. Pedersen, P. Andersen, K. M. Nielsen, H. L. Starmose, P. Pedersen","doi":"10.1109/CCA.2011.6044504","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044504","url":null,"abstract":"The extensive growth of installed wind energy plants lead to increasing balancing problems in the power grid due to the nature of wind fields and diurnal variations in consumption. One way to overcome these problems is to move consumption to times where wind power otherwise cause overproduction and large fluctuations in prices. The paper presents a method which takes advantage of heat capacity in single-family houses using heat pumps which are anticipated to be installed in large numbers in Denmark in next decade. This type of heating gives a large time constant and it is shown possible to move consumption without compromising the comfort of house residents. In the paper an optimization exploiting forecasts of weather and energy prices combined with prediction models of house dynamics is presented. The results show that with the presented method it will be possible to move a substantial amount of energy from one time to another.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"2011 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":"127362062","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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