Pub Date : 2018-06-01DOI: 10.23919/ECC.2018.8550383
J. D. Schutter, R. Leuthold, M. Diehl
Multiple-kite airborne wind energy (AWE) systems are typically characterized by unstable and highly non-linear dynamics which often translates to intricate controller design and challenging coordination problems. Rotary kite AWE systems (RAWES) have been alternatively proposed for small-scale applications, under the assumption that they can reduce the complexity of the control problem. This paper confirms that a small, rigid-wing RAWES in pumping mode can be controlled effectively in a large operational range, using only pitch control as on-board actuation. Optimal control is applied to compute RAWES pumping trajectories in different operating regions, for a design geometry that is optimized for a rated wind speed under structural constraints. The reduced control complexity comes at the cost of a low harvesting factor, close to that of conventional wind turbines.
{"title":"Optimal Control of a Rigid-Wing Rotary Kite System for Airborne Wind Energy","authors":"J. D. Schutter, R. Leuthold, M. Diehl","doi":"10.23919/ECC.2018.8550383","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550383","url":null,"abstract":"Multiple-kite airborne wind energy (AWE) systems are typically characterized by unstable and highly non-linear dynamics which often translates to intricate controller design and challenging coordination problems. Rotary kite AWE systems (RAWES) have been alternatively proposed for small-scale applications, under the assumption that they can reduce the complexity of the control problem. This paper confirms that a small, rigid-wing RAWES in pumping mode can be controlled effectively in a large operational range, using only pitch control as on-board actuation. Optimal control is applied to compute RAWES pumping trajectories in different operating regions, for a design geometry that is optimized for a rated wind speed under structural constraints. The reduced control complexity comes at the cost of a low harvesting factor, close to that of conventional wind turbines.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130938154","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550181
E. Tahoumi, F. Plestan, M. Ghanes, J. Barbot
This paper presents a new control strategy for a perturbed electropneumatic actuator. This new control law is evolving between a robust second order sliding mode controller (based on twisting algorithm) and a linear one. This objective is to ensure high accuracy tracking and low energy consumption, in spite of perturbations and uncertainties. This new control solution is evaluated on an experimental set-up.
{"title":"A Controller Switching between Twisting and Linear Algorithms for an Electropneumatic Actuator","authors":"E. Tahoumi, F. Plestan, M. Ghanes, J. Barbot","doi":"10.23919/ECC.2018.8550181","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550181","url":null,"abstract":"This paper presents a new control strategy for a perturbed electropneumatic actuator. This new control law is evolving between a robust second order sliding mode controller (based on twisting algorithm) and a linear one. This objective is to ensure high accuracy tracking and low energy consumption, in spite of perturbations and uncertainties. This new control solution is evaluated on an experimental set-up.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133335527","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550604
M. Menci, G. Oliva, M. Papi, R. Setola, Antonio Scala
In this paper we aim at finding effective distributed algorithms to solve the Sparse Analytic Hierarchy Process (SAHP) problem, where a set of networked agents (e.g., wireless sensors, mobile robots or IoT devices) need to be ranked based on their utility/importance. However, instead of knowing their absolute importance, the agents know their relative utility/importance with respect to their neighbors. Moreover, such a relative information is perturbed due to errors, subjective biases or incorrect information. Recently, the Sparse Eigenvector Method proved its effectiveness in tackling this problem. However, such a method has several drawbacks, such as demanding computation/communication requirements and lack of control on the magnitude of the computed estimate. With the aim to mitigate such issues, in this paper we inspect the possibility to resort to a suite of different methodologies, each inspired to well known algorithms in the literature, i.e., Metropolis-Hastings Markov chains, Heat-Bath Markov chains and formation control. The proposed methodologies are less demanding in terms of memory and communication capabilities; however, each approach has its own strength points and drawbacks. The aim of this paper is thus to provide a numerical comparison of their performances over networks with different characteristics.
{"title":"A Suite of Distributed Methodologies to Solve the Sparse Analytic Hierarchy Process Problem","authors":"M. Menci, G. Oliva, M. Papi, R. Setola, Antonio Scala","doi":"10.23919/ECC.2018.8550604","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550604","url":null,"abstract":"In this paper we aim at finding effective distributed algorithms to solve the Sparse Analytic Hierarchy Process (SAHP) problem, where a set of networked agents (e.g., wireless sensors, mobile robots or IoT devices) need to be ranked based on their utility/importance. However, instead of knowing their absolute importance, the agents know their relative utility/importance with respect to their neighbors. Moreover, such a relative information is perturbed due to errors, subjective biases or incorrect information. Recently, the Sparse Eigenvector Method proved its effectiveness in tackling this problem. However, such a method has several drawbacks, such as demanding computation/communication requirements and lack of control on the magnitude of the computed estimate. With the aim to mitigate such issues, in this paper we inspect the possibility to resort to a suite of different methodologies, each inspired to well known algorithms in the literature, i.e., Metropolis-Hastings Markov chains, Heat-Bath Markov chains and formation control. The proposed methodologies are less demanding in terms of memory and communication capabilities; however, each approach has its own strength points and drawbacks. The aim of this paper is thus to provide a numerical comparison of their performances over networks with different characteristics.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132288285","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550557
Francesco Alderisio, M. Bernardo
We investigate the problem of controlling a network of heterogeneous Kuramoto oscillators affected by phase lags in the communication with their neighbours. We find analytical conditions that allow to determine the control effort required to guarantee convergence of all the oscillators towards a common collective evolution despite the presence of heterogeneities and phase lags. After presenting some numerical simulations that confirm the theoretical results, we discuss the application of the theory to the problem of inducing motor coordination in a mixed group of human players and artificial agents performing a joint task.
{"title":"Controlling the collective behaviour of networks of heterogenous Kuramoto oscillators with phase lags","authors":"Francesco Alderisio, M. Bernardo","doi":"10.23919/ECC.2018.8550557","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550557","url":null,"abstract":"We investigate the problem of controlling a network of heterogeneous Kuramoto oscillators affected by phase lags in the communication with their neighbours. We find analytical conditions that allow to determine the control effort required to guarantee convergence of all the oscillators towards a common collective evolution despite the presence of heterogeneities and phase lags. After presenting some numerical simulations that confirm the theoretical results, we discuss the application of the theory to the problem of inducing motor coordination in a mixed group of human players and artificial agents performing a joint task.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133208400","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550127
Nicola Piccinelli, R. Muradore
Global and local path planning are a classic research field in robotics and are key elements for the development of automated warehouse. Velocity Obstacle (VO) and Voronoi Diagrams (VD) are well known methods in autonomous navigation. VO provides for each autonomous vehicle a set of available velocities ensuring collision-free trajectory for multi-robot systems, whereas VD is a geometrical space subdivision used to compute paths furthest away from obstacles. In this paper we will focus on the design of a distributed navigation architecture aiming at integrating to integrate VO, as a local planner and VD as a global planner, to provides efficient collision-free and safe maneuver for each agent belonging to the fleet. The approach is validated in simulation using ROS and Gazebo as a virtual robot development environment.
{"title":"Hybrid Motion Planner Integrating Global Voronoi Diagrams and Local Velocity Obstacle Method","authors":"Nicola Piccinelli, R. Muradore","doi":"10.23919/ECC.2018.8550127","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550127","url":null,"abstract":"Global and local path planning are a classic research field in robotics and are key elements for the development of automated warehouse. Velocity Obstacle (VO) and Voronoi Diagrams (VD) are well known methods in autonomous navigation. VO provides for each autonomous vehicle a set of available velocities ensuring collision-free trajectory for multi-robot systems, whereas VD is a geometrical space subdivision used to compute paths furthest away from obstacles. In this paper we will focus on the design of a distributed navigation architecture aiming at integrating to integrate VO, as a local planner and VD as a global planner, to provides efficient collision-free and safe maneuver for each agent belonging to the fleet. The approach is validated in simulation using ROS and Gazebo as a virtual robot development environment.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134646983","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550189
P. Franco, G. Scarciotti, A. Astolfi
In this paper the problem of simulation of differential-algebraic systems is addressed. In modelling me- chanical systems the use of redundant coordinates and con- straints results in differential-algebraic equations, the integra- tion of which can lead to numerical instabilities, such as the so-called drift phenomenon. In [1] the authors have proposed a globally convergent conceptual continuous-time algorithm for the integration of constrained mechanical systems which ensures the existence of solutions and global attractivity of the solution manifold. The objective of this paper is to study the numerical implementation of the algorithm presented in [1]. In addition, the stability properties of the constrained system in the manifold are studied in both the continuous and discrete time cases. The proposed technique is illustrated by means of a simple example.
{"title":"Discretization schemes for constraint stabilization in nonlinear differential-algebraic systems","authors":"P. Franco, G. Scarciotti, A. Astolfi","doi":"10.23919/ECC.2018.8550189","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550189","url":null,"abstract":"In this paper the problem of simulation of differential-algebraic systems is addressed. In modelling me- chanical systems the use of redundant coordinates and con- straints results in differential-algebraic equations, the integra- tion of which can lead to numerical instabilities, such as the so-called drift phenomenon. In [1] the authors have proposed a globally convergent conceptual continuous-time algorithm for the integration of constrained mechanical systems which ensures the existence of solutions and global attractivity of the solution manifold. The objective of this paper is to study the numerical implementation of the algorithm presented in [1]. In addition, the stability properties of the constrained system in the manifold are studied in both the continuous and discrete time cases. The proposed technique is illustrated by means of a simple example.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133754616","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550490
A. Shetty, Sen Li, K. Poolla, P. Varaiya
Uncertainties from renewables and demands create power imbalances in real-time electricity markets. This paper studies the problem of procuring reserve services in forward capacity markets from diverse resources to cover imbalance signals $mathrm{e}^{mathrm{t}}$. We consider the reserve procurement problem in two scenarios: (a) $mathrm{e}^{mathrm{t}}$ reveals itself causally, (b) $mathrm{e}^{mathrm{t}}$ is revealed all at once by an oracle. Each case induces an optimal resource procurement cost. The ratio between the costs in these two cases is defined as the price of causality. It captures the additional procurement cost from not knowing the entire imbalance signal in advance. An upper bound on the price of causality is derived, and the exact price of causality is computed in some special cases. The algorithmic basis for these computations is set containment linear programming. A mechanism is proposed to allocate the procurement cost to agents that contribute to the aggregate imbalance signal. This allocation is fair, budget- balanced, and respects the cost causation principle. Our resultsare validated through simulation studies, where we explore the dependence of the price of causality on unit resource prices.
{"title":"2018 European Control Conference (ECC) June 12-15, 2018. Limassol, Cyprus Optimal Energy Reserve Procurement","authors":"A. Shetty, Sen Li, K. Poolla, P. Varaiya","doi":"10.23919/ECC.2018.8550490","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550490","url":null,"abstract":"Uncertainties from renewables and demands create power imbalances in real-time electricity markets. This paper studies the problem of procuring reserve services in forward capacity markets from diverse resources to cover imbalance signals $mathrm{e}^{mathrm{t}}$. We consider the reserve procurement problem in two scenarios: (a) $mathrm{e}^{mathrm{t}}$ reveals itself causally, (b) $mathrm{e}^{mathrm{t}}$ is revealed all at once by an oracle. Each case induces an optimal resource procurement cost. The ratio between the costs in these two cases is defined as the price of causality. It captures the additional procurement cost from not knowing the entire imbalance signal in advance. An upper bound on the price of causality is derived, and the exact price of causality is computed in some special cases. The algorithmic basis for these computations is set containment linear programming. A mechanism is proposed to allocate the procurement cost to agents that contribute to the aggregate imbalance signal. This allocation is fair, budget- balanced, and respects the cost causation principle. Our resultsare validated through simulation studies, where we explore the dependence of the price of causality on unit resource prices.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115495932","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550185
T. Mylvaganam, R. Ortega, J. Machado, A. Astolfi
In a variety of contexts, for example the solution of differential games and the control of power systems, the design of feedback control laws requires the solution of nonlinear algebraic equations: obtaining such solutions is often not trivial. Motivated by such situations we consider systems of nonlinear algebraic equations and propose a method for obtaining their solutions. In particular, a dynamical system is introduced and (locally) stabilizing control laws which ensure that elements of the state converge to a solution of the algebraic equations are given. Illustrative numerical examples are provided. In addition it is shown that the proposed method is applicable to determine the equilibria of electrical networks with constant power loads.
{"title":"Dynamic Zero Finding for Algebraic Equations","authors":"T. Mylvaganam, R. Ortega, J. Machado, A. Astolfi","doi":"10.23919/ECC.2018.8550185","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550185","url":null,"abstract":"In a variety of contexts, for example the solution of differential games and the control of power systems, the design of feedback control laws requires the solution of nonlinear algebraic equations: obtaining such solutions is often not trivial. Motivated by such situations we consider systems of nonlinear algebraic equations and propose a method for obtaining their solutions. In particular, a dynamical system is introduced and (locally) stabilizing control laws which ensure that elements of the state converge to a solution of the algebraic equations are given. Illustrative numerical examples are provided. In addition it is shown that the proposed method is applicable to determine the equilibria of electrical networks with constant power loads.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115795382","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550295
F. Padula, L. Ntogramatzidis
This paper investigates several aspects related with the eigenstructure assignment problem for output-nulling subspaces. In particular, we deliver an alternative method for the computation of the feedback matrix that renders these subspaces invariant with respect to the closed-loop system matrix and assigns a defective eigenstructure in the closed-loop eigenstructure restricted to these subspaces. We show that this method, which consists in building the Jordan chains starting from the generalized eigenspace to the null-space of the Rosenbrock matrix, provides additional freedom in the resulting basis matrix.
{"title":"On the Construction of Jordan Chains in the Eigenstructure Assignment for Output-Nulling Subspaces","authors":"F. Padula, L. Ntogramatzidis","doi":"10.23919/ECC.2018.8550295","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550295","url":null,"abstract":"This paper investigates several aspects related with the eigenstructure assignment problem for output-nulling subspaces. In particular, we deliver an alternative method for the computation of the feedback matrix that renders these subspaces invariant with respect to the closed-loop system matrix and assigns a defective eigenstructure in the closed-loop eigenstructure restricted to these subspaces. We show that this method, which consists in building the Jordan chains starting from the generalized eigenspace to the null-space of the Rosenbrock matrix, provides additional freedom in the resulting basis matrix.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"144 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124148747","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550532
Daiane C. Bortolin, Elizandra K. Odorico, M. Terra
In this paper we deal with the regulation problem for a class of uncertain discrete-time systems with known constant delays in the states. Uncertainties are assumed norm-bounded and affect all parametric matrices of the system. Applying the lifting method, the delayed system is transformed into an augmented delay-free system. Then, the control law is obtained from combination of penalty functions and robust regularized least-squares problem, when there exist uncertainties in the data. The solution provided is given in terms of augmented Riccati equations presented in a framework given by an array of matrices.
{"title":"Robust Linear Quadratic Regulator for Uncertain Linear Discrete-Time Systems with Delay in the States: an augmented system approach","authors":"Daiane C. Bortolin, Elizandra K. Odorico, M. Terra","doi":"10.23919/ECC.2018.8550532","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550532","url":null,"abstract":"In this paper we deal with the regulation problem for a class of uncertain discrete-time systems with known constant delays in the states. Uncertainties are assumed norm-bounded and affect all parametric matrices of the system. Applying the lifting method, the delayed system is transformed into an augmented delay-free system. Then, the control law is obtained from combination of penalty functions and robust regularized least-squares problem, when there exist uncertainties in the data. The solution provided is given in terms of augmented Riccati equations presented in a framework given by an array of matrices.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114972376","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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