Pub Date : 2014-06-24DOI: 10.1109/ECC.2014.6862225
C. Yuan, Fen Wu
This paper presents a systematic Lyapunov-based approach for output-feedback reset control of linear time-invariant (LTI) systems with a general multiple-input multiple-output (MIMO) configuration. The reset controller consists of a base linear controller and a reset law that enforces resets to the controller states. Based on the extended Lyapunov-like function (ELF) technique, the reset controller with guaranteed exponential stability and weighted L2-gain performance is synthesized by solving a set of linear matrix inequalities (LMIs) with linear search over two scalar variables. A numerical example is used to illustrate the effectiveness of the proposed approach.
{"title":"Output feedback reset control of general MIMO LTI systems","authors":"C. Yuan, Fen Wu","doi":"10.1109/ECC.2014.6862225","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862225","url":null,"abstract":"This paper presents a systematic Lyapunov-based approach for output-feedback reset control of linear time-invariant (LTI) systems with a general multiple-input multiple-output (MIMO) configuration. The reset controller consists of a base linear controller and a reset law that enforces resets to the controller states. Based on the extended Lyapunov-like function (ELF) technique, the reset controller with guaranteed exponential stability and weighted L2-gain performance is synthesized by solving a set of linear matrix inequalities (LMIs) with linear search over two scalar variables. A numerical example is used to illustrate the effectiveness of the proposed approach.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116769242","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862400
Martin Klauco, Slavomir Blazek, M. Kvasnica, M. Fikar
We consider the path planning problem for heterogeneous multi-vehicle systems. In such a setup an agile vehicle, which can move quickly but has limited operating range, is carried by a carrier vehicle that moves slowly but has large range. The objective is to devise an optimal path for the multi-vehicle system such that all desired points are visited as quickly as possible, while respecting all physical constraints. We show how to translate the mixed-integer nonlinear formulation of such a problem into a mixed-integer second-order cone problem that can be solved much more efficiently. The translation process employs basic concepts of propositional logic and is not conservative. Efficacy of the proposed formulation is demonstrated on a large case study.
{"title":"Mixed-integer SOCP formulation of the path planning problem for heterogeneous multi-vehicle systems","authors":"Martin Klauco, Slavomir Blazek, M. Kvasnica, M. Fikar","doi":"10.1109/ECC.2014.6862400","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862400","url":null,"abstract":"We consider the path planning problem for heterogeneous multi-vehicle systems. In such a setup an agile vehicle, which can move quickly but has limited operating range, is carried by a carrier vehicle that moves slowly but has large range. The objective is to devise an optimal path for the multi-vehicle system such that all desired points are visited as quickly as possible, while respecting all physical constraints. We show how to translate the mixed-integer nonlinear formulation of such a problem into a mixed-integer second-order cone problem that can be solved much more efficiently. The translation process employs basic concepts of propositional logic and is not conservative. Efficacy of the proposed formulation is demonstrated on a large case study.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121140078","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862632
A. Chiuso, G. Pillonetto
System Identification has been developed, by and large, following the classical parametric approach. In this tutorial we shall discuss how Bayesian statistics and regularization theory can be employed to tackle the system identification problem from a nonparametric (or semi-parametric) point of view. The present paper provides an introduction to the use of Bayesian techniques for smoothness and sparseness, which turn out to be flexible means to face the bias/variance dilemma and to perform model selection.
{"title":"Bayesian and nonparametric methods for system identification and model selection","authors":"A. Chiuso, G. Pillonetto","doi":"10.1109/ECC.2014.6862632","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862632","url":null,"abstract":"System Identification has been developed, by and large, following the classical parametric approach. In this tutorial we shall discuss how Bayesian statistics and regularization theory can be employed to tackle the system identification problem from a nonparametric (or semi-parametric) point of view. The present paper provides an introduction to the use of Bayesian techniques for smoothness and sparseness, which turn out to be flexible means to face the bias/variance dilemma and to perform model selection.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127096744","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862556
G. Bastin, J. Coron, B. d'Andréa-Novel, P. Suvarov, A. Wouwer, A. Kienle
This paper addresses the issue of the exponential stability of hybrid hyperbolic systems with switching boundary conditions. Our contribution is to show, through the specific example of SMB chromatography, how exponential stability (in L2-norm) can be established when the switching mechanism is precisely defined. The obtained stability conditions are direct generalizations of the corresponding results for the unswitched case.
{"title":"Stability analysis of switching hyperbolic systems: the example of SMB chromatography","authors":"G. Bastin, J. Coron, B. d'Andréa-Novel, P. Suvarov, A. Wouwer, A. Kienle","doi":"10.1109/ECC.2014.6862556","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862556","url":null,"abstract":"This paper addresses the issue of the exponential stability of hybrid hyperbolic systems with switching boundary conditions. Our contribution is to show, through the specific example of SMB chromatography, how exponential stability (in L2-norm) can be established when the switching mechanism is precisely defined. The obtained stability conditions are direct generalizations of the corresponding results for the unswitched case.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125113717","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862203
M. Mahmoud
This paper establishes robust guaranteed-cost decentralized stabilization method for interconnected continuous-time systems with Lipschitz-type nonlinearities and subject to convex-bounded parametric uncertainties. We design a decentralized observer-based feedback stabilization scheme such that the family of closed-loop feedback subsystems enjoys the asymptotic stability with a guaranteed cost for each subsystem. The decentralized feedback gains are determined by convex optimization over LMIs. All the developed results are tested on an interconnected power system.
{"title":"Robust decentralized guaranteed-cost control for interconnected power systems","authors":"M. Mahmoud","doi":"10.1109/ECC.2014.6862203","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862203","url":null,"abstract":"This paper establishes robust guaranteed-cost decentralized stabilization method for interconnected continuous-time systems with Lipschitz-type nonlinearities and subject to convex-bounded parametric uncertainties. We design a decentralized observer-based feedback stabilization scheme such that the family of closed-loop feedback subsystems enjoys the asymptotic stability with a guaranteed cost for each subsystem. The decentralized feedback gains are determined by convex optimization over LMIs. All the developed results are tested on an interconnected power system.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125739718","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862638
Thomas P. Prescott, A. Papachristodoulou
Synthetic Biology is a new, rapidly developing field at the interface of Engineering and Biology. It aims to design new, or redesign existing biological systems for a particular purpose. The early years have seen the design of simple devices and parts (such as switches and oscillators); Synthetic Biology is now entering a new phase of development as the successfully designed devices of recent years are exploited to create systems of increasing sophistication. Control theoretic techniques play an important part in the design of these networks, as well as for allowing increasing levels of complexity to be engineered into synthetic biological systems. At the same time, the implementation of feedback control in these networks will allow them to sense, process and actuate on environmental and internal cues.
{"title":"Synthetic biology: A control engineering perspective","authors":"Thomas P. Prescott, A. Papachristodoulou","doi":"10.1109/ECC.2014.6862638","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862638","url":null,"abstract":"Synthetic Biology is a new, rapidly developing field at the interface of Engineering and Biology. It aims to design new, or redesign existing biological systems for a particular purpose. The early years have seen the design of simple devices and parts (such as switches and oscillators); Synthetic Biology is now entering a new phase of development as the successfully designed devices of recent years are exploited to create systems of increasing sophistication. Control theoretic techniques play an important part in the design of these networks, as well as for allowing increasing levels of complexity to be engineered into synthetic biological systems. At the same time, the implementation of feedback control in these networks will allow them to sense, process and actuate on environmental and internal cues.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"12 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126177566","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862323
A. Iftar
Robust controller design problem for time-delay systems with distributed time-delay is considered. A robustness bound, which accounts for the uncertainties in the system is defined. A controller design approach, which uses this bound, is then proposed. Once the robustness bound is obtained, the proposed approach is completely based on the nominal model and satisfying a simple condition guarantees that the actual system is robustly stable. An example is also presented to demonstrate the proposed approach.
{"title":"A robust controller design approach for systems with distributed time-delay","authors":"A. Iftar","doi":"10.1109/ECC.2014.6862323","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862323","url":null,"abstract":"Robust controller design problem for time-delay systems with distributed time-delay is considered. A robustness bound, which accounts for the uncertainties in the system is defined. A controller design approach, which uses this bound, is then proposed. Once the robustness bound is obtained, the proposed approach is completely based on the nominal model and satisfying a simple condition guarantees that the actual system is robustly stable. An example is also presented to demonstrate the proposed approach.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123551309","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862437
Olivier Huber, Vincent Acary, B. Brogliato
Continuous-time Sliding Mode Control yields when embedded into Filippov's mathematical framework, closed-loop systems with a set-valued controller, represented by differential inclusions. In particular, besides finite-time convergence to the sliding surface and robustness to matched disturbances, such controllers allow an exact compensation of the disturbance on the sliding manifold. In other words, the set-valued input is the exact copy of minus the perturbation. A novel discretization methodology has been recently introduced by the authors, which is based on an implicit discretization of the Filippov's differential inclusion, which in theory totally suppresses the chattering due to the discretization (numerical chattering). In this work we propose an extension of the implicit method, enhancing the perturbation attenuation (in terms of chattering) by using previous values of the set-valued input. This allows to estimate on-line the unknown perturbation, with a time delay due to the sampling. Simulation results illustrate the effectiveness of the method.
{"title":"Enhanced matching perturbation attenuation with discrete-time implementations of sliding-mode controllers","authors":"Olivier Huber, Vincent Acary, B. Brogliato","doi":"10.1109/ECC.2014.6862437","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862437","url":null,"abstract":"Continuous-time Sliding Mode Control yields when embedded into Filippov's mathematical framework, closed-loop systems with a set-valued controller, represented by differential inclusions. In particular, besides finite-time convergence to the sliding surface and robustness to matched disturbances, such controllers allow an exact compensation of the disturbance on the sliding manifold. In other words, the set-valued input is the exact copy of minus the perturbation. A novel discretization methodology has been recently introduced by the authors, which is based on an implicit discretization of the Filippov's differential inclusion, which in theory totally suppresses the chattering due to the discretization (numerical chattering). In this work we propose an extension of the implicit method, enhancing the perturbation attenuation (in terms of chattering) by using previous values of the set-valued input. This allows to estimate on-line the unknown perturbation, with a time delay due to the sampling. Simulation results illustrate the effectiveness of the method.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123785979","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862584
T. Manrique, M. Fiacchini, T. Chambrion, G. Millérioux
This paper presents a real-time MPC-based tracking strategy for linear systems subject to time-varying constraints. The framework is quite general since time-varying constraints in the state and in the input are considered. To handle the problem, a polytopic invariant set computed offline is homogeneously dilated and contracted on-line to fit the polytopic time-varying constraints, and used as an admissible terminal set constraint to guarantee stability and convergence in the tracking task. The on-line cost of the homothetic invariant set computation is negligible and allows dealing with tracking problems for real-time applications.
{"title":"MPC tracking under time-varying polytopic constraints for real-time applications","authors":"T. Manrique, M. Fiacchini, T. Chambrion, G. Millérioux","doi":"10.1109/ECC.2014.6862584","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862584","url":null,"abstract":"This paper presents a real-time MPC-based tracking strategy for linear systems subject to time-varying constraints. The framework is quite general since time-varying constraints in the state and in the input are considered. To handle the problem, a polytopic invariant set computed offline is homogeneously dilated and contracted on-line to fit the polytopic time-varying constraints, and used as an admissible terminal set constraint to guarantee stability and convergence in the tracking task. The on-line cost of the homothetic invariant set computation is negligible and allows dealing with tracking problems for real-time applications.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125292167","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862293
Sang-Chul Lee, Seung-Ju Lee, Kwang‐Kyo Oh, H. Ahn
This paper proposes an output synchronization technique for an interconnected heterogeneous linear time-invariant systems with measurement uncertainty. The distributed Walcott-Zak like sliding-model observers which can compensate the measurement uncertainties are designed; so the estimation error is obtained in such a way that asymptotically stable. Using the internal model principle, a reference generator is designed and it is validated that the distributed synchronization controllers guarantee that all the output of sub-systems achieve synchronization to a non-trivial common output trajectory.
{"title":"Sliding-mode observer based synchronization of interconnected heterogeneous systems with measurement uncertainty","authors":"Sang-Chul Lee, Seung-Ju Lee, Kwang‐Kyo Oh, H. Ahn","doi":"10.1109/ECC.2014.6862293","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862293","url":null,"abstract":"This paper proposes an output synchronization technique for an interconnected heterogeneous linear time-invariant systems with measurement uncertainty. The distributed Walcott-Zak like sliding-model observers which can compensate the measurement uncertainties are designed; so the estimation error is obtained in such a way that asymptotically stable. Using the internal model principle, a reference generator is designed and it is validated that the distributed synchronization controllers guarantee that all the output of sub-systems achieve synchronization to a non-trivial common output trajectory.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115567498","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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