Pub Date : 2014-06-24DOI: 10.1109/ECC.2014.6862555
S. Delshad, T. Gustafsson
We consider a novel method to design an observer for a class of nonlinear discrete-time systems with unknown inputs. Based on Lyapunov functional, we derive a sufficient condition for existence of the designed observer which requires solving a nonlinear matrix inequality. In light of linear algebra, the achieved condition will be formulated in terms of linear matrix inequality (LMI) that can be solved by popular methods easily. Compared to recent researches, the developed approach shows a significant better performance than other techniques previously published in literature and is less conservative in terms of Lipschitz constant. Finally, the proposed observer is illustrated by implementing the proposed method on a single-link flexible manipulator and the results are compared to some recent similar researches in terms of performance and conservativeness.
{"title":"Observer design for a class of nonlinear systems subject to unknown inputs","authors":"S. Delshad, T. Gustafsson","doi":"10.1109/ECC.2014.6862555","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862555","url":null,"abstract":"We consider a novel method to design an observer for a class of nonlinear discrete-time systems with unknown inputs. Based on Lyapunov functional, we derive a sufficient condition for existence of the designed observer which requires solving a nonlinear matrix inequality. In light of linear algebra, the achieved condition will be formulated in terms of linear matrix inequality (LMI) that can be solved by popular methods easily. Compared to recent researches, the developed approach shows a significant better performance than other techniques previously published in literature and is less conservative in terms of Lipschitz constant. Finally, the proposed observer is illustrated by implementing the proposed method on a single-link flexible manipulator and the results are compared to some recent similar researches in terms of performance and conservativeness.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"14 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":"124336090","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.2014.6862221
L. Vassio, F. Fagnani, P. Frasca, A. Ozdaglar
In this paper, we define a new measure of node centrality in social networks, the Harmonic Influence Centrality, which emerges naturally in the study of social influence over networks. Next, we introduce a distributed message passing algorithm to compute the Harmonic Influence Centrality of each node: its design is based on an intuitive analogy between social and electrical networks. Although our convergence analysis assumes the networks to have no cycle, the algorithm can be successfully applied on general graphs.
{"title":"A message passing algorithm for the evaluation of social influence","authors":"L. Vassio, F. Fagnani, P. Frasca, A. Ozdaglar","doi":"10.1109/ECC.2014.6862221","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862221","url":null,"abstract":"In this paper, we define a new measure of node centrality in social networks, the Harmonic Influence Centrality, which emerges naturally in the study of social influence over networks. Next, we introduce a distributed message passing algorithm to compute the Harmonic Influence Centrality of each node: its design is based on an intuitive analogy between social and electrical networks. Although our convergence analysis assumes the networks to have no cycle, the algorithm can be successfully applied on general graphs.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"5 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":"124501015","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.2014.6862561
T. Vyhlídal, M. Hromčík, V. Kučera, M. Anderle
Signal shaping technique can be distinguished as a very effective tool for suppressing both single and multiple oscillatory modes of a system linked with the shaper. Utilizing the concept of inverse signal shapers placed in the feedback loop, the double oscillatory mode suppression is addressed, considering that the oscillations induced by both the reference signal and the disturbance changes are to be compensated. In order to avoid the closed loop neutrality of the dynamics, the lumped delay that is usually considered in the shaper structure is substituted by a distributed delay. Next to the theoretical analysis, both the numerical and experimental examples are included.
{"title":"Double oscillatory mode compensation by inverse signal shaper with distributed delays","authors":"T. Vyhlídal, M. Hromčík, V. Kučera, M. Anderle","doi":"10.1109/ECC.2014.6862561","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862561","url":null,"abstract":"Signal shaping technique can be distinguished as a very effective tool for suppressing both single and multiple oscillatory modes of a system linked with the shaper. Utilizing the concept of inverse signal shapers placed in the feedback loop, the double oscillatory mode suppression is addressed, considering that the oscillations induced by both the reference signal and the disturbance changes are to be compensated. In order to avoid the closed loop neutrality of the dynamics, the lumped delay that is usually considered in the shaper structure is substituted by a distributed delay. Next to the theoretical analysis, both the numerical and experimental examples are included.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"17 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":"127590094","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.2014.6862216
M. Wagner, A. Kroll
A clustering-based method to identify models that are piecewise affine or of Takagi-Sugeno type is presented. As prototype-based clustering algorithms, which are well suited for partitioning, frequently converge to unwanted local solutions, density-based noise clustering is used to initialize them. The clustering acts in a mixed parameter-position feature space and divides the data into separate sets for identifying local models and partition boundaries, which are assumed to be piecewise planar. The obtained partitions are tested on linearity and otherwise replaced each by a TS model that is identified from the respective data. The method is demonstrated for a test problem that includes switching, local polynomial nonlinearity as well as non-convex partition boundaries.
{"title":"A method to identify hybrid systems with mixed piecewise affine or nonlinear models of Takagi-Sugeno type","authors":"M. Wagner, A. Kroll","doi":"10.1109/ECC.2014.6862216","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862216","url":null,"abstract":"A clustering-based method to identify models that are piecewise affine or of Takagi-Sugeno type is presented. As prototype-based clustering algorithms, which are well suited for partitioning, frequently converge to unwanted local solutions, density-based noise clustering is used to initialize them. The clustering acts in a mixed parameter-position feature space and divides the data into separate sets for identifying local models and partition boundaries, which are assumed to be piecewise planar. The obtained partitions are tested on linearity and otherwise replaced each by a TS model that is identified from the respective data. The method is demonstrated for a test problem that includes switching, local polynomial nonlinearity as well as non-convex partition boundaries.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"95 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":"127667101","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.2014.6862434
R. Muradore, L. Pettazzi, E. Fedrigo
Mechanical vibrations have a deleterious effect on the performance of high accuracy astronomical instruments. In particular the future generation of astronomical instruments is designed to deliver images of unprecedent accuracy and are therefore expected to be even more sensitive to telescope vibrations. It is then necessary to implement mechanical and software counter actions to mitigate their effect and to guarantee the expected accuracy and resolution. In this paper we report on the implementation of an adaptive control algorithm for the vibration rejection in single conjugated and laser tomography adaptive optics systems. The proposed approach can be easily adapted to the two different AO control architectures delivering the expected performance. Experimental validations at the telescope are also reported.
{"title":"Adaptive vibration cancellation in adaptive optics: An experimental validation","authors":"R. Muradore, L. Pettazzi, E. Fedrigo","doi":"10.1109/ECC.2014.6862434","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862434","url":null,"abstract":"Mechanical vibrations have a deleterious effect on the performance of high accuracy astronomical instruments. In particular the future generation of astronomical instruments is designed to deliver images of unprecedent accuracy and are therefore expected to be even more sensitive to telescope vibrations. It is then necessary to implement mechanical and software counter actions to mitigate their effect and to guarantee the expected accuracy and resolution. In this paper we report on the implementation of an adaptive control algorithm for the vibration rejection in single conjugated and laser tomography adaptive optics systems. The proposed approach can be easily adapted to the two different AO control architectures delivering the expected performance. Experimental validations at the telescope are also reported.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"77 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":"126242379","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.2014.6862217
Johannes Schiffer, T. Seel, J. Raisch, T. Sezi
We propose a consensus-based distributed voltage control (DVC), which solves the problem of reactive power sharing in autonomous meshed inverter-based microgrids with inductive power lines. Opposed to other control strategies available thus far, the DVC does guarantee reactive power sharing in steady-state while only requiring distributed communication among inverters, i.e. no central computing nor communication unit is needed. Moreover, we provide a necessary and sufficient condition for local exponential stability. In addition, the performance of the proposed control is compared to the usual voltage droop control [1] in a simulation example based on the CIGRE benchmark medium voltage distribution network.
{"title":"A consensus-based distributed voltage control for reactive power sharing in microgrids","authors":"Johannes Schiffer, T. Seel, J. Raisch, T. Sezi","doi":"10.1109/ECC.2014.6862217","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862217","url":null,"abstract":"We propose a consensus-based distributed voltage control (DVC), which solves the problem of reactive power sharing in autonomous meshed inverter-based microgrids with inductive power lines. Opposed to other control strategies available thus far, the DVC does guarantee reactive power sharing in steady-state while only requiring distributed communication among inverters, i.e. no central computing nor communication unit is needed. Moreover, we provide a necessary and sufficient condition for local exponential stability. In addition, the performance of the proposed control is compared to the usual voltage droop control [1] in a simulation example based on the CIGRE benchmark medium voltage distribution network.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"66 6 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":"126397108","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.2014.6862573
Z. Belkhatir, T. Laleg‐Kirati, M. Tadjine
This paper discusses the possibility of using observer-based approaches for cardiovascular anomalies detection and isolation. We consider a lumped parameter model of the cardiovascular system that can be written in a form of nonlinear state-space representation. We show that residuals that are sensitive to variations in some cardiovascular parameters and to abnormal opening and closure of the valves, can be generated. Since the whole state is not easily available for measurement, we propose to associate the residual generator to a robust extended kalman filter. Numerical results performed on synthetic data are provided.
{"title":"Residual generator for cardiovascular anomalies detection","authors":"Z. Belkhatir, T. Laleg‐Kirati, M. Tadjine","doi":"10.1109/ECC.2014.6862573","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862573","url":null,"abstract":"This paper discusses the possibility of using observer-based approaches for cardiovascular anomalies detection and isolation. We consider a lumped parameter model of the cardiovascular system that can be written in a form of nonlinear state-space representation. We show that residuals that are sensitive to variations in some cardiovascular parameters and to abnormal opening and closure of the valves, can be generated. Since the whole state is not easily available for measurement, we propose to associate the residual generator to a robust extended kalman filter. Numerical results performed on synthetic data are provided.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"51 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":"126550182","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.2014.6862523
A. Ferrara, G. P. Incremona, L. Magni
A model-based event-triggered control scheme based on the combined use of Model Predictive Control (MPC) and Integral Sliding Mode (ISM) control is proposed in this paper. The aim is to reduce to a minimum the number of transmissions of the plant state over the network, in order to alleviate delays and packet loss induced by the network overload, while guaranteeing robust stability and constraints fulfillment. The presented control scheme includes a model-based controller and a smart sensor, both containing a copy of the nominal model of the plant. The sensor intelligence is provided by a triggering condition, which enables to determine when it is necessary to transmit the measured state and to update the nominal model. The controller includes an ISM component, which has the role of compensating the uncertainties, and a MPC term which optimizes the system evolution. The control system performance are assessed in simulation relying on an illustrative mechanical example.
{"title":"Model-based event-triggered robust MPC/ISM","authors":"A. Ferrara, G. P. Incremona, L. Magni","doi":"10.1109/ECC.2014.6862523","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862523","url":null,"abstract":"A model-based event-triggered control scheme based on the combined use of Model Predictive Control (MPC) and Integral Sliding Mode (ISM) control is proposed in this paper. The aim is to reduce to a minimum the number of transmissions of the plant state over the network, in order to alleviate delays and packet loss induced by the network overload, while guaranteeing robust stability and constraints fulfillment. The presented control scheme includes a model-based controller and a smart sensor, both containing a copy of the nominal model of the plant. The sensor intelligence is provided by a triggering condition, which enables to determine when it is necessary to transmit the measured state and to update the nominal model. The controller includes an ISM component, which has the role of compensating the uncertainties, and a MPC term which optimizes the system evolution. The control system performance are assessed in simulation relying on an illustrative mechanical example.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"29 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":"128146108","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.2014.6862399
A. Polyakov, D. Efimov, W. Perruquetti
The Implicit Lyapunov Function (ILF) for a class of homogeneous systems is introduced and studied. The analysis of homogeneous differentiator using ILF method is presented. Sufficient stability conditions for homogeneous differentiator are obtained and represented by a parameterized system of Linear Matrix Inequalities (LMI). The differentiation error and convergence time are estimated. The procedure of parameters tuning for homogeneous differentiator is formulated as the semi-definite programming problem with LMI constraints. The obtained theoretical results are supported by numerical simulations.
{"title":"Homogeneous differentiator design using implicit Lyapunov Function method","authors":"A. Polyakov, D. Efimov, W. Perruquetti","doi":"10.1109/ECC.2014.6862399","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862399","url":null,"abstract":"The Implicit Lyapunov Function (ILF) for a class of homogeneous systems is introduced and studied. The analysis of homogeneous differentiator using ILF method is presented. Sufficient stability conditions for homogeneous differentiator are obtained and represented by a parameterized system of Linear Matrix Inequalities (LMI). The differentiation error and convergence time are estimated. The procedure of parameters tuning for homogeneous differentiator is formulated as the semi-definite programming problem with LMI constraints. The obtained theoretical results are supported by numerical simulations.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"46 8 Pt 1 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":"125708761","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.2014.6862174
J. Komenda, Tomas Masopust, J. H. Schuppen
A multilevel coordination approach is proposed to lower the complexity of control synthesis of large-scale discrete-event systems. The bottom-up control synthesis method requires only conditional decomposability and conditional controllability of the system and of the specification unlike the top-down approach that requires the specification to be conditionally decomposable and conditionally controllable with respect to the multilevel architecture. The computation of coordinators and supervisors on different levels is presented. An academic example of two level control architecture is provided.
{"title":"Bottom-up approach to multilevel supervisory control with coordination","authors":"J. Komenda, Tomas Masopust, J. H. Schuppen","doi":"10.1109/ECC.2014.6862174","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862174","url":null,"abstract":"A multilevel coordination approach is proposed to lower the complexity of control synthesis of large-scale discrete-event systems. The bottom-up control synthesis method requires only conditional decomposability and conditional controllability of the system and of the specification unlike the top-down approach that requires the specification to be conditionally decomposable and conditionally controllable with respect to the multilevel architecture. The computation of coordinators and supervisors on different levels is presented. An academic example of two level control architecture is provided.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"42 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":"125762082","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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