Pub Date : 2004-12-01DOI: 10.1109/CDC.2004.1429544
Maricela Figueroa Garcia, M. B. Estrada, M. Malabre, J. C. Martínez-García
This paper considers the failure detection and reconstruction problem, for linear time invariant systems, with generalized solutions based on left inverse techniques.
本文研究线性时不变系统的故障检测与重构问题，并给出了基于左逆技术的广义解。
{"title":"On failure detection by inversion techniques","authors":"Maricela Figueroa Garcia, M. B. Estrada, M. Malabre, J. C. Martínez-García","doi":"10.1109/CDC.2004.1429544","DOIUrl":"https://doi.org/10.1109/CDC.2004.1429544","url":null,"abstract":"This paper considers the failure detection and reconstruction problem, for linear time invariant systems, with generalized solutions based on left inverse techniques.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126298127","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 : 2004-12-01DOI: 10.1109/CDC.2004.1428875
J. Imae, Y. Kikuchi, N. Ohtsuki, Tomoaki Kobayashi, G. Zhai
Based on the genetic programming (GP), a new design method of optimal and/or robust controllers of nonlinear systems is proposed. First we introduce a new type of genetic programming, which is called "differential GP". The differential GP combines the conventional GP with an automatic differentiation scheme, so that it can solve Hamilton-Jacobi-Bellman (HJB)/Hamilton-Jacobi-Isaacs (HJI)/Francis - Byrnes - Isidori (FBI) equations. Our design method is mainly based on the differential GP technique, and so it gives us a new possibility of the HJB/HJI/FBI based design techniques. Lastly, the effectiveness of the differential GP based design method is demonstrated through some design examples of nonlinear systems.
{"title":"Design of nonlinear control systems by means of differential genetic programming","authors":"J. Imae, Y. Kikuchi, N. Ohtsuki, Tomoaki Kobayashi, G. Zhai","doi":"10.1109/CDC.2004.1428875","DOIUrl":"https://doi.org/10.1109/CDC.2004.1428875","url":null,"abstract":"Based on the genetic programming (GP), a new design method of optimal and/or robust controllers of nonlinear systems is proposed. First we introduce a new type of genetic programming, which is called \"differential GP\". The differential GP combines the conventional GP with an automatic differentiation scheme, so that it can solve Hamilton-Jacobi-Bellman (HJB)/Hamilton-Jacobi-Isaacs (HJI)/Francis - Byrnes - Isidori (FBI) equations. Our design method is mainly based on the differential GP technique, and so it gives us a new possibility of the HJB/HJI/FBI based design techniques. Lastly, the effectiveness of the differential GP based design method is demonstrated through some design examples of nonlinear systems.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121022153","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 : 2004-12-01DOI: 10.1109/CDC.2004.1428878
S. Sanghavi, B. Hajek
We address the problem of allocating a divisible resource to buyers who value the quantity they receive, but strategize to maximize their net payoff (value minus payment). An allocation mechanism is used to allocate the resource based on bids declared by the buyers. The bids are equal to the payments, and the buyers are assumed to be in Nash equilibrium. For two buyers such an allocation mechanism is found that guarantees that the aggregate value is always greater than 7/8 of the maximum possible, and it is shown that no other mechanism achieves a larger ratio. For a general finite number of buyers an allocation mechanism is given and an expression is given for its worst case efficiency. For three buyers the expression evaluates to 0.8737, for four buyers to 0.8735 and numerical computations suggest that the numerical value does not decrease when the number of buyers is increased beyond four. A potential application of this work is the allocation of communication bandwidth on a single link.
{"title":"Optimal allocation of a divisible good to strategic buyers","authors":"S. Sanghavi, B. Hajek","doi":"10.1109/CDC.2004.1428878","DOIUrl":"https://doi.org/10.1109/CDC.2004.1428878","url":null,"abstract":"We address the problem of allocating a divisible resource to buyers who value the quantity they receive, but strategize to maximize their net payoff (value minus payment). An allocation mechanism is used to allocate the resource based on bids declared by the buyers. The bids are equal to the payments, and the buyers are assumed to be in Nash equilibrium. For two buyers such an allocation mechanism is found that guarantees that the aggregate value is always greater than 7/8 of the maximum possible, and it is shown that no other mechanism achieves a larger ratio. For a general finite number of buyers an allocation mechanism is given and an expression is given for its worst case efficiency. For three buyers the expression evaluates to 0.8737, for four buyers to 0.8735 and numerical computations suggest that the numerical value does not decrease when the number of buyers is increased beyond four. A potential application of this work is the allocation of communication bandwidth on a single link.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131624147","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 : 2004-12-01DOI: 10.1109/CDC.2004.1429324
A. Macchelli, A. Schaft, C. Melchiorri
In this paper, some new results concerning the modeling of distributed parameter systems in port Hamiltonian form are presented. The classical finite dimensional port Hamiltonian formulation of a dynamical system is generalized in order to cope with the distributed parameter and multivariable case. The resulting class of infinite dimensional systems is quite general, thus allowing the description of several physical phenomena, such as heat conduction, piezoelectricity and elasticity. Furthermore, classical PDEs can be rewritten within this framework. The key point is the generalization of the notion of finite dimensional Dirac structure in order to deal with an infinite dimensional space of power variables.
{"title":"Port Hamiltonian formulation of infinite dimensional systems I. Modeling","authors":"A. Macchelli, A. Schaft, C. Melchiorri","doi":"10.1109/CDC.2004.1429324","DOIUrl":"https://doi.org/10.1109/CDC.2004.1429324","url":null,"abstract":"In this paper, some new results concerning the modeling of distributed parameter systems in port Hamiltonian form are presented. The classical finite dimensional port Hamiltonian formulation of a dynamical system is generalized in order to cope with the distributed parameter and multivariable case. The resulting class of infinite dimensional systems is quite general, thus allowing the description of several physical phenomena, such as heat conduction, piezoelectricity and elasticity. Furthermore, classical PDEs can be rewritten within this framework. The key point is the generalization of the notion of finite dimensional Dirac structure in order to deal with an infinite dimensional space of power variables.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122961725","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 : 2004-12-01DOI: 10.1109/CDC.2004.1430280
E.N. Johnson, A. Calise, R. Sattigeri, Y. Watanabe, V. Madyastha
This paper implements several methods for performing vision-based formation flight control of multiple aircraft in the presence of obstacles. No information is communicated between aircraft, and only passive 2-D vision information is available to maintain formation. The methods for formation control rely either on estimating the range from 2-D vision information by using extended Kalman Filters or directly regulating the size of the image subtended by a leader aircraft on the image plane. When the image size is not a reliable measurement, especially at large ranges, we consider the use of bearing-only information. In this case, observability with respect to the relative distance between vehicles is accomplished by the design of a time-dependent formation geometry. To improve the robustness of the estimation process with respect to unknown leader aircraft acceleration, we augment the EKF with an adaptive neural network. 2-D and 3-D simulation results are presented that illustrate the various approaches.
{"title":"Approaches to vision-based formation control","authors":"E.N. Johnson, A. Calise, R. Sattigeri, Y. Watanabe, V. Madyastha","doi":"10.1109/CDC.2004.1430280","DOIUrl":"https://doi.org/10.1109/CDC.2004.1430280","url":null,"abstract":"This paper implements several methods for performing vision-based formation flight control of multiple aircraft in the presence of obstacles. No information is communicated between aircraft, and only passive 2-D vision information is available to maintain formation. The methods for formation control rely either on estimating the range from 2-D vision information by using extended Kalman Filters or directly regulating the size of the image subtended by a leader aircraft on the image plane. When the image size is not a reliable measurement, especially at large ranges, we consider the use of bearing-only information. In this case, observability with respect to the relative distance between vehicles is accomplished by the design of a time-dependent formation geometry. To improve the robustness of the estimation process with respect to unknown leader aircraft acceleration, we augment the EKF with an adaptive neural network. 2-D and 3-D simulation results are presented that illustrate the various approaches.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126833725","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 : 2004-12-01DOI: 10.1109/CDC.2004.1428647
C. Chevallereau, E. Westervelt, J. Grizzle
Provably asymptotically-stable running-gaits are developed for the five-link, four-actuator bipedal robot, RABBIT. A controller is designed so that the Poincare return map associated with the running gait can be computed on the basis of a model with impulse-effects that, previously, had been used only for the design of walking gaits. This feedback design leads to the notion of a hybrid zero dynamics (HZD) for running and to the closed-form computation of the Poincare return map on the zero dynamics. The main theorem is illustrated via simulation. Animations of the obtained running motion are available on the Web.
{"title":"Asymptotic stabilization of a five-link, four-actuator, planar bipedal runner","authors":"C. Chevallereau, E. Westervelt, J. Grizzle","doi":"10.1109/CDC.2004.1428647","DOIUrl":"https://doi.org/10.1109/CDC.2004.1428647","url":null,"abstract":"Provably asymptotically-stable running-gaits are developed for the five-link, four-actuator bipedal robot, RABBIT. A controller is designed so that the Poincare return map associated with the running gait can be computed on the basis of a model with impulse-effects that, previously, had been used only for the design of walking gaits. This feedback design leads to the notion of a hybrid zero dynamics (HZD) for running and to the closed-form computation of the Poincare return map on the zero dynamics. The main theorem is illustrated via simulation. Animations of the obtained running motion are available on the Web.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"190 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131461576","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 : 2004-12-01DOI: 10.1109/CDC.2004.1428795
Shoudong Huang, M. James, D. Nešić, P. Dower
An approach for design of measurement feedback controllers achieving input-to-state (ISS) stability properties is presented. A synthesis procedure based on dynamic programming is given. We make use of recently developed results on controller synthesis to achieve uniform l/sup /spl infin// bound (Huang and James, 2003). Our results make an important connection between the ISS literature and nonlinear H/sup /spl infin// design methods.
提出了一种测量反馈控制器的设计方法，实现了输入到状态(ISS)的稳定性。给出了一种基于动态规划的综合方法。我们利用最近开发的控制器合成的结果来实现均匀的l/sup /spl in// bound (Huang and James, 2003)。我们的结果在ISS文献和非线性H/sup /spl设计方法之间建立了重要的联系。
{"title":"Measurement feedback controller design to achieve input to state stability","authors":"Shoudong Huang, M. James, D. Nešić, P. Dower","doi":"10.1109/CDC.2004.1428795","DOIUrl":"https://doi.org/10.1109/CDC.2004.1428795","url":null,"abstract":"An approach for design of measurement feedback controllers achieving input-to-state (ISS) stability properties is presented. A synthesis procedure based on dynamic programming is given. We make use of recently developed results on controller synthesis to achieve uniform l/sup /spl infin// bound (Huang and James, 2003). Our results make an important connection between the ISS literature and nonlinear H/sup /spl infin// design methods.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133305319","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 : 2004-12-01DOI: 10.1109/CDC.2004.1429530
Sujit Nair, Naomi Ehrich Leonard
In this paper we present a stabilizing and coordinating control law for a network of spinning rigid bodies with unstable dynamics. The control law stabilizes each rigid body to spin about its unstable, intermediate axis while also aligning all of the spinning rigid bodies so that their orientations in inertial space are identical. The control law is derived using kinetic energy shaping for stabilization and potential shaping for coupling. The coupled system is Lagrangian with symmetry, and energy methods are used to prove stability and coordinated behavior.
{"title":"Stabilization of a coordinated network of rotating rigid bodies","authors":"Sujit Nair, Naomi Ehrich Leonard","doi":"10.1109/CDC.2004.1429530","DOIUrl":"https://doi.org/10.1109/CDC.2004.1429530","url":null,"abstract":"In this paper we present a stabilizing and coordinating control law for a network of spinning rigid bodies with unstable dynamics. The control law stabilizes each rigid body to spin about its unstable, intermediate axis while also aligning all of the spinning rigid bodies so that their orientations in inertial space are identical. The control law is derived using kinetic energy shaping for stabilization and potential shaping for coupling. The coupled system is Lagrangian with symmetry, and energy methods are used to prove stability and coordinated behavior.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115353240","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 : 2004-12-01DOI: 10.1109/CDC.2004.1428731
Duan Li, F. Qian
The classical linear-quadratic Gaussian problem is reexamined in this paper with a purpose to better control the dispersion of its randomly valued performance index. A closed-loop optimal control law is derived for discrete time linear-quadratic Gaussian problems with a mean-variance objective, by developing a nested form of the variance and using nonlinear mathematical programming as a solution scheme.
{"title":"Closed-loop optimal control law for discrete-time LQG problems with a mean-variance objective","authors":"Duan Li, F. Qian","doi":"10.1109/CDC.2004.1428731","DOIUrl":"https://doi.org/10.1109/CDC.2004.1428731","url":null,"abstract":"The classical linear-quadratic Gaussian problem is reexamined in this paper with a purpose to better control the dispersion of its randomly valued performance index. A closed-loop optimal control law is derived for discrete time linear-quadratic Gaussian problems with a mean-variance objective, by developing a nested form of the variance and using nonlinear mathematical programming as a solution scheme.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125490660","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 : 2004-12-01DOI: 10.1109/CDC.2004.1429277
H. Kano, H. Fujioka, Xinkai Chen
We consider a problem of recovering motion of object moving in space under perspective observation. It is assumed that the motion equation is described by a linear system with unknown constant motion parameters and that a single feature point on the object is perspectively observed by two cameras. Then we analyze the identifiability of motion parameters from the stereo image data observed over an interval of time. The identifiability problem is solved by employing theories on linear dynamical systems. It is shown that the parameters are identifiable generically. Moreover, the only cases where the parameters can not be determined uniquely imply very much restrictive motions, confined either in certain planes or lines, in which case any identification algorithms will fail. Moreover whenever the parameters can be determined uniquely, the parameters can be recovered from stereo image data over any time interval of arbitrary length. The problem is also analyzed in discrete-time settings, which can be used far the case of continuous-time motion with discrete-time observations.
{"title":"Identifiability of motion parameters under perspective stereo vision","authors":"H. Kano, H. Fujioka, Xinkai Chen","doi":"10.1109/CDC.2004.1429277","DOIUrl":"https://doi.org/10.1109/CDC.2004.1429277","url":null,"abstract":"We consider a problem of recovering motion of object moving in space under perspective observation. It is assumed that the motion equation is described by a linear system with unknown constant motion parameters and that a single feature point on the object is perspectively observed by two cameras. Then we analyze the identifiability of motion parameters from the stereo image data observed over an interval of time. The identifiability problem is solved by employing theories on linear dynamical systems. It is shown that the parameters are identifiable generically. Moreover, the only cases where the parameters can not be determined uniquely imply very much restrictive motions, confined either in certain planes or lines, in which case any identification algorithms will fail. Moreover whenever the parameters can be determined uniquely, the parameters can be recovered from stereo image data over any time interval of arbitrary length. The problem is also analyzed in discrete-time settings, which can be used far the case of continuous-time motion with discrete-time observations.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127735828","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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