Pub Date : 2006-07-24DOI: 10.1109/ACC.2006.1656536
K. D. Do
We present a constructive method to design cooperative controllers that force a group of N mobile agents to stabilize at a fixed desired location in terms of both shape and orientation while guaranteeing no collisions between the agents can occur. The proposed formation stabilization solution is extended to formation tracking in 2-dimensional (2D) space. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs
{"title":"Formation stabilization and tracking control of mobile agents using local potential functions","authors":"K. D. Do","doi":"10.1109/ACC.2006.1656536","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656536","url":null,"abstract":"We present a constructive method to design cooperative controllers that force a group of N mobile agents to stabilize at a fixed desired location in terms of both shape and orientation while guaranteeing no collisions between the agents can occur. The proposed formation stabilization solution is extended to formation tracking in 2-dimensional (2D) space. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"179 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120842498","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 : 2006-07-24DOI: 10.1109/ACC.2006.1657371
H. Chang
In this paper, we provide a formal coherent learning framework where reinforcement learning is combined with multiple learnings and expert advices toward accelerating convergence speed of learning. Our approach is simply to use a nonstationary "potential-based reinforcement function" for shaping the reinforcement signal given to the learning "base-agent". The base-agent employes SARSA(O) or adaptive asynchronous value iteration (VI), and the supervised inputs to the base-agent from the "subagents" involved with other parallel independent reinforcement learnings and if available, from experts are "merged" into the potential-based reinforcement function value and the value is put into the update equation of SARSA(O) for the Q-function estimate or of adaptive asynchronous VI for the optimal value function estimate. The resulting SARSA(O) and adaptive asynchronous VI converge to an optimal policy, respectively
{"title":"Reinforcement learning with supervision by combining multiple learnings and expert advices","authors":"H. Chang","doi":"10.1109/ACC.2006.1657371","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657371","url":null,"abstract":"In this paper, we provide a formal coherent learning framework where reinforcement learning is combined with multiple learnings and expert advices toward accelerating convergence speed of learning. Our approach is simply to use a nonstationary \"potential-based reinforcement function\" for shaping the reinforcement signal given to the learning \"base-agent\". The base-agent employes SARSA(O) or adaptive asynchronous value iteration (VI), and the supervised inputs to the base-agent from the \"subagents\" involved with other parallel independent reinforcement learnings and if available, from experts are \"merged\" into the potential-based reinforcement function value and the value is put into the update equation of SARSA(O) for the Q-function estimate or of adaptive asynchronous VI for the optimal value function estimate. The resulting SARSA(O) and adaptive asynchronous VI converge to an optimal policy, respectively","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133225585","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 : 2006-07-24DOI: 10.1109/ACC.2006.1657428
F. Vargas-Villamil
The vehicle routing (VR) and dispatching for emergency personnel evacuation (EPE) from off-shore oil platforms is a complex and very important problem for the oil and gas industry. Frequently, the emergency evacuation plan has to be modified due to uncertain data and the occurrence of an event. Therefore, the personnel inventory control and scheduling algorithms must be able to take into account uncertainty. In this work, this system is divided into inventories and jobs i.e., loading, unloading, and transportation, and the EPE problem is solved optimizing a transportation capacitated network which is coupled to a set of parallel plants (platforms), where each plant has two processes. In this system, the platforms are served using a dispatching rule, and the VR and dispatching is done solving a mixed-integer nonlinear programming problem (MINLP) each time an event occurs. This approach is illustrated with a case study of a six-vehicle, eight-platform, off-shore oil platform system. Although small, this case study preserves the main characteristics of a real complex since it includes different vehicle types (boats and helicopters), and different platform and vehicle capacities
{"title":"Vehicle routing and dispatching for emergency personnel evacuation from off-shore oil platforms","authors":"F. Vargas-Villamil","doi":"10.1109/ACC.2006.1657428","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657428","url":null,"abstract":"The vehicle routing (VR) and dispatching for emergency personnel evacuation (EPE) from off-shore oil platforms is a complex and very important problem for the oil and gas industry. Frequently, the emergency evacuation plan has to be modified due to uncertain data and the occurrence of an event. Therefore, the personnel inventory control and scheduling algorithms must be able to take into account uncertainty. In this work, this system is divided into inventories and jobs i.e., loading, unloading, and transportation, and the EPE problem is solved optimizing a transportation capacitated network which is coupled to a set of parallel plants (platforms), where each plant has two processes. In this system, the platforms are served using a dispatching rule, and the VR and dispatching is done solving a mixed-integer nonlinear programming problem (MINLP) each time an event occurs. This approach is illustrated with a case study of a six-vehicle, eight-platform, off-shore oil platform system. Although small, this case study preserves the main characteristics of a real complex since it includes different vehicle types (boats and helicopters), and different platform and vehicle capacities","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131426095","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 : 2006-07-24DOI: 10.1109/ACC.2006.1657635
Qing Wu, M. Saif
A fault detection and diagnosis (FDD) scheme using an iterative neuron PID (INPID) observer is explored in this paper. The observer input, which is used to estimate state faults, is computed by utilizing the proportional, integral, and derivative information of the fault estimation error. Two classes of robust adaptive algorithms are adopted to update the parameters of the observer input. Theoretically, the convergence properties of these adaptive algorithms are investigated in two different ways, and the stability of this fault detection and diagnosis scheme is analyzed as well. Finally, the proposed FDD scheme is applied to a satellite with large angle attitude maneuvers, and the simulation results demonstrate its good performance
{"title":"Robust fault diagnosis for a satellite large angle attitude system using an iterative neuron PID (INPID) observer","authors":"Qing Wu, M. Saif","doi":"10.1109/ACC.2006.1657635","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657635","url":null,"abstract":"A fault detection and diagnosis (FDD) scheme using an iterative neuron PID (INPID) observer is explored in this paper. The observer input, which is used to estimate state faults, is computed by utilizing the proportional, integral, and derivative information of the fault estimation error. Two classes of robust adaptive algorithms are adopted to update the parameters of the observer input. Theoretically, the convergence properties of these adaptive algorithms are investigated in two different ways, and the stability of this fault detection and diagnosis scheme is analyzed as well. Finally, the proposed FDD scheme is applied to a satellite with large angle attitude maneuvers, and the simulation results demonstrate its good performance","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128169028","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657650
P. Pisu, A. Serrani, G. Rizzoni
We consider the problem of asymptotic stabilization of nonlinear systems by output feedback, in the case in which the measured output is corrupted by additive harmonic noise. We restrict our attention to systems which are passive with respect to the measured output, and the sensor disturbance has a finite discrete spectrum. A simple condition for zero-state detectability of passive partially linear systems is derived, and the result is employed to analyze the loop interconnection resulting from the application of internal model-based controllers to the perturbed plant. The analysis applies directly to the problem of stabilizing the angular velocity and/ or regulating the attitude of a rigid body using noisy angular rate measurements. The proposed controllers have a simple structure that exploit the passivity property of both the internal model and the plant. Simulation results show the effectiveness of the design
{"title":"Rejection of harmonic sensor disturbances in passive systems, and applications to attitude control","authors":"P. Pisu, A. Serrani, G. Rizzoni","doi":"10.1109/ACC.2006.1657650","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657650","url":null,"abstract":"We consider the problem of asymptotic stabilization of nonlinear systems by output feedback, in the case in which the measured output is corrupted by additive harmonic noise. We restrict our attention to systems which are passive with respect to the measured output, and the sensor disturbance has a finite discrete spectrum. A simple condition for zero-state detectability of passive partially linear systems is derived, and the result is employed to analyze the loop interconnection resulting from the application of internal model-based controllers to the perturbed plant. The analysis applies directly to the problem of stabilizing the angular velocity and/ or regulating the attitude of a rigid body using noisy angular rate measurements. The proposed controllers have a simple structure that exploit the passivity property of both the internal model and the plant. Simulation results show the effectiveness of the design","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"920 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123053182","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 : 2006-06-14DOI: 10.1109/ACC.2006.1656534
J. Finke, K. Passino
A mathematical model is introduced for the study of the behavior of a spatially distributed group of heterogenous agents which possess noisy assessments of the state of their immediate surroundings. We define general sensing and motion conditions on the agents that guarantee the emergence of a type of "ideal free distribution" (IFD) across the environment, and focus on how individual and environmental characteristics affect this distribution. In particular, we show the impact of the agents' maneuvering and sensing abilities for different classes of environments, and how spatial constraints of the environment affect the rate at which the distribution is achieved. Finally, we apply this model to a cooperative vehicle control problem and present simulation results that show the benefits of an IFD-based distributed decision-making strategy
{"title":"Stable emergent heterogeneous agent distributions in noisy environments","authors":"J. Finke, K. Passino","doi":"10.1109/ACC.2006.1656534","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656534","url":null,"abstract":"A mathematical model is introduced for the study of the behavior of a spatially distributed group of heterogenous agents which possess noisy assessments of the state of their immediate surroundings. We define general sensing and motion conditions on the agents that guarantee the emergence of a type of \"ideal free distribution\" (IFD) across the environment, and focus on how individual and environmental characteristics affect this distribution. In particular, we show the impact of the agents' maneuvering and sensing abilities for different classes of environments, and how spatial constraints of the environment affect the rate at which the distribution is achieved. Finally, we apply this model to a cooperative vehicle control problem and present simulation results that show the benefits of an IFD-based distributed decision-making strategy","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"289 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123104902","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 : 2006-06-14DOI: 10.1109/ACC.2006.1655398
Georgios Kotsalis, A. Megretski, M. Dahleh
This paper proposes a model reduction algorithm for discrete-time, Markov jump linear systems. The main point of the reduction method is the formulation of two generalized dissipation inequalities that in conjunction with a suitably defined storage function enable the derivation of reduced order models that come with a provable a priori upper bound on the stochastic L2 gain of the approximation error
{"title":"Model reduction of discrete-time Markov jump linear systems","authors":"Georgios Kotsalis, A. Megretski, M. Dahleh","doi":"10.1109/ACC.2006.1655398","DOIUrl":"https://doi.org/10.1109/ACC.2006.1655398","url":null,"abstract":"This paper proposes a model reduction algorithm for discrete-time, Markov jump linear systems. The main point of the reduction method is the formulation of two generalized dissipation inequalities that in conjunction with a suitably defined storage function enable the derivation of reduced order models that come with a provable a priori upper bound on the stochastic L2 gain of the approximation error","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125235023","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657450
B. Armstrong, Qinghui Yuan
Multi-level control is a novel method introduced for the control of hydraulic motors and pumps. The method is applicable when two-position, electronically controlled valves are connected to each chamber of a gerotor motor or pump. For motors, the multi-level control can directly regulate the torque, similar to torque regulation of a DC electric motor through current control. For pumps, multi-level control can directly regulate the volume flow rate. Multi-level control permits the regulation of hydraulic motors and pumps without the energy loss associated with a flow control valve, or the mechanical complexity associated with a variable displacement device. Regulation is achieved by using computer control to exploit the complete set of valve combinations, creating torque or flow patterns that are not possible with mechanically actuated values
{"title":"Multi-level control of hydraulic gerotor motors and pumps","authors":"B. Armstrong, Qinghui Yuan","doi":"10.1109/ACC.2006.1657450","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657450","url":null,"abstract":"Multi-level control is a novel method introduced for the control of hydraulic motors and pumps. The method is applicable when two-position, electronically controlled valves are connected to each chamber of a gerotor motor or pump. For motors, the multi-level control can directly regulate the torque, similar to torque regulation of a DC electric motor through current control. For pumps, multi-level control can directly regulate the volume flow rate. Multi-level control permits the regulation of hydraulic motors and pumps without the energy loss associated with a flow control valve, or the mechanical complexity associated with a variable displacement device. Regulation is achieved by using computer control to exploit the complete set of valve combinations, creating torque or flow patterns that are not possible with mechanically actuated values","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117124882","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657559
B. Vanek, J. Bokor, G. Balas
A control system based on feedback linearization is developed for a high-speed supercavitating underwater vehicle. The supercavitation bubble surrounding the body leads to reduced drag but is also responsible for the undesired switched, nonlinear and delay dependent behavior caused by the phenomena known as planing. The theoretical contributions of the switched control design are discussed in connection with the mathematical description of the system. Special attention is made to understand and handle the complex and novel dynamics of the vehicle
{"title":"Theoretical aspects of high-speed supercavitation vehicle control","authors":"B. Vanek, J. Bokor, G. Balas","doi":"10.1109/ACC.2006.1657559","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657559","url":null,"abstract":"A control system based on feedback linearization is developed for a high-speed supercavitating underwater vehicle. The supercavitation bubble surrounding the body leads to reduced drag but is also responsible for the undesired switched, nonlinear and delay dependent behavior caused by the phenomena known as planing. The theoretical contributions of the switched control design are discussed in connection with the mathematical description of the system. Special attention is made to understand and handle the complex and novel dynamics of the vehicle","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117142608","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657279
N. Chaturvedi, A. Bloch, N. McClamroch
We present a general intrinsic controller for stabilization of an arbitrary configuration of a fully actuated simple mechanical control system, evolving on a Riemannian manifold. We explicitly determine conditions for an error function on the configuration manifold and present a family of controllers. We show that under certain assumptions the controllers achieve stabilization with an almost global domain of attraction. The controllers do not cancel benign nonlinearities and can accommodate control saturation effects. Being intrinsic, we do not assume any coordinates. Finally, we illustrate our technique by explicitly deriving a control law that almost globally asymptotically stabilizes the inverted position of a spherical pendulum. Continuing this work by N. A. Chaturvedi, et al., we explicitly present error functions for many configuration manifolds encountered in engineering examples, and show how to design almost globally stabilizing controllers, under saturation effects. In this paper, we present the structure of such a controller and establish the properties of the resulting closed-loop
{"title":"Global stabilization of a fully actuated mechanical system on a Riemannian manifold: controller structure","authors":"N. Chaturvedi, A. Bloch, N. McClamroch","doi":"10.1109/ACC.2006.1657279","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657279","url":null,"abstract":"We present a general intrinsic controller for stabilization of an arbitrary configuration of a fully actuated simple mechanical control system, evolving on a Riemannian manifold. We explicitly determine conditions for an error function on the configuration manifold and present a family of controllers. We show that under certain assumptions the controllers achieve stabilization with an almost global domain of attraction. The controllers do not cancel benign nonlinearities and can accommodate control saturation effects. Being intrinsic, we do not assume any coordinates. Finally, we illustrate our technique by explicitly deriving a control law that almost globally asymptotically stabilizes the inverted position of a spherical pendulum. Continuing this work by N. A. Chaturvedi, et al., we explicitly present error functions for many configuration manifolds encountered in engineering examples, and show how to design almost globally stabilizing controllers, under saturation effects. In this paper, we present the structure of such a controller and establish the properties of the resulting closed-loop","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117148712","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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