Pub Date : 2006-06-14DOI: 10.1109/ACC.2006.1657359
A. Araújo, P. Alsina, Samaherni M. Dias
This work addresses the dynamic control problem of nonholonomic direct differential-drive two-actuated-wheeled mobile robot and presents a robot positioning controller, which requires information about the robot configuration (x, y and thetas, that are collected by an absolute positioning system). The control strategy developed uses the mobile robot dynamic model linear representation. In this way, we must be change the system controlled variables from x, y, thetas to S (denoting the robot linear displacement) and thetas. So we can use a linear controller to solve the control problem. The model linear representation is decoupled into two systems and we design a VS-MRAC controller to each one. Finally, simulated results are presented and commented
{"title":"Nonholonomic wheeled mobile robot positioning controller using decoupling and variable structure model reference adaptive control","authors":"A. Araújo, P. Alsina, Samaherni M. Dias","doi":"10.1109/ACC.2006.1657359","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657359","url":null,"abstract":"This work addresses the dynamic control problem of nonholonomic direct differential-drive two-actuated-wheeled mobile robot and presents a robot positioning controller, which requires information about the robot configuration (x, y and thetas, that are collected by an absolute positioning system). The control strategy developed uses the mobile robot dynamic model linear representation. In this way, we must be change the system controlled variables from x, y, thetas to S (denoting the robot linear displacement) and thetas. So we can use a linear controller to solve the control problem. The model linear representation is decoupled into two systems and we design a VS-MRAC controller to each one. Finally, simulated results are presented and commented","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"16 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":"115049230","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.2006.1657410
Guoshan Zhang
Rectangular descriptor systems (RADS's) by dynamic compensation are studied in this paper. Some new notions about regularizability, impulse (I-) controllability and impulse (I-) observability, R-controllability and R-observability are introduced for RADS's in the sense of dynamic compensation. Similar definitions can further be given for admissibility and consistency of initial conditions. Equivalent conditions corresponding to these notions are derived. It is pointed out that the new notions are not contradictive to the existing ones. A necessary and sufficient condition is presented for the existence of a dynamic compensator such that the closed-loop system is regular, stable and impulse-free. It is shown that the duality on the conditions for freeness of impulse, I-(or R-) controllability and I-(or R-) observability for RADS's is true, and the symmetry of the properties for the systems between row and column also holds. This demonstrates that properties of RADS's are consistent with those of regular descriptor systems (RDS's) in form. Thus these new notions and results for RADS's are natural extension for those of RDS's
{"title":"Regularizability, controllability and observability of rectangular descriptor systems by dynamic compensation","authors":"Guoshan Zhang","doi":"10.1109/ACC.2006.1657410","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657410","url":null,"abstract":"Rectangular descriptor systems (RADS's) by dynamic compensation are studied in this paper. Some new notions about regularizability, impulse (I-) controllability and impulse (I-) observability, R-controllability and R-observability are introduced for RADS's in the sense of dynamic compensation. Similar definitions can further be given for admissibility and consistency of initial conditions. Equivalent conditions corresponding to these notions are derived. It is pointed out that the new notions are not contradictive to the existing ones. A necessary and sufficient condition is presented for the existence of a dynamic compensator such that the closed-loop system is regular, stable and impulse-free. It is shown that the duality on the conditions for freeness of impulse, I-(or R-) controllability and I-(or R-) observability for RADS's is true, and the symmetry of the properties for the systems between row and column also holds. This demonstrates that properties of RADS's are consistent with those of regular descriptor systems (RDS's) in form. Thus these new notions and results for RADS's are natural extension for those of RDS's","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"136 21 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":"115122212","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.2006.1657656
M. Schorn, U. Stählin, A. Khanafer, R. Isermann
A collision avoiding vehicle driver assistance system is developed. Collisions can be avoided using braking, steering or a combination of steering and braking. Within this paper only steering interventions are discussed. To guide the vehicle on a desired trajectory for emergency steering, two feedback control approaches are presented. A Kalman filter based vehicle state estimation approach to estimate the sideslip angle is shown. Simulation results with a validated nonlinear two-track model and results from test drives are shown
{"title":"Nonlinear trajectory following control for automatic steering of a collision avoiding vehicle","authors":"M. Schorn, U. Stählin, A. Khanafer, R. Isermann","doi":"10.1109/ACC.2006.1657656","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657656","url":null,"abstract":"A collision avoiding vehicle driver assistance system is developed. Collisions can be avoided using braking, steering or a combination of steering and braking. Within this paper only steering interventions are discussed. To guide the vehicle on a desired trajectory for emergency steering, two feedback control approaches are presented. A Kalman filter based vehicle state estimation approach to estimate the sideslip angle is shown. Simulation results with a validated nonlinear two-track model and results from test drives are shown","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"22 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":"117143850","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.2006.1655332
B. Hong, Tsu-Yu Lin
This paper concerns the real-time state estimation of a system with both spatial and temporal dimension-infiniteness resulted from spatially distributed time-delayed input. Here are developed the methodology for model truncation served for observer synthesis and the L 2-gain synthesizer of robust observers against the truncation error. The procedure of making such a real-time monitoring for thermoacoustic dynamics is studied via simulation in the final section
{"title":"Reduced-order observer design for a distributed parameter system with spatially distributed time-delay input","authors":"B. Hong, Tsu-Yu Lin","doi":"10.1109/ACC.2006.1655332","DOIUrl":"https://doi.org/10.1109/ACC.2006.1655332","url":null,"abstract":"This paper concerns the real-time state estimation of a system with both spatial and temporal dimension-infiniteness resulted from spatially distributed time-delayed input. Here are developed the methodology for model truncation served for observer synthesis and the L 2-gain synthesizer of robust observers against the truncation error. The procedure of making such a real-time monitoring for thermoacoustic dynamics is studied via simulation in the final section","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"70 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":"121900082","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.2006.1657243
C. Cao, N. Hovakimyan
In this paper, we develop a novel adaptive control architecture that ensures that the input and output of an uncertain linear system track the input and output of a desired linear system during the transient phase, in addition to the asymptotic tracking. These features are established by first performing an equivalent reparametrization of MRAC, the main difference of which from MRAC is in definition of the error signal for adaptive laws. This new architecture, called companion model adaptive controller (CMAC), allows for incorporation of a low-pass filter into the feedback-loop that enables to enforce the desired transient performance by increasing the adaptation gain. For the proof of asymptotic stability, the Lscr1 gain of a cascaded system, comprised of this filter and the closed-loop desired reference model, is required to be less than the inverse of the upper bound of the norm of unknown parameters used in projection based adaptation laws. Moreover, the new Lscr1 adaptive controller is guaranteed to stay in the low-frequency range. Simulation results illustrate the theoretical findings
{"title":"Design and Analysis of a Novel L1 Adaptive Controller, Part I: Control Signal and Asymptotic Stability","authors":"C. Cao, N. Hovakimyan","doi":"10.1109/ACC.2006.1657243","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657243","url":null,"abstract":"In this paper, we develop a novel adaptive control architecture that ensures that the input and output of an uncertain linear system track the input and output of a desired linear system during the transient phase, in addition to the asymptotic tracking. These features are established by first performing an equivalent reparametrization of MRAC, the main difference of which from MRAC is in definition of the error signal for adaptive laws. This new architecture, called companion model adaptive controller (CMAC), allows for incorporation of a low-pass filter into the feedback-loop that enables to enforce the desired transient performance by increasing the adaptation gain. For the proof of asymptotic stability, the Lscr1 gain of a cascaded system, comprised of this filter and the closed-loop desired reference model, is required to be less than the inverse of the upper bound of the norm of unknown parameters used in projection based adaptation laws. Moreover, the new Lscr1 adaptive controller is guaranteed to stay in the low-frequency range. Simulation results illustrate the theoretical findings","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"8 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":"122008412","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.2006.1657244
C. Cao, N. Hovakimyan
In this paper, we present a novel adaptive control architecture that ensures that the input and output of an uncertain linear system track the input and output of a desired linear system during the transient phase, in addition to the asymptotic tracking. Design guidelines are presented to ensure that the desired transient specifications can be achieved for both system's input and output signals. The tools from this paper can be used to develop a theoretically justified verification and validation framework for adaptive systems. Simulation results illustrate the theoretical findings
{"title":"Design and Analysis of a Novel L1 Adaptive Controller, Part II: Guaranteed Transient Performance","authors":"C. Cao, N. Hovakimyan","doi":"10.1109/ACC.2006.1657244","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657244","url":null,"abstract":"In this paper, we present a novel adaptive control architecture that ensures that the input and output of an uncertain linear system track the input and output of a desired linear system during the transient phase, in addition to the asymptotic tracking. Design guidelines are presented to ensure that the desired transient specifications can be achieved for both system's input and output signals. The tools from this paper can be used to develop a theoretically justified verification and validation framework for adaptive systems. Simulation results illustrate the theoretical findings","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"2 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":"122073659","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.2006.1656487
Rajat Sekhon, Hany Bassily, J. Wagner, J. Gaddis
Gas turbines represent an important source of electrical power generation and aerospace/marine propulsion around the world. To ensure the dependability of these complex multi-domain systems, a health monitoring system can be attached to the controller in a parallel manner. One important element of an advanced diagnostic strategy is the real time mathematical model that describes the normal system behavior. In this paper, a nonlinear dynamic model will be presented for a stationary gas turbine. The model simulates the transient and steady state gas turbine's nominal operating conditions. This model serves as the basis of an advanced diagnostic strategy to evaluate a stationary gas turbine's overall operation. To validate the model, experimental data has been obtained from a Solar Mercury 50 stationary gas turbine located at Clemson University. Comparisons between the field data and simulation results demonstrate a high degree of correspondence. The model represents a key contribution to the field of real-time stationary gas turbine health management systems
{"title":"Stationary gas turbines - a real time dynamic model with experimental validation","authors":"Rajat Sekhon, Hany Bassily, J. Wagner, J. Gaddis","doi":"10.1109/ACC.2006.1656487","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656487","url":null,"abstract":"Gas turbines represent an important source of electrical power generation and aerospace/marine propulsion around the world. To ensure the dependability of these complex multi-domain systems, a health monitoring system can be attached to the controller in a parallel manner. One important element of an advanced diagnostic strategy is the real time mathematical model that describes the normal system behavior. In this paper, a nonlinear dynamic model will be presented for a stationary gas turbine. The model simulates the transient and steady state gas turbine's nominal operating conditions. This model serves as the basis of an advanced diagnostic strategy to evaluate a stationary gas turbine's overall operation. To validate the model, experimental data has been obtained from a Solar Mercury 50 stationary gas turbine located at Clemson University. Comparisons between the field data and simulation results demonstrate a high degree of correspondence. The model represents a key contribution to the field of real-time stationary gas turbine health management systems","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"96 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":"122097543","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.2006.1657349
E. Børhaug, K. Pettersen
In this paper we propose a nonlinear observer for a general class of n-DOF Euler-Lagrange Systems without velocity measurements. In particular, we propose a generalized Luenberger-type observer with globally uniformly asymptotically stable observer error dynamics. The gains of the observer are nonlinear and time-varying, and we control the growth of the gains in order to globally dominate all destabilizing terms in the observer error dynamics
{"title":"A UGAS observer for n-DOF Euler-Lagrange systems","authors":"E. Børhaug, K. Pettersen","doi":"10.1109/ACC.2006.1657349","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657349","url":null,"abstract":"In this paper we propose a nonlinear observer for a general class of n-DOF Euler-Lagrange Systems without velocity measurements. In particular, we propose a generalized Luenberger-type observer with globally uniformly asymptotically stable observer error dynamics. The gains of the observer are nonlinear and time-varying, and we control the growth of the gains in order to globally dominate all destabilizing terms in the observer error dynamics","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"45 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":"116833830","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.2006.1656557
Wenxue Wang, B. Ghosh
Animals routinely rely on their eyes to localize fixed and moving targets especially with the goal of either avoiding or capturing them. Detection of position of targets in space is an important problem in such a localization process for the motor control circuit to actuate a successful movement. The purpose of this paper is to sketch a binocular visual system that includes image capturing, retinal projection, sparse representation and data fusion, multi-neural encoding in the cortex down to detection of depth of objects from activity waves using nonlinear dynamics of an oscillatory network. The general strategies from visual circuitry, some of which may not be employed by the animal, could perhaps be employed in building machines with multiple sensors
{"title":"Detection of depth in binocular visual systems using Kuramoto models","authors":"Wenxue Wang, B. Ghosh","doi":"10.1109/ACC.2006.1656557","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656557","url":null,"abstract":"Animals routinely rely on their eyes to localize fixed and moving targets especially with the goal of either avoiding or capturing them. Detection of position of targets in space is an important problem in such a localization process for the motor control circuit to actuate a successful movement. The purpose of this paper is to sketch a binocular visual system that includes image capturing, retinal projection, sparse representation and data fusion, multi-neural encoding in the cortex down to detection of depth of objects from activity waves using nonlinear dynamics of an oscillatory network. The general strategies from visual circuitry, some of which may not be employed by the animal, could perhaps be employed in building machines with multiple sensors","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"72 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":"124475690","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.2006.1656493
J. Chauvin, G. Corde, N. Petit, P. Rouchon
A motion planning based control strategy is proposed for the airpath control of turbocharged diesel engines using exhaust gas recirculation (EGR). The considered model uses simple balance equations. The fully actuated dynamics are easily inverted, yielding straightforward open-loop control laws. This approach is complemented by experimentally derived lookup tables to cast the driver's requests into transients between operating points. Estimation of required variables from the intake pressure measurements is addressed and experimental tests are reported on a 4-cylinder engine in homogeneous charge compression ignition (HCCI) mode. Conclusions stress the possibility of taking into account the non-minimum phase effects of this system by a simple, yet efficient in practice, control law. Observed transients are accurate and fast
{"title":"Experimental motion planning in airpath control for HCCI engine","authors":"J. Chauvin, G. Corde, N. Petit, P. Rouchon","doi":"10.1109/ACC.2006.1656493","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656493","url":null,"abstract":"A motion planning based control strategy is proposed for the airpath control of turbocharged diesel engines using exhaust gas recirculation (EGR). The considered model uses simple balance equations. The fully actuated dynamics are easily inverted, yielding straightforward open-loop control laws. This approach is complemented by experimentally derived lookup tables to cast the driver's requests into transients between operating points. Estimation of required variables from the intake pressure measurements is addressed and experimental tests are reported on a 4-cylinder engine in homogeneous charge compression ignition (HCCI) mode. Conclusions stress the possibility of taking into account the non-minimum phase effects of this system by a simple, yet efficient in practice, control law. Observed transients are accurate and fast","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"467 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":"125838195","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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