Pub Date : 2006-06-14DOI: 10.1109/ACC.2006.1657302
P. Sadegh, J. Concha, S. Stricevic, A. Thompson, Peter James Kootsookos
Fault detection and isolation (FDI) and design of optimal maintenance policies have been traditionally studied separately by the control community and domain experts on the one hand and the operations research community on the other. The objective of this paper is to provide a unified approach where maintenance decisions are driven by real-time FDI signals. Such an approach allows systematic analysis and design of FDI with the objective of minimizing the overall costs of operations and maintenance (O&M). Our approach relies on the following steps. First, the information about the assets, their likely failure modes (as generated by failure modes and effects analysis or from historical service data), service business processes, and costs associated with fixing the assets are captured from designers or practitioners. The Unified Modeling Language (UML) is used as an expressive way to capture and display such information. Next, this information is used to arrive at a representation of the asset degradation and maintenance process as a Markov process. Finally, the asset management problem is formulated as an optimal control over the Markov process. We show how the fundamental properties of FDI drive the O&M costs and the solution to the control problem through their impact on transition probabilities of the Markov process. We illustrate the approach by a numerical example for maintaining proper refrigerant charge levels in Rankine cycle equipment
{"title":"A framework for unified design of fault detection & isolation and optimal maintenance policies","authors":"P. Sadegh, J. Concha, S. Stricevic, A. Thompson, Peter James Kootsookos","doi":"10.1109/ACC.2006.1657302","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657302","url":null,"abstract":"Fault detection and isolation (FDI) and design of optimal maintenance policies have been traditionally studied separately by the control community and domain experts on the one hand and the operations research community on the other. The objective of this paper is to provide a unified approach where maintenance decisions are driven by real-time FDI signals. Such an approach allows systematic analysis and design of FDI with the objective of minimizing the overall costs of operations and maintenance (O&M). Our approach relies on the following steps. First, the information about the assets, their likely failure modes (as generated by failure modes and effects analysis or from historical service data), service business processes, and costs associated with fixing the assets are captured from designers or practitioners. The Unified Modeling Language (UML) is used as an expressive way to capture and display such information. Next, this information is used to arrive at a representation of the asset degradation and maintenance process as a Markov process. Finally, the asset management problem is formulated as an optimal control over the Markov process. We show how the fundamental properties of FDI drive the O&M costs and the solution to the control problem through their impact on transition probabilities of the Markov process. We illustrate the approach by a numerical example for maintaining proper refrigerant charge levels in Rankine cycle equipment","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":"116758075","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.2006.1655355
Javad Lavaei Yanesi, A. Aghdam
This paper deals with the optimal control of a continuous-time system using a structurally constrained generalized sampled-data hold function (GSHF). It is assumed that a stabilizing GSHF with a desired structure exists for the system. This desired structure is defined by a set of basis functions, and the GSHF is given as a weighted sum of these basis functions. The main objective of this paper is to adjust the coefficients of the weighted sum in order to minimize a predefined continuous-time LQR performance index, which accounts for the intersample ripple. This implies that the resultant GSHF has the same structure as the original one, while it minimizes the intersample ripple effect. The proposed method uses the recent developments in semidefinite programming to tune the parameters of the GSHF
{"title":"Optimal generalized sampled-data hold functions with a constrained structure","authors":"Javad Lavaei Yanesi, A. Aghdam","doi":"10.1109/ACC.2006.1655355","DOIUrl":"https://doi.org/10.1109/ACC.2006.1655355","url":null,"abstract":"This paper deals with the optimal control of a continuous-time system using a structurally constrained generalized sampled-data hold function (GSHF). It is assumed that a stabilizing GSHF with a desired structure exists for the system. This desired structure is defined by a set of basis functions, and the GSHF is given as a weighted sum of these basis functions. The main objective of this paper is to adjust the coefficients of the weighted sum in order to minimize a predefined continuous-time LQR performance index, which accounts for the intersample ripple. This implies that the resultant GSHF has the same structure as the original one, while it minimizes the intersample ripple effect. The proposed method uses the recent developments in semidefinite programming to tune the parameters of the GSHF","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"39 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":"117080276","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.2006.1657239
S. Fekri, M. Athans, A. Pascoal
We use the RMMAC architecture and design methodology, introduced in the work of M. Athans et al. (2005) and S. Fekri et al. (2004), to design and evaluate a truly multivariable adaptive control system; this fills a void that is present in the literature. A three-cart problem with two uncertain parameters, two controls, and two outputs is used as the case study. We show that the RMMAC significantly improves disturbance-rejection compared with the "best" non-adaptive controller designed by mixed-mu synthesis. In the example considered, in addition to two uncertainties in mass and spring constants, there are unmodeled dynamics as well as (unmeasured) stochastic disturbance inputs and noisy sensor measurements. Numerous simulation results are presented that demonstrate the superior performance of the RMMAC
{"title":"A two-input two-output robust multiple model adaptive control (RMMAC) case study","authors":"S. Fekri, M. Athans, A. Pascoal","doi":"10.1109/ACC.2006.1657239","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657239","url":null,"abstract":"We use the RMMAC architecture and design methodology, introduced in the work of M. Athans et al. (2005) and S. Fekri et al. (2004), to design and evaluate a truly multivariable adaptive control system; this fills a void that is present in the literature. A three-cart problem with two uncertain parameters, two controls, and two outputs is used as the case study. We show that the RMMAC significantly improves disturbance-rejection compared with the \"best\" non-adaptive controller designed by mixed-mu synthesis. In the example considered, in addition to two uncertainties in mass and spring constants, there are unmodeled dynamics as well as (unmeasured) stochastic disturbance inputs and noisy sensor measurements. Numerous simulation results are presented that demonstrate the superior performance of the RMMAC","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"62 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":"129524642","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.2006.1655383
L. García-Valdovinos, Vicente Parra‐Vega, M. Arteaga
This article presents a novel, model-free, Cartesian sliding PID control scheme based on well-posed terminal attractors to achieve finite time tracking in a time that the user can define. Also, the teleoperation scheme has been designed such that high transparency can be obtained by taking advantage of a condition that establishes that it is equivalent to get transparency in dynamically similar teleoperation systems if the same proposed controller is implemented at the master and at the slave sites. In this manner, finite time tracking convergence, a faster response than exponential convergence, of position and velocity tracking errors, and an acceptable force tracking are attained, without acceleration measurements, nor any knowledge of the master/slave robot dynamics, nor estimating the impedance of human and environment. Moreover, computation of inverse kinematics and/or Cartesian robot dynamics are not necessary. Simulation results validate the proposed teleoperation scheme
{"title":"Bilateral Cartesian sliding PID force/position control for tracking in finite time of master-slave systems","authors":"L. García-Valdovinos, Vicente Parra‐Vega, M. Arteaga","doi":"10.1109/ACC.2006.1655383","DOIUrl":"https://doi.org/10.1109/ACC.2006.1655383","url":null,"abstract":"This article presents a novel, model-free, Cartesian sliding PID control scheme based on well-posed terminal attractors to achieve finite time tracking in a time that the user can define. Also, the teleoperation scheme has been designed such that high transparency can be obtained by taking advantage of a condition that establishes that it is equivalent to get transparency in dynamically similar teleoperation systems if the same proposed controller is implemented at the master and at the slave sites. In this manner, finite time tracking convergence, a faster response than exponential convergence, of position and velocity tracking errors, and an acceptable force tracking are attained, without acceleration measurements, nor any knowledge of the master/slave robot dynamics, nor estimating the impedance of human and environment. Moreover, computation of inverse kinematics and/or Cartesian robot dynamics are not necessary. Simulation results validate the proposed teleoperation scheme","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"67 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":"129954809","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}
This paper presents the optimal filtering and parameter identification problem for linear stochastic systems with unknown multiplicative and additive parameters over linear observations, where unknown parameters are considered Wiener processes. The original problem is reduced to the filtering problem for an extended state vector that incorporates parameters as additional states. The resulting filtering system is bilinear in state, with unmeasured linear part, and linear in observations. The obtained solution is based on the derived optimal filter for bilinear-linear states with partially measured linear part over linear observations. The optimal filter for the extended state vector also serves as the optimal identifier for the unknown parameters. In the example, performance of the designed optimal state filter and parameter identifier is verified for linear systems with unknown multiplicative parameter over linear observations. Both, stable and unstable, linear systems are examined
{"title":"Optimal state filtering and parameter identification for linear systems","authors":"M. Basin, J. Perez, M. Skliar","doi":"10.1002/OCA.826","DOIUrl":"https://doi.org/10.1002/OCA.826","url":null,"abstract":"This paper presents the optimal filtering and parameter identification problem for linear stochastic systems with unknown multiplicative and additive parameters over linear observations, where unknown parameters are considered Wiener processes. The original problem is reduced to the filtering problem for an extended state vector that incorporates parameters as additional states. The resulting filtering system is bilinear in state, with unmeasured linear part, and linear in observations. The obtained solution is based on the derived optimal filter for bilinear-linear states with partially measured linear part over linear observations. The optimal filter for the extended state vector also serves as the optimal identifier for the unknown parameters. In the example, performance of the designed optimal state filter and parameter identifier is verified for linear systems with unknown multiplicative parameter over linear observations. Both, stable and unstable, linear systems are examined","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"6 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":"124654487","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.2006.1657519
David G. Meyer
A new framework for description and analysis of uncertainty in dynamic systems is briefly described
简述了一种描述和分析动态系统不确定性的新框架
{"title":"A Foias operator for studying uncertainty in dynamic systems","authors":"David G. Meyer","doi":"10.1109/ACC.2006.1657519","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657519","url":null,"abstract":"A new framework for description and analysis of uncertainty in dynamic systems is briefly described","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"28 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":"130322527","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.2006.1657506
V. G. Rao, R. D’Andrea
We introduce patch models, a computational modeling formalism for multi-vehicle domains. The unique feature of these models is that they are rich enough to represent controlled dynamics, while being simple enough to be manipulated by automated decision processes and humans. This capability is derived from the use of formal representations of space and time developed in the computer science community, and the idea of encapsulated path planning for hiding details of system dynamics from decision-makers. The models permit the construction of abstraction-based command and control systems. Major features include support for multiple situation models and rapid plan adaptation. We describe the formal specification of patch models and present evaluation results in the form of a three-team, seven-agent combat case study simulated on Patchworks, our implementation of patch models
{"title":"Patch models and their applications to multi-vehicle control","authors":"V. G. Rao, R. D’Andrea","doi":"10.1109/ACC.2006.1657506","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657506","url":null,"abstract":"We introduce patch models, a computational modeling formalism for multi-vehicle domains. The unique feature of these models is that they are rich enough to represent controlled dynamics, while being simple enough to be manipulated by automated decision processes and humans. This capability is derived from the use of formal representations of space and time developed in the computer science community, and the idea of encapsulated path planning for hiding details of system dynamics from decision-makers. The models permit the construction of abstraction-based command and control systems. Major features include support for multiple situation models and rapid plan adaptation. We describe the formal specification of patch models and present evaluation results in the form of a three-team, seven-agent combat case study simulated on Patchworks, our implementation of patch models","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"11 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":"130518684","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.2006.1655450
R. Vázquez, E. Trélat, J. Coron
We consider the problem of generating and tracking a trajectory between two arbitrary parabolic profiles of a periodic 2D channel flow, which is linearly unstable for high Reynolds numbers. Also known as the Poisseuille flow, this problem is frequently cited as a paradigm for transition to turbulence. Our approach consists in generating an exact trajectory of the nonlinear system that approaches exponentially the objective profile. A boundary control law guarantees then that the error between the state and the trajectory decays exponentially in the L2 norm. The result is first proved for the linearized Stokes equations, then shown to hold for the nonlinear Navier-Stokes system
{"title":"Stable Poiseuille flow transfer for a Navier-Stokes system","authors":"R. Vázquez, E. Trélat, J. Coron","doi":"10.1109/ACC.2006.1655450","DOIUrl":"https://doi.org/10.1109/ACC.2006.1655450","url":null,"abstract":"We consider the problem of generating and tracking a trajectory between two arbitrary parabolic profiles of a periodic 2D channel flow, which is linearly unstable for high Reynolds numbers. Also known as the Poisseuille flow, this problem is frequently cited as a paradigm for transition to turbulence. Our approach consists in generating an exact trajectory of the nonlinear system that approaches exponentially the objective profile. A boundary control law guarantees then that the error between the state and the trajectory decays exponentially in the L2 norm. The result is first proved for the linearized Stokes equations, then shown to hold for the nonlinear Navier-Stokes system","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"26 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":"127031136","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.2006.1657577
Jangyeol Yoon, K. Yi
This paper describes a rollover index (RI)-based rollover mitigation control (RMC) scheme. A rollover index which indicates an impending rollover has been developed by a roll dynamics phase plane analysis. The rollover index is calculated using roll angle, roll rate, lateral acceleration and time to wheel lift (TTWL). A model-based roll estimator has been designed to estimate the roll angle and roll rate of the vehicle body using a linearized three degrees-of-freedom simple model and extended Kalman filter with lateral acceleration, yaw rate, steering angle and vehicle velocity measurements. A RMC threshold has been determined from the rollover index. The performance of the roll estimator and the RMC scheme, and the effectiveness of the proposed rollover index are illustrated through simulation results
{"title":"A rollover mitigation control scheme based on rollover index","authors":"Jangyeol Yoon, K. Yi","doi":"10.1109/ACC.2006.1657577","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657577","url":null,"abstract":"This paper describes a rollover index (RI)-based rollover mitigation control (RMC) scheme. A rollover index which indicates an impending rollover has been developed by a roll dynamics phase plane analysis. The rollover index is calculated using roll angle, roll rate, lateral acceleration and time to wheel lift (TTWL). A model-based roll estimator has been designed to estimate the roll angle and roll rate of the vehicle body using a linearized three degrees-of-freedom simple model and extended Kalman filter with lateral acceleration, yaw rate, steering angle and vehicle velocity measurements. A RMC threshold has been determined from the rollover index. The performance of the roll estimator and the RMC scheme, and the effectiveness of the proposed rollover index are illustrated through simulation results","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"55 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":"129174795","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.2006.1657504
Cedric Ma, Robert H. Miller
This paper presents several efficient solution techniques specific to the optimal path planning of an autonomous vehicle. Mixed-integer linear programming (MILP) is the underlying problem formulation, from which an optimal solution can be obtained through the use of a commercially available MILP solver such as CPLEX. The solution obtained is optimal in terms of the cost function specified in terms of fuel, time, altitude, etc. Several techniques are introduced to reduce the complexity of the underlying mathematical problems as to help make the path planning approach suitable for running in a mission-critical real-time environment. Some of these techniques may be applicable to other optimal path planning approaches
{"title":"MILP optimal path planning for real-time applications","authors":"Cedric Ma, Robert H. Miller","doi":"10.1109/ACC.2006.1657504","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657504","url":null,"abstract":"This paper presents several efficient solution techniques specific to the optimal path planning of an autonomous vehicle. Mixed-integer linear programming (MILP) is the underlying problem formulation, from which an optimal solution can be obtained through the use of a commercially available MILP solver such as CPLEX. The solution obtained is optimal in terms of the cost function specified in terms of fuel, time, altitude, etc. Several techniques are introduced to reduce the complexity of the underlying mathematical problems as to help make the path planning approach suitable for running in a mission-critical real-time environment. Some of these techniques may be applicable to other optimal path planning approaches","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"1 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":"129224543","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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