Pub Date : 2006-06-14DOI: 10.1109/ACC.2006.1657405
E. Boukas, A. El-Hajjaji
This paper deals with the class of continuous-time uncertain stochastic fuzzy systems with norm bounded uncertainties. A model-based fuzzy stabilization design utilizing the concept of the so-called parallel distributed compensation (PDC) is employed to stochastically stabilize the class of systems under consideration. LMI-based sufficient conditions are developed to synthesize the state feedback controller that stochastically stabilizes either the nominal system or the uncertain one. A numerical example is provided to show the effectiveness of the proposed results
{"title":"On stabilizability of stochastic fuzzy systems","authors":"E. Boukas, A. El-Hajjaji","doi":"10.1109/ACC.2006.1657405","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657405","url":null,"abstract":"This paper deals with the class of continuous-time uncertain stochastic fuzzy systems with norm bounded uncertainties. A model-based fuzzy stabilization design utilizing the concept of the so-called parallel distributed compensation (PDC) is employed to stochastically stabilize the class of systems under consideration. LMI-based sufficient conditions are developed to synthesize the state feedback controller that stochastically stabilizes either the nominal system or the uncertain one. A numerical example is provided to show the effectiveness of the proposed results","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"202 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":"124518203","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.2006.1657508
D. Boukraa, Y. Bestaoui, N. Azouz
In this study, our aim is to propose an approach to generate the global trajectory an airplane must follow during its mission. In this approach, the problem of piloting an autonomous airplane is treated in two stages: generate and follow the reference trajectory. The first problem is rather an optimization problem with constraints; the second is a problem of control. Toward this aim, we decompose the global trajectory into a set of four elementary trajectories (horizontal level flight, climb, descent and horizontal turn). The second problem to be treated is the interconnection between these elementary trajectories. For this the airplane must follow a non trim trajectory. In this article, we start by defining the two dynamic constraints of equality type related to the under actuation (two differential equations), then we introduce the concept of (permanent) trim trajectories and the (transitional) non trim trajectories. Then, for the first type, we formulate an optimization problem with constraints, minimizing the necessary time for each elementary trajectory; for the transitional trajectories, we solve the equations of underactuation
{"title":"A new approach to trajectories planner design for a subsonic autonomous aerial fixed wing vehicle","authors":"D. Boukraa, Y. Bestaoui, N. Azouz","doi":"10.1109/ACC.2006.1657508","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657508","url":null,"abstract":"In this study, our aim is to propose an approach to generate the global trajectory an airplane must follow during its mission. In this approach, the problem of piloting an autonomous airplane is treated in two stages: generate and follow the reference trajectory. The first problem is rather an optimization problem with constraints; the second is a problem of control. Toward this aim, we decompose the global trajectory into a set of four elementary trajectories (horizontal level flight, climb, descent and horizontal turn). The second problem to be treated is the interconnection between these elementary trajectories. For this the airplane must follow a non trim trajectory. In this article, we start by defining the two dynamic constraints of equality type related to the under actuation (two differential equations), then we introduce the concept of (permanent) trim trajectories and the (transitional) non trim trajectories. Then, for the first type, we formulate an optimization problem with constraints, minimizing the necessary time for each elementary trajectory; for the transitional trajectories, we solve the equations of underactuation","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"42 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":"124053239","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.2006.1656371
M. Demetriou
In this note, the problem of source localization for a diffusion process in a 2-D spatial domain is revisited. The sensing devices are assumed to measure spatial gradients as opposed to concentrations and this appears to enhance the source-detecting abilities of the sensor network. Included in this scheme is a simple power management policy that during a time interval employs a subset of the available sensors while the remaining ones are kept in a "sleep mode". Numerical studies are included to support the proposed detection schemes
{"title":"Power management of sensor networks for detection of a moving source in 2-D spatial domains","authors":"M. Demetriou","doi":"10.1109/ACC.2006.1656371","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656371","url":null,"abstract":"In this note, the problem of source localization for a diffusion process in a 2-D spatial domain is revisited. The sensing devices are assumed to measure spatial gradients as opposed to concentrations and this appears to enhance the source-detecting abilities of the sensor network. Included in this scheme is a simple power management policy that during a time interval employs a subset of the available sensors while the remaining ones are kept in a \"sleep mode\". Numerical studies are included to support the proposed detection schemes","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"87 7 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":"126296824","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.2006.1655341
Y. Oishi
A new asymptotically exact approach is presented for robust semidefinite programming, where coefficient matrices polynomially depend on uncertain parameters. Since a robust semidefinite programming problem is difficult to solve directly, an approximate problem is constructed based on a division of the parameter region. The optimal value of the approximate problem converges to that of the original problem as the resolution of the division becomes finer. An advantage of this approach is that an upper bound on the approximation error is available before solving the approximate problem. This bound shows how the approximation error depends on the resolution of the division. Furthermore, it leads to construction of an efficient division that attains small approximation error with low computational complexity. Numerical examples show efficacy of the present approach. In particular, an exact optimal value is often found with a division of finite resolution
{"title":"A region-dividing approach to robust semidefinite programming and its error bound","authors":"Y. Oishi","doi":"10.1109/ACC.2006.1655341","DOIUrl":"https://doi.org/10.1109/ACC.2006.1655341","url":null,"abstract":"A new asymptotically exact approach is presented for robust semidefinite programming, where coefficient matrices polynomially depend on uncertain parameters. Since a robust semidefinite programming problem is difficult to solve directly, an approximate problem is constructed based on a division of the parameter region. The optimal value of the approximate problem converges to that of the original problem as the resolution of the division becomes finer. An advantage of this approach is that an upper bound on the approximation error is available before solving the approximate problem. This bound shows how the approximation error depends on the resolution of the division. Furthermore, it leads to construction of an efficient division that attains small approximation error with low computational complexity. Numerical examples show efficacy of the present approach. In particular, an exact optimal value is often found with a division of finite resolution","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"24 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":"126325571","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.2006.1657185
L. Ramrath, Marco Muenchhof, R. Isermann
A new method for the estimation of process parameters based on the principal component analysis is developed. The estimator yields optimal estimation results in the case of errors in variables (EIV) problems which are characterized by corrupted measurements of input and output signals. As the residual generation in fault detection methods often feature EIV characteristics, the estimator can be used to identify linear models for residual calculation. To overcome the limitations on linear models, the developed estimator is integrated into the LOLIMOT approach which is able to identify nonlinear processes. The estimator is used as an alternative to the standard Least Squares estimator to identify the parameters of the local linear models. Comparative results show the better suitability of the developed estimator for the residual generation in EIV-setups
{"title":"Local linear neural networks based on principal component analysis","authors":"L. Ramrath, Marco Muenchhof, R. Isermann","doi":"10.1109/ACC.2006.1657185","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657185","url":null,"abstract":"A new method for the estimation of process parameters based on the principal component analysis is developed. The estimator yields optimal estimation results in the case of errors in variables (EIV) problems which are characterized by corrupted measurements of input and output signals. As the residual generation in fault detection methods often feature EIV characteristics, the estimator can be used to identify linear models for residual calculation. To overcome the limitations on linear models, the developed estimator is integrated into the LOLIMOT approach which is able to identify nonlinear processes. The estimator is used as an alternative to the standard Least Squares estimator to identify the parameters of the local linear models. Comparative results show the better suitability of the developed estimator for the residual generation in EIV-setups","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"25 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":"126459718","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.2006.1657328
Ming-Chih Chien, A. Huang
A regressor-free adaptive impedance controller is proposed for an n-link flexible-joint robot. The function approximation technique (FAT) is employed to transform the time-varying uncertainties into finite combinations of orthogonal basis functions. The tedious computation of the regressor matrix needed in traditional adaptive control is avoided in the new design, and the controller does not require the variation bounds of time-varying uncertainties needed in traditional robust control. In addition, the information of time derivative of external force and joint acceleration are not needed in the controller realization. Adaptive laws are derived based on the Lyapunov-like design. Computer simulations are performed to test the efficacy of the proposed control for a 2-DOF flexible-joint robot with environment constraint
{"title":"Regressor-free adaptive impedance control of flexible-joint robots using FAT","authors":"Ming-Chih Chien, A. Huang","doi":"10.1109/ACC.2006.1657328","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657328","url":null,"abstract":"A regressor-free adaptive impedance controller is proposed for an n-link flexible-joint robot. The function approximation technique (FAT) is employed to transform the time-varying uncertainties into finite combinations of orthogonal basis functions. The tedious computation of the regressor matrix needed in traditional adaptive control is avoided in the new design, and the controller does not require the variation bounds of time-varying uncertainties needed in traditional robust control. In addition, the information of time derivative of external force and joint acceleration are not needed in the controller realization. Adaptive laws are derived based on the Lyapunov-like design. Computer simulations are performed to test the efficacy of the proposed control for a 2-DOF flexible-joint robot with environment constraint","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":"126566670","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.2006.1656361
T. Oomen, M. V. D. Wal, O. Bosgra
Optimal design of digital controllers for industrial electromechanical servo systems using an Hinfin-criterion is considered. Present industrial practice is to perform the control design in the continuous time domain and to discretize the controller a posteriori. This procedure involves unnecessary approximations. Alternatively, a direct sampled-data control design can be made, where an optimal discrete time controller is computed for a continuous time standard plant. Though theoretically and numerically solvable, a sampled-data approach is hardly feasible in an industrial environment. In this paper, a discrete time control design approach is taken. Tools that stem from sampled-data control and multirate systems theory are presented to evaluate the intersample behavior in the frequency domain, since intersample behavior is not explicitly addressed during discrete time control design. Experimental results are given to illustrate the effectiveness of the proposed discrete time control design approach and to illustrate the importance of intersample behavior in practical applications
{"title":"Exploiting H~~ Sampled-Data Control Theory for High-Precision Electromechanical Servo Control Design","authors":"T. Oomen, M. V. D. Wal, O. Bosgra","doi":"10.1109/ACC.2006.1656361","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656361","url":null,"abstract":"Optimal design of digital controllers for industrial electromechanical servo systems using an Hinfin-criterion is considered. Present industrial practice is to perform the control design in the continuous time domain and to discretize the controller a posteriori. This procedure involves unnecessary approximations. Alternatively, a direct sampled-data control design can be made, where an optimal discrete time controller is computed for a continuous time standard plant. Though theoretically and numerically solvable, a sampled-data approach is hardly feasible in an industrial environment. In this paper, a discrete time control design approach is taken. Tools that stem from sampled-data control and multirate systems theory are presented to evaluate the intersample behavior in the frequency domain, since intersample behavior is not explicitly addressed during discrete time control design. Experimental results are given to illustrate the effectiveness of the proposed discrete time control design approach and to illustrate the importance of intersample behavior in practical applications","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"38 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":"128072298","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.2006.1657675
Huijun Gao, Lixian Zhang, P. Shi, S. Mou, Changhong Wang
In this paper, the problems of stability and stabilization of switched linear discrete-time systems with polytopic uncertainties are investigated. A switched parameter-dependent quadratic Lyapunov function is proposed, by which the stability conditions are derived and formulated in terms of a set of linear matrix inequalities. Based on the stability result, control synthesis is then considered and a stabilizing state-feedback controller is obtained by solving a convex optimization problem subject to linear matrix inequalities. Both mode-dependent and parameter-dependent ideas are used in stability analysis and controller design for the underlying systems. Numerical examples are given to show the less conservativeness and the potential of the obtained theoretic results
{"title":"Stability and stabilization of switched linear discrete-time systems with polytopic uncertainties","authors":"Huijun Gao, Lixian Zhang, P. Shi, S. Mou, Changhong Wang","doi":"10.1109/ACC.2006.1657675","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657675","url":null,"abstract":"In this paper, the problems of stability and stabilization of switched linear discrete-time systems with polytopic uncertainties are investigated. A switched parameter-dependent quadratic Lyapunov function is proposed, by which the stability conditions are derived and formulated in terms of a set of linear matrix inequalities. Based on the stability result, control synthesis is then considered and a stabilizing state-feedback controller is obtained by solving a convex optimization problem subject to linear matrix inequalities. Both mode-dependent and parameter-dependent ideas are used in stability analysis and controller design for the underlying systems. Numerical examples are given to show the less conservativeness and the potential of the obtained theoretic results","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"13 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":"125462782","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.2006.1657385
D. Bruijnen, J. V. Helvoort, R. V. D. Molengraft
In this work an algorithm is proposed for path planning in a changing environment. The algorithm is computationally cheap and generates a sub-optimal smooth path with bounds on the allowed velocity, acceleration and jerk. It outperforms potential field algorithms regarding both convergence and optimality. Furthermore, it is able to adapt fast in a changing environment in contrast with computationally more expensive methods, such as wavefront algorithms and global optimization methods. It is applicable to both holonomic systems and a class of nonholonomic systems
{"title":"Realtime motion path generation using subtargets in a changing environment","authors":"D. Bruijnen, J. V. Helvoort, R. V. D. Molengraft","doi":"10.1109/ACC.2006.1657385","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657385","url":null,"abstract":"In this work an algorithm is proposed for path planning in a changing environment. The algorithm is computationally cheap and generates a sub-optimal smooth path with bounds on the allowed velocity, acceleration and jerk. It outperforms potential field algorithms regarding both convergence and optimality. Furthermore, it is able to adapt fast in a changing environment in contrast with computationally more expensive methods, such as wavefront algorithms and global optimization methods. It is applicable to both holonomic systems and a class of nonholonomic systems","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"18 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":"125663649","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.2006.1657478
C. Kinney, R. A. Callafon
In this paper, a scheduled controller is presented by the merging together of internal model-based control and linear parameter-varying control theory. The internal model is used to attenuate periodic disturbances and concepts from linear parameter-varying control theory are used to design the feedback gain that quadratically stabilizes the closed loop system during scheduling. An estimate of the frequency of the disturbance is used as the scheduling variable that updates the internal model. The order of the controller is kept low by making use of the separation principle and designing a reduced order observer for state feedback. A design example of a simple mass-spring-damper system demonstrates the effectiveness of the controller to cancel periodic disturbances with a time-varying frequency
{"title":"Scheduling control for periodic disturbance attenuation","authors":"C. Kinney, R. A. Callafon","doi":"10.1109/ACC.2006.1657478","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657478","url":null,"abstract":"In this paper, a scheduled controller is presented by the merging together of internal model-based control and linear parameter-varying control theory. The internal model is used to attenuate periodic disturbances and concepts from linear parameter-varying control theory are used to design the feedback gain that quadratically stabilizes the closed loop system during scheduling. An estimate of the frequency of the disturbance is used as the scheduling variable that updates the internal model. The order of the controller is kept low by making use of the separation principle and designing a reduced order observer for state feedback. A design example of a simple mass-spring-damper system demonstrates the effectiveness of the controller to cancel periodic disturbances with a time-varying frequency","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"30 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":"128179962","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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