Pub Date : 2006-06-14DOI: 10.1109/ACC.2006.1656651
T. McGee, J. Hedrick
This paper studies several problems of search in the two-dimensional plane for mobile intruders or evaders. In each case, both the searcher and evaders are assumed to have bounded velocities, with the velocity of the searcher greater than that of the evaders. The searcher has a sensor with a circular footprint which allows it to detect any evaders within the sensor radius. Unlike much of the past work done in search theory, the proposed strategies make no assumptions about the motion of the evaders, and are guaranteed to succeed for any trajectory of the evaders. The three problem formulations studied include the search for mobile targets through a linear corridor, the search for or bounding of mobile targets which start inside of a circular region, and the prevention of mobile targets from entering a circular region. The extension of the proposed strategies for multiple searchers is also discussed
{"title":"Guaranteed strategies to search for mobile evaders in the plane","authors":"T. McGee, J. Hedrick","doi":"10.1109/ACC.2006.1656651","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656651","url":null,"abstract":"This paper studies several problems of search in the two-dimensional plane for mobile intruders or evaders. In each case, both the searcher and evaders are assumed to have bounded velocities, with the velocity of the searcher greater than that of the evaders. The searcher has a sensor with a circular footprint which allows it to detect any evaders within the sensor radius. Unlike much of the past work done in search theory, the proposed strategies make no assumptions about the motion of the evaders, and are guaranteed to succeed for any trajectory of the evaders. The three problem formulations studied include the search for mobile targets through a linear corridor, the search for or bounding of mobile targets which start inside of a circular region, and the prevention of mobile targets from entering a circular region. The extension of the proposed strategies for multiple searchers is also discussed","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"35 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":"115361402","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.2006.1657457
A. Hajjaji, M. Chadli, M. Oudghiri, O. Pagès
In this paper, the robust fuzzy control for four wheels steering (4WS) vehicle dynamics is studied via a Takagi-Sugeno (T-S) uncertain fuzzy model when the road adhesion conditions change and the sideslip angle is unavailable for measurement. After giving the nonlinear model of the vehicle, its representation by a T-S uncertain fuzzy model is discussed. Next, based on the uncertain fuzzy model of the 4WS Vehicle a fuzzy controller and a fuzzy observer are developed. The closed loop stability conditions of a vehicle with the fuzzy controller and the observer are parameterized in terms of linear matrix inequality (LMI) problem which can be solved very efficiently using the convex optimization techniques. The numerical simulation of the vehicle handling with and without the use of the developed observer and controller has been carried out. The simulation results obtained indicate that considerable improvements in the vehicle handling can be achieved whenever the vehicle is governed by the proposed fuzzy observer and fuzzy controller
{"title":"Observer-based robust fuzzy control for vehicle lateral dynamics","authors":"A. Hajjaji, M. Chadli, M. Oudghiri, O. Pagès","doi":"10.1109/ACC.2006.1657457","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657457","url":null,"abstract":"In this paper, the robust fuzzy control for four wheels steering (4WS) vehicle dynamics is studied via a Takagi-Sugeno (T-S) uncertain fuzzy model when the road adhesion conditions change and the sideslip angle is unavailable for measurement. After giving the nonlinear model of the vehicle, its representation by a T-S uncertain fuzzy model is discussed. Next, based on the uncertain fuzzy model of the 4WS Vehicle a fuzzy controller and a fuzzy observer are developed. The closed loop stability conditions of a vehicle with the fuzzy controller and the observer are parameterized in terms of linear matrix inequality (LMI) problem which can be solved very efficiently using the convex optimization techniques. The numerical simulation of the vehicle handling with and without the use of the developed observer and controller has been carried out. The simulation results obtained indicate that considerable improvements in the vehicle handling can be achieved whenever the vehicle is governed by the proposed fuzzy observer and fuzzy controller","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"17 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":"115470233","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.2006.1656453
A. Rantzer
A linear quadratic stochastic control problem is considered. The problem involves several different controllers acting as a team, but with access to different measurements. Under appropriate assumptions on communication delays between the controllers, a quadratic control objective can be optimized using finite-dimensional convex optimization. Versions of this problem has been discussed in economic literature, as well as in statistical decision theory. Some instances were solved in the 1960-70's, but significant progress on convexity properties and the role of communication delays has recently been made. In this paper a stochastic criterion is optimized subject to communication delays. Control of vehicle formations is considered as an example
{"title":"Linear quadratic team theory revisited","authors":"A. Rantzer","doi":"10.1109/ACC.2006.1656453","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656453","url":null,"abstract":"A linear quadratic stochastic control problem is considered. The problem involves several different controllers acting as a team, but with access to different measurements. Under appropriate assumptions on communication delays between the controllers, a quadratic control objective can be optimized using finite-dimensional convex optimization. Versions of this problem has been discussed in economic literature, as well as in statistical decision theory. Some instances were solved in the 1960-70's, but significant progress on convexity properties and the role of communication delays has recently been made. In this paper a stochastic criterion is optimized subject to communication delays. Control of vehicle formations is considered as an example","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"32 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":"115524261","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.2006.1657441
T. Namerikawa, Hirotoshi Kawano
This paper deals with a passivity-based approach to wide area stabilization of magnetic suspension systems. It is well known that the magnetic suspension systems have strong nonlinearity. In order to realize wide area stabilization of magnetic suspension systems, we design the passivity-based feedback controller considering a nonlinear dynamics of the magnetic suspension systems and a leakage inductance of the electromagnet especially. The systems can be decomposed two subsystems; an electrical subsystem and a mechanical subsystem. We design nonlinear passivity-based controllers for both two subsystems. Steady-state and transient time responses results for some operating points show the effectiveness of the proposed controller experimentally
{"title":"A passivity-based approach to wide area stabilization of magnetic suspension systems","authors":"T. Namerikawa, Hirotoshi Kawano","doi":"10.1109/ACC.2006.1657441","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657441","url":null,"abstract":"This paper deals with a passivity-based approach to wide area stabilization of magnetic suspension systems. It is well known that the magnetic suspension systems have strong nonlinearity. In order to realize wide area stabilization of magnetic suspension systems, we design the passivity-based feedback controller considering a nonlinear dynamics of the magnetic suspension systems and a leakage inductance of the electromagnet especially. The systems can be decomposed two subsystems; an electrical subsystem and a mechanical subsystem. We design nonlinear passivity-based controllers for both two subsystems. Steady-state and transient time responses results for some operating points show the effectiveness of the proposed controller experimentally","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":"115670967","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 investigates robust fault detection and isolation problem for a class of discrete-time Markovian jump systems with mode-dependent time-delays and norm-bounded uncertainties. Attention is focused on constructing the residual generator based on the filter whose parameters depend on the system modes and formulating fault detection and isolation filter design as Hinfin filtering problem. The objective is to make the difference between the residual and the fault as small as possible in the context of enhancing robustness of the residual on unknown inputs, control inputs and modeling errors. Sufficient condition for the existence of the above filters is established by means of LMIs. A numerical example is given to illustrate the feasibility of the proposed method
{"title":"An LMI approach to fault detection and isolation filter design for Markovian jump system with mode-dependent time-delays","authors":"Hongru Wang, Changhong Wang, Huijun Gao, Ligang Wu","doi":"10.1109/ACC.2006.1657631","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657631","url":null,"abstract":"This paper investigates robust fault detection and isolation problem for a class of discrete-time Markovian jump systems with mode-dependent time-delays and norm-bounded uncertainties. Attention is focused on constructing the residual generator based on the filter whose parameters depend on the system modes and formulating fault detection and isolation filter design as Hinfin filtering problem. The objective is to make the difference between the residual and the fault as small as possible in the context of enhancing robustness of the residual on unknown inputs, control inputs and modeling errors. Sufficient condition for the existence of the above filters is established by means of LMIs. A numerical example is given to illustrate the feasibility of the proposed method","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"15 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":"123898485","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.2006.1657376
R. Carli, F. Fagnani, A. Speranzon, S. Zampieri
The interrelationship between control and communication theory is becoming of fundamental importance in many distributed control systems. Particular examples are systems comprised of multiple agents. When it comes to coordinately control a group of autonomous mobile agents in order to achieve a common task, communications constraints impose limits on the achievable control performance. Starting from an emerging problem, studied in the robotics and control communities, called consensus or state agreement problem, we characterize the relationship between the amount of information exchanged by the agents and the rate of convergence to the agreement. In particular we show that communication networks that exhibit particular symmetries yield slow convergence, if the amount of information exchanged does not scale with the number of agents. On the other hand, if we allow exchange of logarithmic quantized data, the control performance significantly improves with little growth of the required communication effort
{"title":"Communication constraints in coordinated consensus problems","authors":"R. Carli, F. Fagnani, A. Speranzon, S. Zampieri","doi":"10.1109/ACC.2006.1657376","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657376","url":null,"abstract":"The interrelationship between control and communication theory is becoming of fundamental importance in many distributed control systems. Particular examples are systems comprised of multiple agents. When it comes to coordinately control a group of autonomous mobile agents in order to achieve a common task, communications constraints impose limits on the achievable control performance. Starting from an emerging problem, studied in the robotics and control communities, called consensus or state agreement problem, we characterize the relationship between the amount of information exchanged by the agents and the rate of convergence to the agreement. In particular we show that communication networks that exhibit particular symmetries yield slow convergence, if the amount of information exchanged does not scale with the number of agents. On the other hand, if we allow exchange of logarithmic quantized data, the control performance significantly improves with little growth of the required communication effort","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"59 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":"124551233","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.2006.1655475
M. V. Araujo, O. Costa
In this paper, a discrete-time version of the multi-period mean-variance portfolio selection problem in which the market parameters are subjected to a random regime switching is investigated. We analytically derive an optimal control policy for this mean-variance formulation in a closed form. Such a policy can be obtained by the solution of a set of interconnected Riccatti difference equations. Additionally, an explicit expression for the efficient frontier corresponding to this control law is identified and a numerical example with Brazilian assets is presented
{"title":"Discrete-time mean-variance portfolio optimization with Markov switching parameters","authors":"M. V. Araujo, O. Costa","doi":"10.1109/ACC.2006.1655475","DOIUrl":"https://doi.org/10.1109/ACC.2006.1655475","url":null,"abstract":"In this paper, a discrete-time version of the multi-period mean-variance portfolio selection problem in which the market parameters are subjected to a random regime switching is investigated. We analytically derive an optimal control policy for this mean-variance formulation in a closed form. Such a policy can be obtained by the solution of a set of interconnected Riccatti difference equations. Additionally, an explicit expression for the efficient frontier corresponding to this control law is identified and a numerical example with Brazilian assets is presented","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"76 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":"114862821","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.2006.1657362
T. Iwasaki
The central pattern generator (CPG) provides a fundamental control mechanism underlying rhythmic motions in animal locomotion. We consider a class of CPGs modeled by a group of interconnected identical neurons. Based on the idea of multivariable harmonic balance, we show how the oscillation profile is related to the connectivity matrix that specifies the architecture and strengths of the interconnections. Specifically, the frequency, amplitudes, and phases are essentially encoded in terms of a pair of eigenvalue and eigenvector. This basic principle is used to estimate the oscillation profile of a given CPG and to determine the connectivity matrix that achieves a prescribed oscillation profile
{"title":"Analysis and synthesis of central pattern generators via multivariable harmonic balance","authors":"T. Iwasaki","doi":"10.1109/ACC.2006.1657362","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657362","url":null,"abstract":"The central pattern generator (CPG) provides a fundamental control mechanism underlying rhythmic motions in animal locomotion. We consider a class of CPGs modeled by a group of interconnected identical neurons. Based on the idea of multivariable harmonic balance, we show how the oscillation profile is related to the connectivity matrix that specifies the architecture and strengths of the interconnections. Specifically, the frequency, amplitudes, and phases are essentially encoded in terms of a pair of eigenvalue and eigenvector. This basic principle is used to estimate the oscillation profile of a given CPG and to determine the connectivity matrix that achieves a prescribed oscillation profile","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"81 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":"114700970","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.2006.1657607
Prashanth Padmasola, N. Elia
In this paper, we consider the problem of designing a mean square stabilizing controller for a SISO plant over drop-out actuator and sensor channels. Previous work has derived limitations on the maximal drop-out probability tolerable when a perfect feedback (service) channel is allowed to carry acknowledgements from the actuator receiver to the controller. In this paper, we assume the service channel is imperfect and also subject to drop-outs. We consider two cases: one in which the service channel communicates the receiver acknowledgements, the other in which it communicates the actuator channel state. We derive tradeoff curves relating the minimal quality of service required for stabilization with the percentage of drop-outs in the service channel. The theoretical tradeoff curve is in conjunction with the one obtained from an experimental setup
{"title":"Mean square stabilization of LTI systems over packet-drop networks with imperfect side information","authors":"Prashanth Padmasola, N. Elia","doi":"10.1109/ACC.2006.1657607","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657607","url":null,"abstract":"In this paper, we consider the problem of designing a mean square stabilizing controller for a SISO plant over drop-out actuator and sensor channels. Previous work has derived limitations on the maximal drop-out probability tolerable when a perfect feedback (service) channel is allowed to carry acknowledgements from the actuator receiver to the controller. In this paper, we assume the service channel is imperfect and also subject to drop-outs. We consider two cases: one in which the service channel communicates the receiver acknowledgements, the other in which it communicates the actuator channel state. We derive tradeoff curves relating the minimal quality of service required for stabilization with the percentage of drop-outs in the service channel. The theoretical tradeoff curve is in conjunction with the one obtained from an experimental setup","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"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":"114903404","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.2006.1657505
Yongling Zheng, Ü. Özgüner
A new framework for multiple vehicle system modelling and control is proposed in this paper, in consideration of the existence of roads and turning vehicles. This framework integrates the path selection and vehicle formation in one systematic structure. The movement of the leader is modelled as a discrete state system within a cellular map, and the movement of the follower is modelled as a hybrid system, including the leader-follower interface. The advantage of this model framework is that, it abstracts the main features of the dynamics of multiple vehicle system in high dimensional spaces into one dimensional cellular space and, simplifies and extends the model of followers. The effectiveness of the new framework is illustrated by a simulation in the end
{"title":"Modelling of grouped vehicles within a cellular spatial structure","authors":"Yongling Zheng, Ü. Özgüner","doi":"10.1109/ACC.2006.1657505","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657505","url":null,"abstract":"A new framework for multiple vehicle system modelling and control is proposed in this paper, in consideration of the existence of roads and turning vehicles. This framework integrates the path selection and vehicle formation in one systematic structure. The movement of the leader is modelled as a discrete state system within a cellular map, and the movement of the follower is modelled as a hybrid system, including the leader-follower interface. The advantage of this model framework is that, it abstracts the main features of the dynamics of multiple vehicle system in high dimensional spaces into one dimensional cellular space and, simplifies and extends the model of followers. The effectiveness of the new framework is illustrated by a simulation in the end","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"2019 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":"114906694","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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