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2020 American Control Conference (ACC)最新文献

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A Data-Driven Power Consumption Model for Electric UAVs 一种数据驱动的电动无人机功耗模型
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147622
X. She, Xianke Lin, H. Lang
Unmanned aerial vehicles (UAV) are becoming a widely applied technology in many kinds of industries, such as agriculture and delivery transportation. However, the range of the drone is limited by the amount of energy it has left to consume. Because of this, in order to optimize the flight control, it is important to estimate the instantaneous power of the drone so that the flight controller can determine the best method to increase the operational time as well as effective energy preservation. By being able to predict this power, a drone can use such information to optimize the flight. This paper proposes the use of a neural network-based model for predicting the power consumption of a drone, which offers a prediction that is high in fidelity and adaptability. The proposed method does not require the knowledge of all the drone’s characteristics, such as dynamics, which allows for easier implementation. Experiments are carried out to demonstrate the benefits of the neural network model’s prediction capabilities.
无人驾驶飞行器(UAV)正成为一项广泛应用于农业、运输等多种行业的技术。然而,无人机的飞行范围受到其剩余能量消耗的限制。因此,为了优化飞行控制,重要的是要估计无人机的瞬时功率,以便飞行控制器可以确定最佳的方法来增加操作时间和有效的能量保存。通过预测这种能量,无人机可以利用这些信息来优化飞行。本文提出了一种基于神经网络的无人机功耗预测模型,该模型具有较高的保真度和适应性。所提出的方法不需要了解无人机的所有特性,例如动力学,从而更容易实现。实验证明了神经网络模型的预测能力。
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引用次数: 3
Differentially Private Interval Observer Design with Bounded Input Perturbation 具有有界输入扰动的差分私有区间观测器设计
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147726
Kwassi H. Degue, J. L. Ny
Real-time data processing for emerging systems such as intelligent transportation systems requires estimating variables based on privacy-sensitive data gathered from individuals, e.g., their location traces. In this paper, we present a privacy-preserving interval observer architecture for a multiagent system, where a bounded privacy-preserving noise is added to each participant’s data and is subsequently taken into account by the observer. The estimates published by the observer guarantee differential privacy for the agents’ data, which means that their statistical distribution is not too sensitive to certain variations in any single agent’s signal. A numerical simulation illustrates the behavior of the proposed architecture.
智能交通系统等新兴系统的实时数据处理需要基于从个人收集的隐私敏感数据(例如他们的位置痕迹)来估计变量。在本文中,我们提出了一种多智能体系统的隐私保护区间观测器结构,该结构在每个参与者的数据中添加有界隐私保护噪声,随后由观测器考虑。观察者发布的估计保证了智能体数据的差异隐私性,这意味着它们的统计分布对任何单个智能体信号的某些变化不太敏感。数值模拟说明了所提出的体系结构的行为。
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引用次数: 5
Temporal Logic Guided Locomotion Planning and Control in Cluttered Environments 混沌环境下时间逻辑引导的运动规划与控制
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147621
S. Kulgod, Wentao Chen, Junda Huang, Ye Zhao, Nikolay A. Atanasov
We present planning and control techniques for non-periodic locomotion tasks specified by temporal logic in rough cluttered terrains. Our planning approach is based on a discrete set of motion primitives for the center of mass (CoM) of a general bipedal robot model. A deterministic shortest path problem is solved over the Büchi automaton of the temporal logic task specification, composed with the graph of CoM keyframe states generated by the motion primitives. A low- level controller based on quadratic programming is proposed to track the resulting CoM and foot trajectories. We demonstrate dynamically stable, non-periodic locomotion of a kneed compass gait bipedal robot satisfying complex task specifications.
我们提出了在粗糙杂乱地形中由时间逻辑指定的非周期运动任务的规划和控制技术。我们的规划方法是基于一组离散的运动原语的一般双足机器人模型的质心(CoM)。利用运动原语生成的CoM关键帧状态图,在时序逻辑任务规范的b chi自动机上解决了确定性最短路径问题。提出了一种基于二次规划的低级控制器,用于跟踪生成的CoM和足部轨迹。我们演示了一种满足复杂任务要求的双足机器人的动态稳定、非周期运动。
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引用次数: 12
Hybrid Predictive Control for Tracking in a Single-Phase DC/AC Inverter with an Unknown Load 带未知负载的单相直流/交流逆变器的混合预测跟踪控制
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147521
Haoyue Gao, M. Maghenem, R. Sanfelice
This paper presents a control algorithm for the full H-bridge inverter that tracks with arbitrary small precision a given desired sinusoidal reference trajectory. The proposed control algorithm is hybrid and predictive in nature. It consists in steering a quadratic Lyapunov function of the tracking errors towards an arbitrarily small value. In this way, the trajectories of the inverter remain sufficiently close to the reference trajectory. This property is guaranteed in the presence of an unknown resistive load through the use of a finite-time estimator. Simulations confirm that the proposed algorithm maintains the frequency of the switches within a reasonable range.
本文提出了一种全h桥逆变器的控制算法,该算法能以任意小精度跟踪给定的期望正弦参考轨迹。所提出的控制算法具有混合性和预测性。它包括将跟踪误差的二次李雅普诺夫函数转向任意小的值。这样,逆变器的轨迹与参考轨迹保持足够接近。通过使用有限时间估计器,在存在未知电阻性负载的情况下保证了这一特性。仿真结果表明,该算法使开关频率保持在合理的范围内。
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引用次数: 0
Recursive Least Squares with Matrix Forgetting 矩阵遗忘的递归最小二乘
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9148005
Adam L. Bruce, A. Goel, D. Bernstein
This paper considers an extension of recursive least squares (RLS), where the cost function is modified to include a matrix forgetting factor. Minimization of the modified cost function provides a framework for combined variable-rate and variable-direction (RLS-VRDF) forgetting. This extension of RLS simultaneously addresses two key issues in standard RLS, namely, the need for variable-rate forgetting due to changing plant parameters as well as the need for variable-direction covariance updating due to the loss of persistency. The performance of RSL-VRDF is illustrated by an example with abrupt parameter changes and loss of persistency.
本文考虑递推最小二乘(RLS)的扩展,其中代价函数被修改为包含矩阵遗忘因子。修正代价函数的最小化为可变速率和可变方向组合遗忘(RLS-VRDF)提供了一个框架。这种RLS的扩展同时解决了标准RLS中的两个关键问题,即由于植物参数变化而需要进行可变速率遗忘,以及由于持久性损失而需要进行可变方向协方差更新。通过实例说明了RSL-VRDF在参数突变和持久性损失情况下的性能。
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引用次数: 12
An Active Perception Approach for Mid-Water Localization of Autonomous Underwater Vehicles 自主水下航行器中水定位的主动感知方法
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147558
Dongsik Chang, M. Johnson-Roberson, Jing Sun
Mid-water localization is challenging for autonomous underwater vehicles (AUVs) due to limited communications and geo-referencing capabilities in the underwater environment, coupled with unknown complex and dynamic surroundings. Existing solutions typically utilize expensive sensors that may not be available to all AUVs. In this paper, we consider an AUV descending through the water column and propose an approach for mid-water localization using inertial and depth sensors only. During a descent of the vehicle, we leverage spiral motion, which allows for exploitation of vehicle dynamics along with associated inertial sensor measurements for localization. The spiral motion enables us to observe and estimate the influence of environmental flow (e.g., ocean currents) on the vehicle motion, thereby enhancing the understanding of the environment through active perception. The estimated flow together with inertial and depth sensor measurements are integrated in the vehicle motion model for localization. Comparing our approach with conventional dead-reckoning, the simulation results demonstrate its promising potential.
由于水下环境中的通信和地理参考能力有限,加上未知的复杂动态环境,自主水下航行器(auv)的中水定位具有挑战性。现有的解决方案通常使用昂贵的传感器,这些传感器可能不适用于所有auv。本文以水下航行器为研究对象,提出了一种仅使用惯性传感器和深度传感器进行中水定位的方法。在车辆下降期间,我们利用螺旋运动,允许利用车辆动力学以及相关的惯性传感器测量进行定位。螺旋运动使我们能够观察和估计环境流动(如洋流)对车辆运动的影响,从而通过主动感知增强对环境的理解。将估计的流量与惯性传感器和深度传感器测量结果集成到车辆运动模型中进行定位。通过与传统航位推算方法的比较,仿真结果显示了该方法的潜力。
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引用次数: 6
A frequency domain analysis of compressible linearized Navier-Stokes equations in a hypersonic compression ramp flow 高超声速压缩斜流中可压缩线性化Navier-Stokes方程的频域分析
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147451
A. Dwivedi, G. Candler, M. Jovanović
We utilize the frequency response analysis of the linearized Navier-Stokes equations to quantify amplification of exogenous disturbances in a hypersonic flow over a compression ramp. Using the spatial structure of the dominant response to time-periodic inputs, we explain the origin of steady reattachment streaks. Our analysis of the laminar shock/boundary layer interaction reveals that the streaks arise from a preferential amplification of upstream counter-rotating vortical perturbations with a specific span-wise wavelength. These streaks are associated with heat flux striations at the wall near flow reattachment and they can trigger transition to turbulence. The streak wavelength predicted by our analysis compares favorably with observations from two different hypersonic compression ramp experiments. Furthermore, we utilize the dominant response to analyze the physical effects in the linearized dynamical system responsible for amplification of disturbances. We show that flow compressibility that arises from base flow deceleration contributes to the amplification of streamwise velocity and that the baroclinic effects are responsible for the production of streamwise vorticity. Both these effects contribute to the appearance of temperature streaks observed in experiments and are critically important for the development of control-oriented models for transition to turbulence in hypersonic flows.
我们利用线性化的Navier-Stokes方程的频率响应分析来量化压缩坡道上高超声速流动中外源干扰的放大。利用对时间周期输入的主导响应的空间结构,我们解释了稳定再附着条纹的起源。我们对层流激波/边界层相互作用的分析表明,条纹产生于具有特定跨波长的上游反向旋转涡旋扰动的优先放大。这些条纹与流动再附着处壁面的热流密度条纹有关,它们可以触发向湍流的过渡。我们的分析预测的条纹波长与两个不同的高超声速压缩斜坡实验的观测结果比较有利。此外,我们利用主导响应来分析线性化动力系统中引起扰动放大的物理效应。研究表明,由基流减速引起的流动可压缩性有助于增大流向速度,斜压效应是产生流向涡度的原因。这两种效应都有助于在实验中观察到的温度条纹的出现,并且对于在高超声速流动中过渡到湍流的面向控制模型的发展至关重要。
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引用次数: 2
A Nonlinear Fault Detection Scheme for PV Applications 一种光伏应用的非线性故障检测方案
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147204
Nicholas A. Hawkins, N. Jewell, Moath H. A. Alqatamin, Bhagyashri Bhagwat, M. McIntyre
While major faults in grid-connected PV systems are easily detectable using currently available methods, there are some instances where fault conditions can escape normal detection means. This paper proposes a nonlinear observer to detect these smaller faults using a model-based approach. This observer is validated through a Lyapunov stability analysis and verified by simulation results. The proposed observer is simple to calculate and can be utilized by a system expert to detect the presence of a fault condition.
虽然目前可用的方法很容易检测到并网光伏系统中的重大故障,但在某些情况下,故障情况可能无法通过常规检测手段进行检测。本文提出了一种基于模型的非线性观测器来检测这些较小的故障。该观测器通过李雅普诺夫稳定性分析和仿真结果进行了验证。所提出的观测器计算简单,可以被系统专家用来检测故障条件的存在。
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引用次数: 3
Considering Integer Chance Constraints for Enforcing Flexible Line Flow Ratings 考虑整数机会约束的柔性线路流量额定值
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147669
Kaitlyn Garifi, K. Baker
Transmission line capacity ratings are often treated as a fixed nominal value; however, these ratings can be temporarily increased to a higher rating that can be leveraged when accounting for uncertainty in the system. In this paper, we introduce a chance constrained optimal power flow model to account for fluctuations in wind power generation with respect to line flow ratings. We propose a two-stage stochastic program where the optimal traditional generator dispatch is determined across wind power fluctuation scenarios. Flexible line flow ratings are incorporated into our model using integer chance constraints which limit the probability of non-nominal line capacity rating violations across all wind scenarios. We present simulation results on the RTS-GMLC test system to demonstrate the effectiveness of considering infrequent line violations on network congestion to reduce the total average wind power curtailment by 15%.
传输线的额定容量通常被视为一个固定的标称值;然而,这些评级可以暂时提高到一个更高的评级,当考虑到系统中的不确定性时,可以利用这个评级。在本文中,我们引入了一个机会约束的最优潮流模型来考虑风力发电相对于线流额定值的波动。我们提出了一个两阶段的随机方案,在该方案中,传统发电机的最优调度是在风力发电波动情况下确定的。灵活的线路流量额定值被纳入到我们的模型中,使用整数机会约束,限制了所有风场景中非标称线路容量额定值违规的概率。在RTS-GMLC测试系统上进行了仿真实验,验证了在网络拥塞中考虑不频繁的线路违例对减少总平均弃风15%的有效性。
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引用次数: 2
Scalable Zonotope-Ellipsoid Conversions using the Euclidean Zonotope Norm 使用欧几里得分区范数的可伸缩分区-椭球体转换
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147938
Victor Gaßmann, M. Althoff
Set-based computations become increasingly popular for safety-critical systems to ensure properties of controllers and observers. To efficiently compute various set operations, one often uses different set representations and conversions between them. Two popular set representations, for which scalable conversion algorithms do not yet exist, are zonotopes and ellipsoids. We provide computational approaches for all four conversion cases, i.e., overapproximations and underapproximations from zonotopes to ellipsoids and vice versa. By using upper bounds on the maximum and lower bounds on the minimum Euclidean norm of a given zonotope, our approaches have polynomial complexity and thus can be used for high-dimensional spaces. We show that the tightness of our approaches directly depends on the tightness of the Euclidean norm. Numerical experiments demonstrate the usefulness of our proposed methods.
基于集合的计算在安全关键系统中越来越流行,以确保控制器和观测器的属性。为了有效地计算各种集合运算,人们经常使用不同的集合表示和它们之间的转换。两个流行的交涉,可伸缩的转换算法尚不存在,zonotopes椭圆体。我们提供了所有四种转换情况的计算方法,即从分区到椭球体的过逼近和欠逼近,反之亦然。我们的方法利用给定分区的最大范数上界和最小欧氏范数下界,具有多项式复杂度,可用于高维空间。我们证明了我们的方法的紧密性直接取决于欧几里得范数的紧密性。数值实验证明了所提方法的有效性。
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引用次数: 7
期刊
2020 American Control Conference (ACC)
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