Pub Date : 2009-07-08DOI: 10.1109/CCA.2009.5281052
D. Zavalishchin, G. Timofeeva
This paper presents the mathematical model describing movement of vehicles through adjustable crossroads. The model is based on the theory of queuing. The stationary modes of the system are investigated, the problem of optimal duration of traffic light cycle is studied.
{"title":"Mathematical modelling of vehicle flow on a crossroads","authors":"D. Zavalishchin, G. Timofeeva","doi":"10.1109/CCA.2009.5281052","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281052","url":null,"abstract":"This paper presents the mathematical model describing movement of vehicles through adjustable crossroads. The model is based on the theory of queuing. The stationary modes of the system are investigated, the problem of optimal duration of traffic light cycle is studied.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132257816","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281166
E. Parsheva
The subject of this paper is solving the adaptive dynamic controller design problem for interconnected systems with structural and parametric uncertainty for the case when derivatives of input and output parameters cannot be measured. The operability of the designed control systems subject to non-measurable bounded disturbances is presented. Only the measurable variables of the local subsystems are used to generate the control actions, therefore control is completely decentralized.
{"title":"Modified high-order adaptive algorithm for decentralized control of multivariable structurally uncertain plants with state delay","authors":"E. Parsheva","doi":"10.1109/CCA.2009.5281166","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281166","url":null,"abstract":"The subject of this paper is solving the adaptive dynamic controller design problem for interconnected systems with structural and parametric uncertainty for the case when derivatives of input and output parameters cannot be measured. The operability of the designed control systems subject to non-measurable bounded disturbances is presented. Only the measurable variables of the local subsystems are used to generate the control actions, therefore control is completely decentralized.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132315728","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280941
O. Granichin, L. Gurevich, Alexander Vakhitov
Simultaneous perturbation stochastic approximation (SPSA) algorithm is also often referred as a Kiefer-Wolfowitz algorithm with randomized differences. Algorithms of this type are widely applied in field of intelligent control for optimization purposes, especially in a high-dimensional and noisy setting. In such problems it is often important to track the drifting minimum point, adapting to changing environment. In this paper application of the fixed gain SPSA to the minimum tracking problem for the non-constrained optimization is considered. The upper bound of mean square estimation error is determined in case of once differentiable functional and almost arbitrary noises. Numerical simulation of the estimates stabilization for the multidimensional optimization with non-random noise is provided.
{"title":"SPSA with a fixed gain for intelligent control in tracking applications","authors":"O. Granichin, L. Gurevich, Alexander Vakhitov","doi":"10.1109/CCA.2009.5280941","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280941","url":null,"abstract":"Simultaneous perturbation stochastic approximation (SPSA) algorithm is also often referred as a Kiefer-Wolfowitz algorithm with randomized differences. Algorithms of this type are widely applied in field of intelligent control for optimization purposes, especially in a high-dimensional and noisy setting. In such problems it is often important to track the drifting minimum point, adapting to changing environment. In this paper application of the fixed gain SPSA to the minimum tracking problem for the non-constrained optimization is considered. The upper bound of mean square estimation error is determined in case of once differentiable functional and almost arbitrary noises. Numerical simulation of the estimates stabilization for the multidimensional optimization with non-random noise is provided.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132162477","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281127
A. Chaibet, M. Boukhnifer, C. Larouci
This paper discusses an integrated vehicle control and vehicles states estimations. The non linear observer, based on sliding mode approach is presented for estimation of the vehicle states. The considered technique is applied to the estimation problem for automated vehicles operating as two vehicles following. The integrated control consists of second order sliding mode, based on twisting algorithm. The developed controller is tested in scenario of automated driving. Both performance of observer and controller are presented to demonstrate the effectiveness of the sliding mode observer and sliding mode controller in various maneuvers.
{"title":"State estimation for integrated longitudinal and lateral car following control","authors":"A. Chaibet, M. Boukhnifer, C. Larouci","doi":"10.1109/CCA.2009.5281127","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281127","url":null,"abstract":"This paper discusses an integrated vehicle control and vehicles states estimations. The non linear observer, based on sliding mode approach is presented for estimation of the vehicle states. The considered technique is applied to the estimation problem for automated vehicles operating as two vehicles following. The integrated control consists of second order sliding mode, based on twisting algorithm. The developed controller is tested in scenario of automated driving. Both performance of observer and controller are presented to demonstrate the effectiveness of the sliding mode observer and sliding mode controller in various maneuvers.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133323163","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281132
I. Wior, Z. Zhao, M. Luo, Jing-Bing Zhang, S. Ge, H. Lau
For the purpose of generating a standardized environment to test scheduling solvers on scheduling problems and to rank the results in comparison to other solvers, a simulation-based framework for a dynamic resource allocation test bed is proposed and realized. Our focus is on multiplemachine problem formulations, predictable dynamics, event based control and especially their combination. The framework separates the system into the test bed, the solver and a problem generator. Finally a test bed within this framework is realized with the commercial simulation software ProModel.
{"title":"Conceptual framework of a dynamic resource allocation test bed and its practical realization with ProModel","authors":"I. Wior, Z. Zhao, M. Luo, Jing-Bing Zhang, S. Ge, H. Lau","doi":"10.1109/CCA.2009.5281132","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281132","url":null,"abstract":"For the purpose of generating a standardized environment to test scheduling solvers on scheduling problems and to rank the results in comparison to other solvers, a simulation-based framework for a dynamic resource allocation test bed is proposed and realized. Our focus is on multiplemachine problem formulations, predictable dynamics, event based control and especially their combination. The framework separates the system into the test bed, the solver and a problem generator. Finally a test bed within this framework is realized with the commercial simulation software ProModel.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133828336","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281048
H. Kaji, H. Katayama
Digital control problems for dynamically positioned ships are considered by nonlinear sampled-data control theory based on Euler approximate models. State feedback laws that guarantee semeglobal practical asymptotic (SPA) stability of ships are designed. Then the reference signals for the position and the attitude of ships are introduced and state feedback tracking laws are also designed. The effectiveness of the designed feedback laws is demonstrated via experiments by using a small test boat.
{"title":"Digital control problems for dynamically positioned ships","authors":"H. Kaji, H. Katayama","doi":"10.1109/CCA.2009.5281048","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281048","url":null,"abstract":"Digital control problems for dynamically positioned ships are considered by nonlinear sampled-data control theory based on Euler approximate models. State feedback laws that guarantee semeglobal practical asymptotic (SPA) stability of ships are designed. Then the reference signals for the position and the attitude of ships are introduced and state feedback tracking laws are also designed. The effectiveness of the designed feedback laws is demonstrated via experiments by using a small test boat.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"322 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132910788","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280864
L. Fesquet, Hatem Zakaria
The design of integrated circuits, especially System-on-Chips (SoC) is now constrained by many parameters such as speed, energy but also the robustness to process variability. Indeed, controlling the speed and the energy in a complex SoCs - which adopt the Globally Asynchronous Locally Synchronous (GALS) paradigm - require specific power supplies and clock generators as actuators and dedicated sensors. The problem faced by the designers is the non-uniform and non-predictable behaviour of such systems which embed several microprocessors and complex Network-on-Chips (NoC). In these conditions, the control laws are difficult to establish. Moreover, with the technology shrink, the control needs are increased. In order to reach an acceptable fabrication yield, the clock synchronisation - based on the assumption that the critical path is shorter than the clock period - is impracticable with large SoCs which are divided in multiple clock domains. This is why specific sensors are used to evaluate the fabrication process quality and the local environmental parameters (voltage, temperature) in each clock region in order to determine the appropriate clock frequency which does not violate the local timing constraint. All these systems are fed back and required well-suited control techniques able to manage process variability as well as energy or speed.
{"title":"Controlling energy and process variability in System-on-Chips: needs for control theory","authors":"L. Fesquet, Hatem Zakaria","doi":"10.1109/CCA.2009.5280864","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280864","url":null,"abstract":"The design of integrated circuits, especially System-on-Chips (SoC) is now constrained by many parameters such as speed, energy but also the robustness to process variability. Indeed, controlling the speed and the energy in a complex SoCs - which adopt the Globally Asynchronous Locally Synchronous (GALS) paradigm - require specific power supplies and clock generators as actuators and dedicated sensors. The problem faced by the designers is the non-uniform and non-predictable behaviour of such systems which embed several microprocessors and complex Network-on-Chips (NoC). In these conditions, the control laws are difficult to establish. Moreover, with the technology shrink, the control needs are increased. In order to reach an acceptable fabrication yield, the clock synchronisation - based on the assumption that the critical path is shorter than the clock period - is impracticable with large SoCs which are divided in multiple clock domains. This is why specific sensors are used to evaluate the fabrication process quality and the local environmental parameters (voltage, temperature) in each clock region in order to determine the appropriate clock frequency which does not violate the local timing constraint. All these systems are fed back and required well-suited control techniques able to manage process variability as well as energy or speed.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114920953","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281014
V. Yurkevich
The paper treats a question of adaptive proportional-integral (PI) and adaptive proportional-integral-derivative (PID) controller design for nonlinear systems as well as the design of a universal adaptive controller which is an extension of the adaptive PI (PID) control scheme. The presented design methodology guarantees desired output transient performance indices by inducing of two-time-scale motions in the closed-loop system where the controller dynamics is a singular perturbation with respect to the system dynamics. Stability conditions imposed on the fast and slow modes and sufficiently large mode separation rate between fast and slow modes can ensure that the full-order closed-loop nonlinear system achieves the desired properties in such a way that the output transient performances are desired and insensitive to external disturbances and plant's parameter variations. The novelty in the paper is that the high-frequency-gain online identification and adaptive gain tuning are incorporated in the control system in order to maintain the two-time-scale structure in the closed-loop system trajectories and stability of fast-motion transients for a large range of plant's parameter variations. The singular perturbation method is used through-out the paper in order to get explicit expressions for evaluation of the controller parameters. Numerical example and simulation results are presented.
{"title":"Adaptive gain tuning in nonlinear control systems designed via singular perturbation technique","authors":"V. Yurkevich","doi":"10.1109/CCA.2009.5281014","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281014","url":null,"abstract":"The paper treats a question of adaptive proportional-integral (PI) and adaptive proportional-integral-derivative (PID) controller design for nonlinear systems as well as the design of a universal adaptive controller which is an extension of the adaptive PI (PID) control scheme. The presented design methodology guarantees desired output transient performance indices by inducing of two-time-scale motions in the closed-loop system where the controller dynamics is a singular perturbation with respect to the system dynamics. Stability conditions imposed on the fast and slow modes and sufficiently large mode separation rate between fast and slow modes can ensure that the full-order closed-loop nonlinear system achieves the desired properties in such a way that the output transient performances are desired and insensitive to external disturbances and plant's parameter variations. The novelty in the paper is that the high-frequency-gain online identification and adaptive gain tuning are incorporated in the control system in order to maintain the two-time-scale structure in the closed-loop system trajectories and stability of fast-motion transients for a large range of plant's parameter variations. The singular perturbation method is used through-out the paper in order to get explicit expressions for evaluation of the controller parameters. Numerical example and simulation results are presented.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116800749","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280702
S. García-Nieto, J. V. Salcedo, D. Laurí, Miguel A. Martínez
An extension of the model predictive control philosophy to the field of fuzzy control design is discussed. The main goal is to bring together the best features from both techniques. The basic idea is to divide the initial optimization problem in a set of recursive optimization subproblems or decision stages. Each subproblem is raised as a fuzzy LQR design where the goal is to define the set of feedback gains of a fuzzy Parallel Distributed Compensator (PDC) that minimizes the function cost using Linear Matrix Inequalities (LMIs). Therefore, the global controller is a set of PDC controllers that satisfies the Bellman optimality principle, minimizing the cost function both locally and globally, and guarantees stability and satisfies the control action constraints.
{"title":"Discrete Forward-Backward Fuzzy Predictive Control","authors":"S. García-Nieto, J. V. Salcedo, D. Laurí, Miguel A. Martínez","doi":"10.1109/CCA.2009.5280702","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280702","url":null,"abstract":"An extension of the model predictive control philosophy to the field of fuzzy control design is discussed. The main goal is to bring together the best features from both techniques. The basic idea is to divide the initial optimization problem in a set of recursive optimization subproblems or decision stages. Each subproblem is raised as a fuzzy LQR design where the goal is to define the set of feedback gains of a fuzzy Parallel Distributed Compensator (PDC) that minimizes the function cost using Linear Matrix Inequalities (LMIs). Therefore, the global controller is a set of PDC controllers that satisfies the Bellman optimality principle, minimizing the cost function both locally and globally, and guarantees stability and satisfies the control action constraints.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115408981","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281165
B. Youssef, G. L. Solliec, G. Corde, O. Hayat, Christophe Jabeur, P. Calendini
In order to improve Diesel engine performances, new technologies has been investigated. A major development in this context, concerns the airpath architecture for which several setups are envisaged, variable geometry turbines, double stage turbochargers, high and low pressure EGR circuits. In parallel, the control structures have to be improved in order to address the new challenges. Adaptation of the conventional strategies based on steady state maps and proportional integral controllers becomes very difficult. This paper proposes a new method for low pressure EGR control. The proposed strategy is based on a physical representation of the system and can be easily adapted to new architectures. It has been validated by simulation and experimentally on a four cylinder Diesel engine.
{"title":"Low pressure EGR control for a turbocharged diesel HCCI engine","authors":"B. Youssef, G. L. Solliec, G. Corde, O. Hayat, Christophe Jabeur, P. Calendini","doi":"10.1109/CCA.2009.5281165","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281165","url":null,"abstract":"In order to improve Diesel engine performances, new technologies has been investigated. A major development in this context, concerns the airpath architecture for which several setups are envisaged, variable geometry turbines, double stage turbochargers, high and low pressure EGR circuits. In parallel, the control structures have to be improved in order to address the new challenges. Adaptation of the conventional strategies based on steady state maps and proportional integral controllers becomes very difficult. This paper proposes a new method for low pressure EGR control. The proposed strategy is based on a physical representation of the system and can be easily adapted to new architectures. It has been validated by simulation and experimentally on a four cylinder Diesel engine.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124124132","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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