Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158811
Agostino Martinelli
This paper investigates the unknown input observability problem in the nonlinear case under the assumption that the unknown inputs are differentiable functions of time (up to a given order). The goal is not to design new observers but to provide simple analytic conditions in order to check the weak local observability of the state. The analysis starts by providing a new definition of indistinguishable states in the case of unknown inputs. Then, in order to separate the effect of the known inputs from the effect of the unknown inputs on the system outputs, the state is augmented. This allows us to obtain the extension of basic properties, which hold in the case of known inputs. Starting from these properties, the paper provides a sufficient analytic condition for the state observability, which is called the extended observability rank condition. The proposed approach is used to derive the observability properties of two systems. The former is very simple while the latter is very complex and describes the fusion of visual and inertial measurements.
{"title":"Extension of the observability rank condition to nonlinear systems driven by unknown inputs","authors":"Agostino Martinelli","doi":"10.1109/MED.2015.7158811","DOIUrl":"https://doi.org/10.1109/MED.2015.7158811","url":null,"abstract":"This paper investigates the unknown input observability problem in the nonlinear case under the assumption that the unknown inputs are differentiable functions of time (up to a given order). The goal is not to design new observers but to provide simple analytic conditions in order to check the weak local observability of the state. The analysis starts by providing a new definition of indistinguishable states in the case of unknown inputs. Then, in order to separate the effect of the known inputs from the effect of the unknown inputs on the system outputs, the state is augmented. This allows us to obtain the extension of basic properties, which hold in the case of known inputs. Starting from these properties, the paper provides a sufficient analytic condition for the state observability, which is called the extended observability rank condition. The proposed approach is used to derive the observability properties of two systems. The former is very simple while the latter is very complex and describes the fusion of visual and inertial measurements.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131320080","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 : 2015-06-16DOI: 10.1109/MED.2015.7158753
Xian Zhang, V. Cocquempot, A. Aitouche
A fault-tolerant control (FTC) scheme for the path tracking of an electric vehicle (EV), which has four electromechanical wheel systems, is proposed. With wheel slip constraints and certain faults, a passive fault-tolerant controller based on the low-high gain control is developed to maintain the system's stability and guarantee an acceptable performance. If the performance degrades under a given threshold, an active fault diagnosis (AFD) approach is used to isolate and to evaluate the fault more precisely. A reference adjustment technique (RAT) with the designed controller are used to guarantee the safe implementation of AFD. As soon as the diagnosis information is available, an accommodated controller is reconstructed to recover the degraded performance as best as possible. Finally, simulations of traction engine faults for a 4WD EV are conducted to illustrate the proposed scheme.
{"title":"Fault-tolerant control scheme based on reference adjustments for a 4WD electric vehicle with actuator faults and constraints","authors":"Xian Zhang, V. Cocquempot, A. Aitouche","doi":"10.1109/MED.2015.7158753","DOIUrl":"https://doi.org/10.1109/MED.2015.7158753","url":null,"abstract":"A fault-tolerant control (FTC) scheme for the path tracking of an electric vehicle (EV), which has four electromechanical wheel systems, is proposed. With wheel slip constraints and certain faults, a passive fault-tolerant controller based on the low-high gain control is developed to maintain the system's stability and guarantee an acceptable performance. If the performance degrades under a given threshold, an active fault diagnosis (AFD) approach is used to isolate and to evaluate the fault more precisely. A reference adjustment technique (RAT) with the designed controller are used to guarantee the safe implementation of AFD. As soon as the diagnosis information is available, an accommodated controller is reconstructed to recover the degraded performance as best as possible. Finally, simulations of traction engine faults for a 4WD EV are conducted to illustrate the proposed scheme.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128855173","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 : 2015-06-16DOI: 10.1109/MED.2015.7158812
Y. Rkhissi-Kammoun, J. Ghommam, M. Boukhnifer, Faisal Mnif
This paper deals with the synthesis of a speed and flux control strategy for a class of motor control characterized by its highly nonlinear and multivariable dynamic, induction motor drive. A new continuous control law is proposed using a combination of the backstepping design with the Robust Integral Sign of the Error (RISE) technique in the presence of additive load disturbances. The modified backstepping design is asymptotically stable in the context of Lyapunov theory under the assumptions that the disturbances are C2 class fuctions with bounded time derivatives. Moreover, the boundedness of the closed-loop signals is ensured. Simulation results are provided to illustarte the effetiveness of the proposed approach.
{"title":"RISE-Backsteppping feedback control for induction machine in electric vehicle applications","authors":"Y. Rkhissi-Kammoun, J. Ghommam, M. Boukhnifer, Faisal Mnif","doi":"10.1109/MED.2015.7158812","DOIUrl":"https://doi.org/10.1109/MED.2015.7158812","url":null,"abstract":"This paper deals with the synthesis of a speed and flux control strategy for a class of motor control characterized by its highly nonlinear and multivariable dynamic, induction motor drive. A new continuous control law is proposed using a combination of the backstepping design with the Robust Integral Sign of the Error (RISE) technique in the presence of additive load disturbances. The modified backstepping design is asymptotically stable in the context of Lyapunov theory under the assumptions that the disturbances are C2 class fuctions with bounded time derivatives. Moreover, the boundedness of the closed-loop signals is ensured. Simulation results are provided to illustarte the effetiveness of the proposed approach.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123310591","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 : 2015-06-16DOI: 10.1109/MED.2015.7158795
M. Guermouche, Sofiane Ahmed Ali, N. Langlois
This paper develops a sliding mode controller via nonlinear disturbance observer for diesel generator system subject to matched and unmatched disturbances. The proposed controller is based upon a novel nonlinear disturbance observer structure which uses the concept of total disturbance estimation in order to estimate simultaneously the matched and the unmatched disturbances in the system. This estimation is incorporated then in a composite observer based controller where the Lyapunov based stability analysis is given. Simulations results illustrate the effectiveness of the proposed controller compared to the baseline sliding mode controller and shows its advantages in terms of disturbance rejection, chattering reduction and nominal performance recovery.
{"title":"Sliding mode control for diesel generator via disturbance observer","authors":"M. Guermouche, Sofiane Ahmed Ali, N. Langlois","doi":"10.1109/MED.2015.7158795","DOIUrl":"https://doi.org/10.1109/MED.2015.7158795","url":null,"abstract":"This paper develops a sliding mode controller via nonlinear disturbance observer for diesel generator system subject to matched and unmatched disturbances. The proposed controller is based upon a novel nonlinear disturbance observer structure which uses the concept of total disturbance estimation in order to estimate simultaneously the matched and the unmatched disturbances in the system. This estimation is incorporated then in a composite observer based controller where the Lyapunov based stability analysis is given. Simulations results illustrate the effectiveness of the proposed controller compared to the baseline sliding mode controller and shows its advantages in terms of disturbance rejection, chattering reduction and nominal performance recovery.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126358828","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 : 2015-06-16DOI: 10.1109/MED.2015.7158754
H. Schulte, F. Pöschke
In this paper, two criteria for robust actuator fault reconstruction with sliding mode observation for a class of uncertain nonlinear systems are derived. It is known, even though the sliding mode technique is robust against unknown but bounded uncertainties, that the quality of fault reconstruction under real conditions is not as good as assumed in the design stage. This is often due to the fact that the unmodeled dynamics and external disturbances have a greater variability and dimension as expected. Even if the dimension is known, it is formally limited by the existence condition for an exponentially stable error dynamics. Therefore, H∞ criteria are derived to obtain a threshold for the accuracy of fault reconstruction during sliding motion. The validity and applicability of the design approach is demonstrated by the inverted pendulum benchmark.
{"title":"H∞ criteria for robust actuator fault reconstruction for nonlinear systems in Takagi-Sugeno's form using sliding modes","authors":"H. Schulte, F. Pöschke","doi":"10.1109/MED.2015.7158754","DOIUrl":"https://doi.org/10.1109/MED.2015.7158754","url":null,"abstract":"In this paper, two criteria for robust actuator fault reconstruction with sliding mode observation for a class of uncertain nonlinear systems are derived. It is known, even though the sliding mode technique is robust against unknown but bounded uncertainties, that the quality of fault reconstruction under real conditions is not as good as assumed in the design stage. This is often due to the fact that the unmodeled dynamics and external disturbances have a greater variability and dimension as expected. Even if the dimension is known, it is formally limited by the existence condition for an exponentially stable error dynamics. Therefore, H∞ criteria are derived to obtain a threshold for the accuracy of fault reconstruction during sliding motion. The validity and applicability of the design approach is demonstrated by the inverted pendulum benchmark.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121534880","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 : 2015-06-16DOI: 10.1109/MED.2015.7158881
F. Liberati, G. Oddi, Andrea Lanna, A. Pietrabissa
This paper deals with the design of a lightweight sensor scheduling algorithm in clustered wireless sensor networks (WSNs) for environmental observation. The aim is that of achieving energy savings and a fair distribution of the sensing task among WSN nodes, while ensuring that critical network tasks, such as data fusion, are not impaired. The proposed scheduling policy takes into account feedback on nodes' health status and the quality of the information provided by the nodes to be scheduled. As a result, dynamically variable schedules are produced, adapted to the current status of the WSN. Simulation results are presented to highlight the relevant features of the algorithm.
{"title":"A lightweight sensor scheduling algorithm for clustered wireless sensor networks","authors":"F. Liberati, G. Oddi, Andrea Lanna, A. Pietrabissa","doi":"10.1109/MED.2015.7158881","DOIUrl":"https://doi.org/10.1109/MED.2015.7158881","url":null,"abstract":"This paper deals with the design of a lightweight sensor scheduling algorithm in clustered wireless sensor networks (WSNs) for environmental observation. The aim is that of achieving energy savings and a fair distribution of the sensing task among WSN nodes, while ensuring that critical network tasks, such as data fusion, are not impaired. The proposed scheduling policy takes into account feedback on nodes' health status and the quality of the information provided by the nodes to be scheduled. As a result, dynamically variable schedules are produced, adapted to the current status of the WSN. Simulation results are presented to highlight the relevant features of the algorithm.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122457364","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 : 2015-06-16DOI: 10.1109/MED.2015.7158772
V. Filaretov, A. Zuev, A. Zhirabok, A. Procenko, B. Subudhi
The development of a synthesis method of highquality fault tolerant systems for autonomous underwater robots with navigation sensors failures is addressed in this paper. The offered new method bases on using of kinematic models of these robots and a special fusion of data obtained from their onboard navigation sensors. The advantage of method is simplicity of realization and high precision of compensation of detected faults in the conditions of uncertainty and essential variability of parameters of environment and underwater robot. The results of modeling confirm high efficiency of functioning of the synthesized fault tolerant systems.
{"title":"Development of synthesis method of fault tolerant systems for autonomous underwater robots with navigation sensors failures","authors":"V. Filaretov, A. Zuev, A. Zhirabok, A. Procenko, B. Subudhi","doi":"10.1109/MED.2015.7158772","DOIUrl":"https://doi.org/10.1109/MED.2015.7158772","url":null,"abstract":"The development of a synthesis method of highquality fault tolerant systems for autonomous underwater robots with navigation sensors failures is addressed in this paper. The offered new method bases on using of kinematic models of these robots and a special fusion of data obtained from their onboard navigation sensors. The advantage of method is simplicity of realization and high precision of compensation of detected faults in the conditions of uncertainty and essential variability of parameters of environment and underwater robot. The results of modeling confirm high efficiency of functioning of the synthesized fault tolerant systems.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133301050","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 : 2015-06-16DOI: 10.1109/MED.2015.7158915
I. Aksikas, S. Dubljevic
The present work proposes an extension of single-step feedback linearization with pole-placement formulation to the class of nonlinear hyperbolic systems. In particular, the mathematical formulation in the context of singular PDE theory is utilized via system of first order quasi-linear singular PDEs within the nonlinear hyperbolic PDE setting to obtain single step state nonlinear transformation and feedback control law with prescribed closed loop dynamics. The solution of quasi linear singular PDE is guaranteed by the Lyapunov's auxiliary theorem and locally invertible analytic transformation is applied by the full state feedback law to yield desired stable hyperbolic PDE system with assignable dynamics. The simultaneous state transformation and feedback linearization are realized in one step, avoiding the restrictions existing in other approaches.
{"title":"Single-step feedback linearization with assignable dynamics for hyperbolic PDE","authors":"I. Aksikas, S. Dubljevic","doi":"10.1109/MED.2015.7158915","DOIUrl":"https://doi.org/10.1109/MED.2015.7158915","url":null,"abstract":"The present work proposes an extension of single-step feedback linearization with pole-placement formulation to the class of nonlinear hyperbolic systems. In particular, the mathematical formulation in the context of singular PDE theory is utilized via system of first order quasi-linear singular PDEs within the nonlinear hyperbolic PDE setting to obtain single step state nonlinear transformation and feedback control law with prescribed closed loop dynamics. The solution of quasi linear singular PDE is guaranteed by the Lyapunov's auxiliary theorem and locally invertible analytic transformation is applied by the full state feedback law to yield desired stable hyperbolic PDE system with assignable dynamics. The simultaneous state transformation and feedback linearization are realized in one step, avoiding the restrictions existing in other approaches.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134487409","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 : 2015-06-16DOI: 10.1109/MED.2015.7158781
D. Guerrero-Lopez, J. Román
This paper shows part of the work carried out to develop parallel versions of the SLICOT routines for model reduction of stable systems. In particular, the routines that have been parallelised are those based on the solution of Lyapunov equations. The goal is to be able to work with larger unreduced models and also to obtain better performance in the reduction process. New routines have been developed using standard libraries to improve portability and efficiency. A preliminary version was released previously by the authors, which achieved high performance. However, accuracy improvements have been necessary in order to make the new routines similar to the sequential ones in this aspect. Routines presented in this paper preserve good performance obtained by the previous parallel implementation while maintaining high accuracy of sequential SLICOT routines.
{"title":"Improving accuracy of parallel SLICOT model reduction routines for stable systems","authors":"D. Guerrero-Lopez, J. Román","doi":"10.1109/MED.2015.7158781","DOIUrl":"https://doi.org/10.1109/MED.2015.7158781","url":null,"abstract":"This paper shows part of the work carried out to develop parallel versions of the SLICOT routines for model reduction of stable systems. In particular, the routines that have been parallelised are those based on the solution of Lyapunov equations. The goal is to be able to work with larger unreduced models and also to obtain better performance in the reduction process. New routines have been developed using standard libraries to improve portability and efficiency. A preliminary version was released previously by the authors, which achieved high performance. However, accuracy improvements have been necessary in order to make the new routines similar to the sequential ones in this aspect. Routines presented in this paper preserve good performance obtained by the previous parallel implementation while maintaining high accuracy of sequential SLICOT routines.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133073876","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 : 2015-06-16DOI: 10.1109/MED.2015.7158895
L. R. Celsi, S. Battilotti, Federico Cimorelli, C. Giorgi, S. Monaco, M. Panfili, V. Suraci, F. D. Priscoli
The paper describes an innovative and fully cognitive approach which offers the opportunity to cope with some key limitations of the present telecommunication networks by means of the introduction of a novel architecture design in the perspective of the emerging Future Internet framework. Within this architecture, the Quality of Experience (QoE) Management functionalities are aimed at approaching the desired QoE level of the applications by dynamically selecting the most appropriate Class of Service supported by the network. In the present work, this selection is driven by an optimal and adaptive control strategy based on the renowned Q-Learning algorithm. The proposed dynamic approach differs from the traffic classification approaches found in the literature, where a static assignment of Classes of Service to applications is performed.
{"title":"A Q-Learning based approach to Quality of Experience control in cognitive Future Internet networks","authors":"L. R. Celsi, S. Battilotti, Federico Cimorelli, C. Giorgi, S. Monaco, M. Panfili, V. Suraci, F. D. Priscoli","doi":"10.1109/MED.2015.7158895","DOIUrl":"https://doi.org/10.1109/MED.2015.7158895","url":null,"abstract":"The paper describes an innovative and fully cognitive approach which offers the opportunity to cope with some key limitations of the present telecommunication networks by means of the introduction of a novel architecture design in the perspective of the emerging Future Internet framework. Within this architecture, the Quality of Experience (QoE) Management functionalities are aimed at approaching the desired QoE level of the applications by dynamically selecting the most appropriate Class of Service supported by the network. In the present work, this selection is driven by an optimal and adaptive control strategy based on the renowned Q-Learning algorithm. The proposed dynamic approach differs from the traffic classification approaches found in the literature, where a static assignment of Classes of Service to applications is performed.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115372983","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：