This paper deals with the networked yaw rate tracking control problem of a Four-Wheel-Independent-Drive electric vehicle (FWID-EV) in steering process. Based on the dynamics of the FWID-EV and an expected yaw rate, an augmented state-space representation is presented to model the tracking control system with disturbance inputs. An interval input delay system is used to describe the networked yaw rate tracking control system subject to network-induced delays and data losses. By constructing an augmented Lyapunov-Krasovskii functional according to the form of second-order Bessel-Legendre inequality, a new bounded real lemma is derived and the networked $H_{infty}$ tracking control design result is established by solving linear matrix inequalities. Two numerical examples are provided to verify the obtain results.
{"title":"Networked Yaw Rate Tracking Control of Four-Wheel-Independent-Drive Electric Vehicle in Steering Process","authors":"Zifan Gao, Dawei Zhang, Shuqian Zhu, X. Jia, Baolin Zhang","doi":"10.1109/ANZCC47194.2019.8945786","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945786","url":null,"abstract":"This paper deals with the networked yaw rate tracking control problem of a Four-Wheel-Independent-Drive electric vehicle (FWID-EV) in steering process. Based on the dynamics of the FWID-EV and an expected yaw rate, an augmented state-space representation is presented to model the tracking control system with disturbance inputs. An interval input delay system is used to describe the networked yaw rate tracking control system subject to network-induced delays and data losses. By constructing an augmented Lyapunov-Krasovskii functional according to the form of second-order Bessel-Legendre inequality, a new bounded real lemma is derived and the networked $H_{infty}$ tracking control design result is established by solving linear matrix inequalities. Two numerical examples are provided to verify the obtain results.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123093698","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 : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945659
M. Munir, W. Abdulla, I. Ardekani
Active noise control (ANC) is an effective way to cancel the low-frequency noise. The conventional ANC system creates the ‘zone of quiet’ by minimizing the mean square error (MSE) at the location of an error microphone. However, in practical applications, sometimes it is not possible to achieve the noise attenuation at the desired location due to physical constraints limiting locating the error microphone at certain points. Similarly, the performance of the conventional ANC system also compromises when the impression of audio sensation on human auditory does not match the numerical values of the system. It is because the human ear has complicated psychoacoustic properties. In this paper, we present a new psychoacoustically motivated ANC system for a remote location. Noise weighting filters are incorporated into remote ANC to improve the audio sensation of the residual noise. The performance of the purposed system is evaluated by computer simulation, and the perceptual loudness is selected as a performance criterion for the psychoacoustic assessment of residual noise.
{"title":"Psychoacoustically Motivated Active Noise Control at Remote Locations","authors":"M. Munir, W. Abdulla, I. Ardekani","doi":"10.1109/ANZCC47194.2019.8945659","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945659","url":null,"abstract":"Active noise control (ANC) is an effective way to cancel the low-frequency noise. The conventional ANC system creates the ‘zone of quiet’ by minimizing the mean square error (MSE) at the location of an error microphone. However, in practical applications, sometimes it is not possible to achieve the noise attenuation at the desired location due to physical constraints limiting locating the error microphone at certain points. Similarly, the performance of the conventional ANC system also compromises when the impression of audio sensation on human auditory does not match the numerical values of the system. It is because the human ear has complicated psychoacoustic properties. In this paper, we present a new psychoacoustically motivated ANC system for a remote location. Noise weighting filters are incorporated into remote ANC to improve the audio sensation of the residual noise. The performance of the purposed system is evaluated by computer simulation, and the perceptual loudness is selected as a performance criterion for the psychoacoustic assessment of residual noise.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114522065","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 : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945790
A. Narayanan
The role of ethical judgement in autonomous control systems is gaining increasing prominence. In particular, there is increasing concern about ‘killer robots’, drones that can kill on their own, and intelligent autonomous vehicles such as driverless cars. Recent incidents involving autonomous vehicles in which humans have been killed or injured have raised questions about whether such vehicles can have an ethical dimension to their behavior so that they know when it is right or wrong to take over control from a human driver or hand control back, no matter how advanced their embedded artificial intelligence and sensor technology. This paper describes a fuzzy control approach to machine ethics that shows how it is possible for an ethics architecture to be part of a control system to calculate when taking over from a human driver is morally justified. One major advantage of the approach is that such an ethical reasoning architecture can generate its own data for learning moral rules and thereby reduce the possibility of picking up human biases and prejudices.
{"title":"Ethical judgement in intelligent control systems for autonomous vehicles","authors":"A. Narayanan","doi":"10.1109/ANZCC47194.2019.8945790","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945790","url":null,"abstract":"The role of ethical judgement in autonomous control systems is gaining increasing prominence. In particular, there is increasing concern about ‘killer robots’, drones that can kill on their own, and intelligent autonomous vehicles such as driverless cars. Recent incidents involving autonomous vehicles in which humans have been killed or injured have raised questions about whether such vehicles can have an ethical dimension to their behavior so that they know when it is right or wrong to take over control from a human driver or hand control back, no matter how advanced their embedded artificial intelligence and sensor technology. This paper describes a fuzzy control approach to machine ethics that shows how it is possible for an ethics architecture to be part of a control system to calculate when taking over from a human driver is morally justified. One major advantage of the approach is that such an ethical reasoning architecture can generate its own data for learning moral rules and thereby reduce the possibility of picking up human biases and prejudices.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"475 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134188149","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 is concerned with output feedback control to reduce the bullwhip effect of a dynamic supply chain system based on an interval-like demand prediction scheme. By introducing an interval-like time-varying delayed state signal to predict the order variations of downstream sites and taking into account the parametric perturbations, the dynamic supply chain is modeled as an uncertain linear discrete-time system with interval-like time-delay. Then, output feedback control scheme is proposed to improve the performance of the supply chain system. A sufficient condition to the existence of the output feedback controller is derived. It is found from simulation results that the designed output feedback controller can effectively stabilize the supply chain system with interval-like time-delay and parametric perturbations. Moreover, if the introduced interval-like time-delays are chosen properly, the bullwhip effect of the system can be reduced significantly.
{"title":"Output feedback control of dynamic supply chains via interval-like demand prediction schemes","authors":"Liping Liu, Baolin Zhang, Jian Sun, Tianhong Yan, Dawei Zhang, Zuqing Huang","doi":"10.1109/ANZCC47194.2019.8945791","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945791","url":null,"abstract":"This paper is concerned with output feedback control to reduce the bullwhip effect of a dynamic supply chain system based on an interval-like demand prediction scheme. By introducing an interval-like time-varying delayed state signal to predict the order variations of downstream sites and taking into account the parametric perturbations, the dynamic supply chain is modeled as an uncertain linear discrete-time system with interval-like time-delay. Then, output feedback control scheme is proposed to improve the performance of the supply chain system. A sufficient condition to the existence of the output feedback controller is derived. It is found from simulation results that the designed output feedback controller can effectively stabilize the supply chain system with interval-like time-delay and parametric perturbations. Moreover, if the introduced interval-like time-delays are chosen properly, the bullwhip effect of the system can be reduced significantly.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130903498","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 : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945657
N. Otsuka, Daiki Kakehi
In this paper, we consider the two types of interval switched positive observers for discrete-time arbitrary switched positive linear systems under the assumption that the initial state of the switched system is between known lower and upper bounds. Firstly, the interval full-order switched positive observers for discrete-time switched positive linear systems are studied. Next, the interval reduced-order switched positive observers for the same switched positive linear systems are studied. Finally, an illustrative numerical example is shown.
{"title":"Interval Switched Positive Observers for Discrete-Time Switched Positive Systems under Arbitrary Switching","authors":"N. Otsuka, Daiki Kakehi","doi":"10.1109/ANZCC47194.2019.8945657","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945657","url":null,"abstract":"In this paper, we consider the two types of interval switched positive observers for discrete-time arbitrary switched positive linear systems under the assumption that the initial state of the switched system is between known lower and upper bounds. Firstly, the interval full-order switched positive observers for discrete-time switched positive linear systems are studied. Next, the interval reduced-order switched positive observers for the same switched positive linear systems are studied. Finally, an illustrative numerical example is shown.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"364 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114774991","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 : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945686
P. Souza, K. Stol
This paper presents an alternative approach for nonlinear trajectory-tracking control of quadrotor unmanned aerial vehicles (UAVs) based on analytical dynamics and quaternion theories. The equations of motion of constrained mechanical systems are reinterpreted as a solution for obtaining an explicit nonlinear control law. In addition, practical control aspects and the impact of nonidealities are investigated by providing qualitative and quantitative comparisons between simulated and experimental results. Numerical simulations demonstrate the efficacy of the proposed controller to track desired trajectories with very small tracking error for simple as well as aggressive or sharp trajectories. Using common open-source solutions, real-world implementation feasibility, performance, and limitations of the control method are discussed.
{"title":"An Analytical Dynamics Approach for Nonlinear Trajectory-Tracking Control of Quadrotors: Numerical and Experimental Results","authors":"P. Souza, K. Stol","doi":"10.1109/ANZCC47194.2019.8945686","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945686","url":null,"abstract":"This paper presents an alternative approach for nonlinear trajectory-tracking control of quadrotor unmanned aerial vehicles (UAVs) based on analytical dynamics and quaternion theories. The equations of motion of constrained mechanical systems are reinterpreted as a solution for obtaining an explicit nonlinear control law. In addition, practical control aspects and the impact of nonidealities are investigated by providing qualitative and quantitative comparisons between simulated and experimental results. Numerical simulations demonstrate the efficacy of the proposed controller to track desired trajectories with very small tracking error for simple as well as aggressive or sharp trajectories. Using common open-source solutions, real-world implementation feasibility, performance, and limitations of the control method are discussed.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122041093","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 : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945687
Yanpeng Guan, W. Zheng
In this paper the problem of $H_{infty}$ structured controller design is addressed. The considered problem arises when selection of actuators in decentralized control systems leads to that some rows of the controller gain matrix should be zero. However, the design of controllers with sparse structure is essentially a combinatorial problem that is hard to handle. Towards this end, this paper adopts a mixed-integer programming method to tackle the resulting row-cardinality constraint. The direct mixed-integer programming method is utilized to assist in designing row-sparse $H_{infty}$ state feedback controllers for large-scale distributed systems.
{"title":"On Design of H∞ Structured Controller for Decentralized Control systems","authors":"Yanpeng Guan, W. Zheng","doi":"10.1109/ANZCC47194.2019.8945687","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945687","url":null,"abstract":"In this paper the problem of $H_{infty}$ structured controller design is addressed. The considered problem arises when selection of actuators in decentralized control systems leads to that some rows of the controller gain matrix should be zero. However, the design of controllers with sparse structure is essentially a combinatorial problem that is hard to handle. Towards this end, this paper adopts a mixed-integer programming method to tackle the resulting row-cardinality constraint. The direct mixed-integer programming method is utilized to assist in designing row-sparse $H_{infty}$ state feedback controllers for large-scale distributed systems.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117201826","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 : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945592
C. Rapson
Nuclear fusion has incredible potential as an energy source, but there are still many technical problems to solve. This presentation will explain some of the challenges associated with controlling something 10 times hotter than the core of the sun.
{"title":"Control Systems Challenges for Nuclear Fusion","authors":"C. Rapson","doi":"10.1109/ANZCC47194.2019.8945592","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945592","url":null,"abstract":"Nuclear fusion has incredible potential as an energy source, but there are still many technical problems to solve. This presentation will explain some of the challenges associated with controlling something 10 times hotter than the core of the sun.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130932316","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 : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945764
Yitao Yan, J. Bao, Biao Huang
This paper develops some dissipativity conditions for linear time-invariant (LTI) systems in the behavioural framework. The behaviour of a system is characterised by its persistently exciting trajectories. For the dissipativity conditions, both the supply rate and the storage function are represented using quadratic difference forms (QdFs) using past steps. We show that it is possible to define an LTI system of arbitrary length using trajectories with low order of excitation. The system can be defined in a similar way as an image representation and the dissipativity conditions can hence be derived using a similar logic. The conditions are presented in the form of linear matrix inequalities (LMIs).
{"title":"Dissipativity Analysis for Linear Systems in the Behavioural Framework*","authors":"Yitao Yan, J. Bao, Biao Huang","doi":"10.1109/ANZCC47194.2019.8945764","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945764","url":null,"abstract":"This paper develops some dissipativity conditions for linear time-invariant (LTI) systems in the behavioural framework. The behaviour of a system is characterised by its persistently exciting trajectories. For the dissipativity conditions, both the supply rate and the storage function are represented using quadratic difference forms (QdFs) using past steps. We show that it is possible to define an LTI system of arbitrary length using trajectories with low order of excitation. The system can be defined in a similar way as an image representation and the dissipativity conditions can hence be derived using a similar logic. The conditions are presented in the form of linear matrix inequalities (LMIs).","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131304205","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 : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945623
M. Prexl, N. Zunhammer, U. Walter
Teleoperating autonomous vehicles is challenging due to latency and bandwidth constraints. In order to increase operator safety and situation awareness, techniques similar to motion planning for control of autonomous cars in dynamic environments have been adapted for aerial vehicles in this study. An overview of a novel concept based on reconstruction of the environment, user handling, and predictive modeling will be given. The working principle of predictive motion for teleoperating vehicles is explained and key metrics are introduced to compare changes of model parameters. A proportional-integral-derivative (PID) control model has been developed and integrated into the concept. The concept has been evaluated based on flight simulations as well as with actual test flights. The sensitivity of the PID parameters and the impact of the correct estimation of the predicted latency were investigated. The concept has been successfully been demonstrated with a DJI M600 hexacopter. The analysis indicates a high sensitivity for the P-component and low sensitivity for I and D components for an accurate prediction. Latency analysis shows that underestimation of the real latency does not have as high an impact as overestimating it and that the model fits best for latencies below 250 ms. Furthermore, the implemented model lacks the prediction accuracy in the acceleration phase and a representative inertial model. The here presented model is a novel approach to handle the predicted motion of teleoperated vehicles and shows promising results in accuracy and parameter sensitivity.
{"title":"Motion Prediction for Teleoperating Autonomous Vehicles using a PID Control Model","authors":"M. Prexl, N. Zunhammer, U. Walter","doi":"10.1109/ANZCC47194.2019.8945623","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945623","url":null,"abstract":"Teleoperating autonomous vehicles is challenging due to latency and bandwidth constraints. In order to increase operator safety and situation awareness, techniques similar to motion planning for control of autonomous cars in dynamic environments have been adapted for aerial vehicles in this study. An overview of a novel concept based on reconstruction of the environment, user handling, and predictive modeling will be given. The working principle of predictive motion for teleoperating vehicles is explained and key metrics are introduced to compare changes of model parameters. A proportional-integral-derivative (PID) control model has been developed and integrated into the concept. The concept has been evaluated based on flight simulations as well as with actual test flights. The sensitivity of the PID parameters and the impact of the correct estimation of the predicted latency were investigated. The concept has been successfully been demonstrated with a DJI M600 hexacopter. The analysis indicates a high sensitivity for the P-component and low sensitivity for I and D components for an accurate prediction. Latency analysis shows that underestimation of the real latency does not have as high an impact as overestimating it and that the model fits best for latencies below 250 ms. Furthermore, the implemented model lacks the prediction accuracy in the acceleration phase and a representative inertial model. The here presented model is a novel approach to handle the predicted motion of teleoperated vehicles and shows promising results in accuracy and parameter sensitivity.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116592531","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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