Pub Date : 2013-06-12DOI: 10.1109/ICCA.2013.6565067
Yuqian Guo, Lihua Xie, C. Du, Youyi Wang
Four-bar structured hard disk drive (HDD) potentially leads to higher achievable closed-loop bandwidth compared to the traditional single-arm structure, but also brings challenges in control design due to nonlinearity. This paper studies track-seeking control of four-bar structured HDD. First, interconnection and damping assignment passivity-based control (IDA-PBC) method is used to design a preliminary controller. Second, in order to improve the transient performance, a switching law is proposed to switch between two IDA-PBC controllers which are with small and large dampings respectively. Simulation results show that the proposed IDA-PBC based switching control can overcome the limitation of a single IDA-PBC controller and achieves better transient performance.
{"title":"Track-seeking control of four-bar structured HDD through IDA-PBC based switching control","authors":"Yuqian Guo, Lihua Xie, C. Du, Youyi Wang","doi":"10.1109/ICCA.2013.6565067","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565067","url":null,"abstract":"Four-bar structured hard disk drive (HDD) potentially leads to higher achievable closed-loop bandwidth compared to the traditional single-arm structure, but also brings challenges in control design due to nonlinearity. This paper studies track-seeking control of four-bar structured HDD. First, interconnection and damping assignment passivity-based control (IDA-PBC) method is used to design a preliminary controller. Second, in order to improve the transient performance, a switching law is proposed to switch between two IDA-PBC controllers which are with small and large dampings respectively. Simulation results show that the proposed IDA-PBC based switching control can overcome the limitation of a single IDA-PBC controller and achieves better transient performance.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128036088","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565165
Wenwu Yu, G. Wen, Jinhu Lu, Xinghuo Yu
In this paper, the new concept of pinning observability for complex networks and systems is discussed. Note that in a very large-scale network, there are many nodes and it is impossible to measure the states of all the nodes so as to reach synchronization between the original network and a new constructed network. To reduce the number of observable nodes, some feedback controllers are applied on the chosen nodes, which is defined as pinning observability. First, a general criterion for synchronization via pinning observability is given based on which the parametric regions for pinning observability are discussed. Then, some decoupled conditions for pinning observability are derived. Furthermore, an application to genetic regulatory networks via pinning observability is discussed. Finally, a simulation example is given to verify the theoretical analysis in this paper.
{"title":"Observers design in complex networks: Pinning observability","authors":"Wenwu Yu, G. Wen, Jinhu Lu, Xinghuo Yu","doi":"10.1109/ICCA.2013.6565165","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565165","url":null,"abstract":"In this paper, the new concept of pinning observability for complex networks and systems is discussed. Note that in a very large-scale network, there are many nodes and it is impossible to measure the states of all the nodes so as to reach synchronization between the original network and a new constructed network. To reduce the number of observable nodes, some feedback controllers are applied on the chosen nodes, which is defined as pinning observability. First, a general criterion for synchronization via pinning observability is given based on which the parametric regions for pinning observability are discussed. Then, some decoupled conditions for pinning observability are derived. Furthermore, an application to genetic regulatory networks via pinning observability is discussed. Finally, a simulation example is given to verify the theoretical analysis in this paper.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129216887","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565059
Yatong An, Chao Xu, Qun Lin, R. Loxton, K. Teo
In this paper, we develop an optimal path planning strategy for under-actuated Dubins micro-robots. Such robots are non-holonomic robots constrained to move along circular paths of fixed curvature clockwise or counter-clockwise. Our objective is to investigate the coverage and optimal path problems, as well as multi-robot cooperation, for a switching control scheme. Our methods are based on elementary geometry and optimal control techniques. The results in this paper show that the trajectories of micro-robots can cover the entire two-dimensional plane, and that the proposed switching control scheme allows multiple robots to cooperate. In addition, we deduce the minimum-time path under the switching control scheme by converting the robot model into the traditional Dubins vehicle model.
{"title":"Path planning for underactuated Dubins micro-robots using switching control","authors":"Yatong An, Chao Xu, Qun Lin, R. Loxton, K. Teo","doi":"10.1109/ICCA.2013.6565059","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565059","url":null,"abstract":"In this paper, we develop an optimal path planning strategy for under-actuated Dubins micro-robots. Such robots are non-holonomic robots constrained to move along circular paths of fixed curvature clockwise or counter-clockwise. Our objective is to investigate the coverage and optimal path problems, as well as multi-robot cooperation, for a switching control scheme. Our methods are based on elementary geometry and optimal control techniques. The results in this paper show that the trajectories of micro-robots can cover the entire two-dimensional plane, and that the proposed switching control scheme allows multiple robots to cooperate. In addition, we deduce the minimum-time path under the switching control scheme by converting the robot model into the traditional Dubins vehicle model.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125393092","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565088
Lei Liu, Guoqiang Wu
Precision pointing is currently required for sensitive space instruments, such as space laser-communication, space telescopes, staring cameras, etc. To achieve quiet dynamic-environment and accurate pointing of sensitive instruments, this paper investigates piezo-based platforms by employing an adaptive-based control approach. First, a model reference adaptive controller is designed to suppress disturbances. Then, a PID tuning controller is augmented for precision pointing. The composite controller gives satisfactory performances. Finally, the simulation studies are presented to validate the proposed control method.
{"title":"Active vibration suppression and precision pointing control of piezo-based platforms and their applications to flexible spacecrafts","authors":"Lei Liu, Guoqiang Wu","doi":"10.1109/ICCA.2013.6565088","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565088","url":null,"abstract":"Precision pointing is currently required for sensitive space instruments, such as space laser-communication, space telescopes, staring cameras, etc. To achieve quiet dynamic-environment and accurate pointing of sensitive instruments, this paper investigates piezo-based platforms by employing an adaptive-based control approach. First, a model reference adaptive controller is designed to suppress disturbances. Then, a PID tuning controller is augmented for precision pointing. The composite controller gives satisfactory performances. Finally, the simulation studies are presented to validate the proposed control method.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125425646","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565086
Shichao Wang, Baokui Li, Qingbo Geng
An intelligent PID controller based on RBF neural network was designed for longitudinal attitude control of a small unmanned aerial vehicle (UAV) according to the feature of complexity and nonlinear; RBF neural network is used to real-time update the PID parameters on line by its learning function for achieving the longitudinal channel control of the UAV; Simulation results show that the design of the RBF neural network PID controller has better control performance and it better satisfies the requirements of the longitudinal channel flight control of small UAV.
{"title":"Research of RBF neural network PID control algorithm for longitudinal channel control of small UAV","authors":"Shichao Wang, Baokui Li, Qingbo Geng","doi":"10.1109/ICCA.2013.6565086","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565086","url":null,"abstract":"An intelligent PID controller based on RBF neural network was designed for longitudinal attitude control of a small unmanned aerial vehicle (UAV) according to the feature of complexity and nonlinear; RBF neural network is used to real-time update the PID parameters on line by its learning function for achieving the longitudinal channel control of the UAV; Simulation results show that the design of the RBF neural network PID controller has better control performance and it better satisfies the requirements of the longitudinal channel flight control of small UAV.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"189 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126794214","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6564856
L. Dong, S. You
An adaptive back-stepping control (ABC) is originally applied to a linearized model of an active magnetic bearing (AMB) system. Our control objective is to regulate the deviation of the magnetic bearing from its equilibrium position in the presences of an external disturbance and system uncertainties. The ABC consists of a recursive Lyapunov controller and adaptive laws. It is based on full-state feedback, for which all three states in the linearized AMB model (velocity, position, and current) are estimated to construct the control law. It is proved that the adaptive back-stepping controlled AMB system is asymptotically stable around the system's equilibrium points. Simulation results verify the effectiveness and robustness of the ABC against external disturbances and system uncertainties.
{"title":"Adaptive back-stepping control of active magnetic bearings","authors":"L. Dong, S. You","doi":"10.1109/ICCA.2013.6564856","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564856","url":null,"abstract":"An adaptive back-stepping control (ABC) is originally applied to a linearized model of an active magnetic bearing (AMB) system. Our control objective is to regulate the deviation of the magnetic bearing from its equilibrium position in the presences of an external disturbance and system uncertainties. The ABC consists of a recursive Lyapunov controller and adaptive laws. It is based on full-state feedback, for which all three states in the linearized AMB model (velocity, position, and current) are estimated to construct the control law. It is proved that the adaptive back-stepping controlled AMB system is asymptotically stable around the system's equilibrium points. Simulation results verify the effectiveness and robustness of the ABC against external disturbances and system uncertainties.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123243159","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6564881
Chuanrui Wang, Xinghu Wang, H. Ji
This paper deals with the leader-following consensus problem for a class of multi-agent systems with nonlinear dynamics and directed communication topology. Two distributed adaptive nonlinear control laws are proposed based on the relative state information between neighboring agents, which solve the leader-following consensus problem and the inverse optimal adaptive leader-following consensus problem, respectively. Compared with the existing results in the literature, we do not put any restrictions on nonlinear functions and the adaptive consensus protocols are in a fully distributed fashion. A numerical example is given to verify the theoretical analysis.
{"title":"Leader-following consensus for an integrator-type nonlinear multi-agent systems using distributed adaptive protocol","authors":"Chuanrui Wang, Xinghu Wang, H. Ji","doi":"10.1109/ICCA.2013.6564881","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564881","url":null,"abstract":"This paper deals with the leader-following consensus problem for a class of multi-agent systems with nonlinear dynamics and directed communication topology. Two distributed adaptive nonlinear control laws are proposed based on the relative state information between neighboring agents, which solve the leader-following consensus problem and the inverse optimal adaptive leader-following consensus problem, respectively. Compared with the existing results in the literature, we do not put any restrictions on nonlinear functions and the adaptive consensus protocols are in a fully distributed fashion. A numerical example is given to verify the theoretical analysis.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126101511","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565100
Dexin Ma, Jian Ma, Pengmin Xu, Lingyun Gai, Hai Wang, Guangjie Lv, Hongtao Shi
Wireless Sensor Networks (WSNs) are networks of autonomous nodes used for monitoring an environment, and clustering is one of the most popular and effective approach for WSNs that require scalability and robustness. In this paper, we propose and analyze an Adaptive Node Partition Clustering protocol using Particle Swarm Optimization (ANPC-PSO), a protocol that partitions the network field adaptively and selects cluster heads (CHs) consider the networks states information. The results of performance evaluation show that ANPC-PSO can improve system lifetime and data delivery by distributing energy dissipation evenly in the networks.
{"title":"An adaptive node partition clustering protocol using particle swarm optimization","authors":"Dexin Ma, Jian Ma, Pengmin Xu, Lingyun Gai, Hai Wang, Guangjie Lv, Hongtao Shi","doi":"10.1109/ICCA.2013.6565100","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565100","url":null,"abstract":"Wireless Sensor Networks (WSNs) are networks of autonomous nodes used for monitoring an environment, and clustering is one of the most popular and effective approach for WSNs that require scalability and robustness. In this paper, we propose and analyze an Adaptive Node Partition Clustering protocol using Particle Swarm Optimization (ANPC-PSO), a protocol that partitions the network field adaptively and selects cluster heads (CHs) consider the networks states information. The results of performance evaluation show that ANPC-PSO can improve system lifetime and data delivery by distributing energy dissipation evenly in the networks.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124994097","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565004
Luigi D’Alfonso, Antonio Grano, P. Muraca, P. Pugliese
In this work the localization of a mobile robot in an unknown environment is faced. A new version of the Extended Kalman Filter (EKF) is presented. The proposed EKF uses both measurements provided by robot on board and out of board sensors in order to emphasize the qualities and overcome the defects of such sensors. Moreover assuming a polynomial model for the robot surrounding environment bounds, an online algorithm able to build a map of this environment is presented. The proposed algorithms are tested in a numerical way contrasting them with a classical Extended Kalman Filter based only on the out of board sensors and with a fusing algorithm related only on the on board sensors.
{"title":"Sensor fusion and surrounding environment mapping for a mobile robot using a mixed extended Kalman filter","authors":"Luigi D’Alfonso, Antonio Grano, P. Muraca, P. Pugliese","doi":"10.1109/ICCA.2013.6565004","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565004","url":null,"abstract":"In this work the localization of a mobile robot in an unknown environment is faced. A new version of the Extended Kalman Filter (EKF) is presented. The proposed EKF uses both measurements provided by robot on board and out of board sensors in order to emphasize the qualities and overcome the defects of such sensors. Moreover assuming a polynomial model for the robot surrounding environment bounds, an online algorithm able to build a map of this environment is presented. The proposed algorithms are tested in a numerical way contrasting them with a classical Extended Kalman Filter based only on the out of board sensors and with a fusing algorithm related only on the on board sensors.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121502007","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6564931
A. Matveev, Michael Hoy, A. Savkin
We consider a single kinematically controlled mobile robot traveling in a planar region supporting an unknown field distribution. A single sensor provides the distribution value at the current robot location. We present a new navigation strategy that drives the robot to the location where the field distribution attains its maximum. The proposed control algorithm employs estimation of neither the entire field gradient nor derivative-dependent quantities, like the rate at which the available measurement evolves over time, and is non-demanding with respect to both computation and motion. Its mathematically rigorous analysis and justification are provided. Simulation results confirm the applicability and performance of the proposed guidance approach.
{"title":"Kinematic navigation of a mobile robot for environmental extremum seeking without derivatives estimation","authors":"A. Matveev, Michael Hoy, A. Savkin","doi":"10.1109/ICCA.2013.6564931","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564931","url":null,"abstract":"We consider a single kinematically controlled mobile robot traveling in a planar region supporting an unknown field distribution. A single sensor provides the distribution value at the current robot location. We present a new navigation strategy that drives the robot to the location where the field distribution attains its maximum. The proposed control algorithm employs estimation of neither the entire field gradient nor derivative-dependent quantities, like the rate at which the available measurement evolves over time, and is non-demanding with respect to both computation and motion. Its mathematically rigorous analysis and justification are provided. Simulation results confirm the applicability and performance of the proposed guidance approach.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116559401","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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