The problem of command following is studied for the case of linear systems with nonlinear uncertain structure and unknown disturbances. The problem is solved using an independent from the uncertainties PI controller. Sufficient conditions for the problem to have a solution are established. The application of a robust PI controller for an electropneumatic actuator is presented. The effectiveness of the controller over a wide range of the system uncertainty is illustrated through simulation
{"title":"Robust PI Controllers for Command Following with Application to an Electropneumatic Actuator","authors":"F. Koumboulis, M. G. Skarpetis, M. Tzamtzi","doi":"10.1109/MED.2006.328738","DOIUrl":"https://doi.org/10.1109/MED.2006.328738","url":null,"abstract":"The problem of command following is studied for the case of linear systems with nonlinear uncertain structure and unknown disturbances. The problem is solved using an independent from the uncertainties PI controller. Sufficient conditions for the problem to have a solution are established. The application of a robust PI controller for an electropneumatic actuator is presented. The effectiveness of the controller over a wide range of the system uncertainty is illustrated through simulation","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125552135","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}
In this paper an approach to formation control with collisions avoidance of a multi-robot system is presented. The proposed technique, namely the null-space-based behavioral control, is a behavior based approach aimed at coordinating a platoon of mobile robots while performing different missions. The overall mission is firstly decomposed in elementary tasks and, for each of them; a motion reference command to each robot is elaborated referring to an inverse kinematic approach. The proposed technique is novel in the way it combines the output required by each task in order to obtain the final motion command for each robot; in details, it uses a hierarchy-based approach that uses the null-space projection to handle multiple, eventually conflicting, tasks. The proposed technique has been experimentally validated while performing a formation control mission with a platoon of 5 Khepera II mobile robots; during the mission a change of formation is commanded that requires the vehicles to avoid collisions among themselves and with external obstacles
{"title":"Experiments of Formation Control with Collisions Avoidance using the Null-Space-Based Behavioral Control","authors":"G. Antonelli, F. Arrichiello, S. Chiaverini","doi":"10.1109/MED.2006.328869","DOIUrl":"https://doi.org/10.1109/MED.2006.328869","url":null,"abstract":"In this paper an approach to formation control with collisions avoidance of a multi-robot system is presented. The proposed technique, namely the null-space-based behavioral control, is a behavior based approach aimed at coordinating a platoon of mobile robots while performing different missions. The overall mission is firstly decomposed in elementary tasks and, for each of them; a motion reference command to each robot is elaborated referring to an inverse kinematic approach. The proposed technique is novel in the way it combines the output required by each task in order to obtain the final motion command for each robot; in details, it uses a hierarchy-based approach that uses the null-space projection to handle multiple, eventually conflicting, tasks. The proposed technique has been experimentally validated while performing a formation control mission with a platoon of 5 Khepera II mobile robots; during the mission a change of formation is commanded that requires the vehicles to avoid collisions among themselves and with external obstacles","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121196122","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 presents a new way to test the applicability of a class of parametric fault detection and estimation methods. Those methods use linear fractional transformations to represent parameter variations and rely on Hinfin filtering for the estimation of certain signals that may allow the computation of those variations. A first version of the method for parametric fault detection is briefly presented. Although previous results indicated the method could perform well it is shown this is not always the case. It is shown how one can anticipate the quality of the parametric fault estimation results that can be obtained for each system. The test procedure is general. Two simple examples illustrate the shortages of the fault detection method and help showing how to test its applicability. It is argued that the applicability of a perhaps more general version of the fault detection and estimation method can be done in the same way reported here
{"title":"Applicability of Standard Formulation Parametric Fault Detection Methods","authors":"Paulo Felicio, P. Lourtie","doi":"10.1109/MED.2006.328696","DOIUrl":"https://doi.org/10.1109/MED.2006.328696","url":null,"abstract":"This paper presents a new way to test the applicability of a class of parametric fault detection and estimation methods. Those methods use linear fractional transformations to represent parameter variations and rely on Hinfin filtering for the estimation of certain signals that may allow the computation of those variations. A first version of the method for parametric fault detection is briefly presented. Although previous results indicated the method could perform well it is shown this is not always the case. It is shown how one can anticipate the quality of the parametric fault estimation results that can be obtained for each system. The test procedure is general. Two simple examples illustrate the shortages of the fault detection method and help showing how to test its applicability. It is argued that the applicability of a perhaps more general version of the fault detection and estimation method can be done in the same way reported here","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122774482","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}
Given a nominal model, an integrated uncertainty model identification and mu-synthesis algorithm is presented for linear time-invariant (LTI) systems. The goal is 1) to construct an uncertainty model set characterized by parameterized weighting functions of dynamic perturbations and disturbances in the general linear fractional transformation (LFT) form - customary representation in modern robust control and 2) to select from this set according to closed-loop control objectives. The motivation is the simultaneous model validation and model optimization with respect to closed-loop requirements. The algorithm works on sampled, bounded-energy experimental data on the frequency-domain and integrates nominal model invalidation, uncertainty model construction and control synthesis in order to achieve robust performance. Standard D-K iteration steps are combined with an optimization step on a group of selected data. The method is demonstrated on a simple numerical example, where the results are comparable with analytic computations
{"title":"Integrated uncertainty model identification and robust control synthesis for linear time-invariant systems","authors":"G. Rodonyi, J. Bokor","doi":"10.1109/MED.2006.328815","DOIUrl":"https://doi.org/10.1109/MED.2006.328815","url":null,"abstract":"Given a nominal model, an integrated uncertainty model identification and mu-synthesis algorithm is presented for linear time-invariant (LTI) systems. The goal is 1) to construct an uncertainty model set characterized by parameterized weighting functions of dynamic perturbations and disturbances in the general linear fractional transformation (LFT) form - customary representation in modern robust control and 2) to select from this set according to closed-loop control objectives. The motivation is the simultaneous model validation and model optimization with respect to closed-loop requirements. The algorithm works on sampled, bounded-energy experimental data on the frequency-domain and integrates nominal model invalidation, uncertainty model construction and control synthesis in order to achieve robust performance. Standard D-K iteration steps are combined with an optimization step on a group of selected data. The method is demonstrated on a simple numerical example, where the results are comparable with analytic computations","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131393495","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 considers the development of an optimal guidance scheme for cross-track control of underactuated underwater vehicles. We propose an optimal guidance algorithm giving a set of desired course angles for the underwater vehicle. The computed angles are then used as reference inputs to an underlying controller, which guarantees tracking of the desired course angles. The proposed guidance algorithm seeks to minimize the cross-track error, i.e. the distance from the vehicle to the desired path, and maximize the rate of convergence, while keeping the desired course angles and the corresponding desired rates of turn of the vehicle within feasible bounds. Moreover, damping is injected in the guidance algorithm to guarantee a well-damped final approach. The proposed guidance scheme allows for easy adjustment of the tradeoff between high convergence rate and a well-damped final approach. The performance of the proposed guidance algorithm is compared to the performance of traditional line-of-sight (LOS) guidance in a case study with the HUGIN AUV
{"title":"An optimal guidance scheme for cross-track control of underactuated underwater vehicles","authors":"E. Boerhaug, K. Pettersen, A. Pavlov","doi":"10.1109/MED.2006.328732","DOIUrl":"https://doi.org/10.1109/MED.2006.328732","url":null,"abstract":"This paper considers the development of an optimal guidance scheme for cross-track control of underactuated underwater vehicles. We propose an optimal guidance algorithm giving a set of desired course angles for the underwater vehicle. The computed angles are then used as reference inputs to an underlying controller, which guarantees tracking of the desired course angles. The proposed guidance algorithm seeks to minimize the cross-track error, i.e. the distance from the vehicle to the desired path, and maximize the rate of convergence, while keeping the desired course angles and the corresponding desired rates of turn of the vehicle within feasible bounds. Moreover, damping is injected in the guidance algorithm to guarantee a well-damped final approach. The proposed guidance scheme allows for easy adjustment of the tradeoff between high convergence rate and a well-damped final approach. The performance of the proposed guidance algorithm is compared to the performance of traditional line-of-sight (LOS) guidance in a case study with the HUGIN AUV","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131918406","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}
L. Barnes, W. Alvis, M. Fields, K. Valavanis, W. Moreno
A novel method is presented for swarm formation control with potential fields generated from bivariate normal probability density functions (pdfs) that construct the surface the swarm members move upon controlling the swarm geometry and member spacing as well as manage obstacle avoidance. Limiting functions provide tighter swarm control by modifying and adjusting a set of control variables, forcing the swarm to behave according to set constraints. Bivariate normal functions and limiting functions are combined to guarantee obstacle avoidance and control swarm member orientation and swarm movement as a whole. The presented approach, compared to others, is simple, computationally efficient, and scales well to different swarm sizes and swarm models. The method is applied to a simple vehicle model, and simulation results are presented on a homogeneous swarm of ten robot vehicles for different formations
{"title":"Swarm Formation Control with Potential Fields Formed by Bivariate Normal Functions","authors":"L. Barnes, W. Alvis, M. Fields, K. Valavanis, W. Moreno","doi":"10.1109/MED.2006.328706","DOIUrl":"https://doi.org/10.1109/MED.2006.328706","url":null,"abstract":"A novel method is presented for swarm formation control with potential fields generated from bivariate normal probability density functions (pdfs) that construct the surface the swarm members move upon controlling the swarm geometry and member spacing as well as manage obstacle avoidance. Limiting functions provide tighter swarm control by modifying and adjusting a set of control variables, forcing the swarm to behave according to set constraints. Bivariate normal functions and limiting functions are combined to guarantee obstacle avoidance and control swarm member orientation and swarm movement as a whole. The presented approach, compared to others, is simple, computationally efficient, and scales well to different swarm sizes and swarm models. The method is applied to a simple vehicle model, and simulation results are presented on a homogeneous swarm of ten robot vehicles for different formations","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134213130","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 presents a reduced order controller design approach for the Alstom benchmark, which drastically improves the simplicity and reduces the computation effort of the controller algorithm. As the gasifier process is complex with a high degree of cross coupling of the variables, designing a good controller is difficult. The use of optimal control method allows the simultaneous tuning a controller and seeking a tradeoff between the different performance objectives. But it results in a high order controller, which is not in practice desirable. Therefore in this paper, the full order observer is replaced with a reduced one and the state feedback is recalculated such that it guarantees the stability and recovers the performance. This idea can be regarded independent of the case study as a new method for designing a low order controller for high order plants
{"title":"Reduced Order Controller for The Alstom Gasifier Plant","authors":"A. Yousefi, B. Lohmann","doi":"10.1109/MED.2006.328853","DOIUrl":"https://doi.org/10.1109/MED.2006.328853","url":null,"abstract":"This paper presents a reduced order controller design approach for the Alstom benchmark, which drastically improves the simplicity and reduces the computation effort of the controller algorithm. As the gasifier process is complex with a high degree of cross coupling of the variables, designing a good controller is difficult. The use of optimal control method allows the simultaneous tuning a controller and seeking a tradeoff between the different performance objectives. But it results in a high order controller, which is not in practice desirable. Therefore in this paper, the full order observer is replaced with a reduced one and the state feedback is recalculated such that it guarantees the stability and recovers the performance. This idea can be regarded independent of the case study as a new method for designing a low order controller for high order plants","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134498413","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}
By applying the twisting algorithm, synchronization between a DC motor and a new chaotic Van der Pol oscillator is presented. A state of the proposed new chaotic oscillator is synchronized with the shaft position of a DC motor. Applications of tracking control of mechanisms with chaotic signals (the synchronization problem) have been of interest in many areas where some mechanical vibrations are required, like: washer machines, mixing liquids, blender machines, vibration bands for transportation, etc. This, because the performance task is improved by the richness of frequency contents on chaotic signals. Experimental results are shown to support our main results, where a DC Pitman motor is synchronized with an analog circuit implementation of the proposed chaotic oscillator
{"title":"Synchronization of Mechanical Systems with a New Van der Pol Chaotic Oscillator","authors":"S. Benitez, L. Aguilar, L. Acho","doi":"10.1109/MED.2006.328788","DOIUrl":"https://doi.org/10.1109/MED.2006.328788","url":null,"abstract":"By applying the twisting algorithm, synchronization between a DC motor and a new chaotic Van der Pol oscillator is presented. A state of the proposed new chaotic oscillator is synchronized with the shaft position of a DC motor. Applications of tracking control of mechanisms with chaotic signals (the synchronization problem) have been of interest in many areas where some mechanical vibrations are required, like: washer machines, mixing liquids, blender machines, vibration bands for transportation, etc. This, because the performance task is improved by the richness of frequency contents on chaotic signals. Experimental results are shown to support our main results, where a DC Pitman motor is synchronized with an analog circuit implementation of the proposed chaotic oscillator","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134061591","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}
Effective cooperation of robot teams in unstructured environments requires dynamic resource assignment. If the robots are also in charge of executing multiple simultaneous missions, then risks of deadlocks due to the presence of shared resources among different missions have to be tackled. This paper presents a novel approach to combine together a one step-ahead deadlock avoidance policy with a greedy dynamic resource assignment for multi-mission robot teams in the framework of a matrix based discrete event controller. Simulation results in Matlabreg are presented to discuss in detail the proposed control strategy
{"title":"Deadlock free dynamic resource assignment in multi-robot systems with multiple missions: a matrix-based approach","authors":"P. Ballal, V. Giordano, F. Lewis","doi":"10.1109/MED.2006.328691","DOIUrl":"https://doi.org/10.1109/MED.2006.328691","url":null,"abstract":"Effective cooperation of robot teams in unstructured environments requires dynamic resource assignment. If the robots are also in charge of executing multiple simultaneous missions, then risks of deadlocks due to the presence of shared resources among different missions have to be tackled. This paper presents a novel approach to combine together a one step-ahead deadlock avoidance policy with a greedy dynamic resource assignment for multi-mission robot teams in the framework of a matrix based discrete event controller. Simulation results in Matlabreg are presented to discuss in detail the proposed control strategy","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130344966","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}
The problem of state reconstruction is discussed for linear singular systems with a finite number of commensurable point delays using as models systems with coefficients in a ring. A geometric notion of conditioned invariant submodule is introduced for this class of systems over a ring and a design procedure is presented for constructing an observer in presence of unknown inputs
{"title":"An Unknown Input Observer for Singular Time-Delay Systems","authors":"A. Perdon, M. Anderlucci","doi":"10.1109/MED.2006.328796","DOIUrl":"https://doi.org/10.1109/MED.2006.328796","url":null,"abstract":"The problem of state reconstruction is discussed for linear singular systems with a finite number of commensurable point delays using as models systems with coefficients in a ring. A geometric notion of conditioned invariant submodule is introduced for this class of systems over a ring and a design procedure is presented for constructing an observer in presence of unknown inputs","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115430258","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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