This paper presents a set of decentralized control laws for the cohesive motion of 2-dimensional multi-agent formations. We consider rigid and constraint-consistent formations that can be modeled by directed graphs. We analyze both of the two main hierarchical structures for such 2-dimensional formations: the leader-follower and the three-coleader structures. For each structure, we derive a control scheme that moves a given rigid and constraint-consistent formation whose initial position and orientation are specified to a new desired position and orientation cohesively, i.e., without deforming the shape of the formation during the motion. We elaborate our designs considering the path smoothness, chattering, and agent kinematics issues and demonstrate their effectiveness via a set of simulation results
{"title":"Decentralized Cohesive Motion Control of Multi-Agent Formations","authors":"S. Sandeep, B. Fidan, Changbin Yu","doi":"10.1109/MED.2006.328692","DOIUrl":"https://doi.org/10.1109/MED.2006.328692","url":null,"abstract":"This paper presents a set of decentralized control laws for the cohesive motion of 2-dimensional multi-agent formations. We consider rigid and constraint-consistent formations that can be modeled by directed graphs. We analyze both of the two main hierarchical structures for such 2-dimensional formations: the leader-follower and the three-coleader structures. For each structure, we derive a control scheme that moves a given rigid and constraint-consistent formation whose initial position and orientation are specified to a new desired position and orientation cohesively, i.e., without deforming the shape of the formation during the motion. We elaborate our designs considering the path smoothness, chattering, and agent kinematics issues and demonstrate their effectiveness via a set of simulation results","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123810727","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}
A multirobot system composed by a five DoF manipulator (SCORTEC-ER 1) and a mobile base (ATRV-Jr by iRobot) is considered. The system is equipped with uniform software architecture able to control the motion of both components. Some exteroceptive sensors like sonars and laser rangefinders are available on the mobile platform, some others are mounted on the end-effector of the manipulator: a colour camera, able to locate objects to operate with; an ultrasound range finder, near the camera, that will be used to get distance measures. In this paper we consider the problem of relocalising the mobile manipulator in a known environment supposing that no base movement is allowed to avoid hazard operations. As only the arm can be safely panned to explore the surroundings, the proposed procedure is based exclusively on the ultrasound rangefinder. Using such measures, and making the hypothesis that the arm configuration in known, a Monte Carlo filter is designed to estimate the base pose. Such multiple hypotheses filter is appropriate in this kind of problems where, in the best case, it is possible to retrieve a finite number of possible poses compatible with available measures
{"title":"Pose recovery for a mobile manipulator using a particle filter","authors":"A. Gasparri, S. Panzieri, F. Pascucci, G. Ulivi","doi":"10.1109/MED.2006.328871","DOIUrl":"https://doi.org/10.1109/MED.2006.328871","url":null,"abstract":"A multirobot system composed by a five DoF manipulator (SCORTEC-ER 1) and a mobile base (ATRV-Jr by iRobot) is considered. The system is equipped with uniform software architecture able to control the motion of both components. Some exteroceptive sensors like sonars and laser rangefinders are available on the mobile platform, some others are mounted on the end-effector of the manipulator: a colour camera, able to locate objects to operate with; an ultrasound range finder, near the camera, that will be used to get distance measures. In this paper we consider the problem of relocalising the mobile manipulator in a known environment supposing that no base movement is allowed to avoid hazard operations. As only the arm can be safely panned to explore the surroundings, the proposed procedure is based exclusively on the ultrasound rangefinder. Using such measures, and making the hypothesis that the arm configuration in known, a Monte Carlo filter is designed to estimate the base pose. Such multiple hypotheses filter is appropriate in this kind of problems where, in the best case, it is possible to retrieve a finite number of possible poses compatible with available measures","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122436500","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 early work of the authors, it was shown that Gibbs sampler based sequential annealing algorithm could be used to achieve self-organization in swarm vehicles based only on local information. However, long travelling time presents barriers to implement the algorithm in practice. In this paper we study a popular acceleration approach, the parallel annealing algorithm, and its convergence properties. We first study the convergence and equilibrium properties of the synchronous parallel sampling algorithm. A special example based on a battle field scenario is then studied. Sufficient conditions that the synchronous algorithm leads to desired configurations (global minimizers) are derived. While the synchronized algorithm reduces travelling time, it also raises delay and communication cost dramatically, in order to synchronize moves of a large group of vehicles. An asynchronous version of the parallel sampling algorithm is then proposed to solve the problem. Convergence properties of the asynchronous algorithm are also investigated
{"title":"Distributed Control of Autonomous Swarms by Using Parallel Simulated Annealing Algorithm","authors":"W. Xi, J. Baras","doi":"10.1109/MED.2006.328707","DOIUrl":"https://doi.org/10.1109/MED.2006.328707","url":null,"abstract":"In early work of the authors, it was shown that Gibbs sampler based sequential annealing algorithm could be used to achieve self-organization in swarm vehicles based only on local information. However, long travelling time presents barriers to implement the algorithm in practice. In this paper we study a popular acceleration approach, the parallel annealing algorithm, and its convergence properties. We first study the convergence and equilibrium properties of the synchronous parallel sampling algorithm. A special example based on a battle field scenario is then studied. Sufficient conditions that the synchronous algorithm leads to desired configurations (global minimizers) are derived. While the synchronized algorithm reduces travelling time, it also raises delay and communication cost dramatically, in order to synchronize moves of a large group of vehicles. An asynchronous version of the parallel sampling algorithm is then proposed to solve the problem. Convergence properties of the asynchronous algorithm are also investigated","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128711347","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 nonlinearity and high dimension of computational fluid dynamics (CFD) models (O(104) at the low end) reflect fluid dynamics' intrinsic complexity. It is a formidable challenge, setting fluid flow control apart from conventional applications. Its implications include restrictions on model based control design, reliable state estimation, and thus, on feedback implementation. Seeking low order, design accessible models, the issue of an ample dynamic envelope, covering targeted free and actuated transients, is in the essence. We review some enablers for very low order, Galerkin models (GMs). Those include the combination of empirical proper orthogonal decomposition (POD) and physics based modes, estimation of turbulence and pressure effects, actuation models, interpolated models that cover an enhanced dynamic range, and auxiliary, phasor models, focused on sensor readings. The dynamic manifold of model validity must be respected for a meaningful use of the model, but can also be exploited, such as by a restriction to slow drift in the system's periodic behavior, enabling the use of simplifying dynamic phasor models. Finally, we shall highlight some intrinsic performance limitations in GM based feedback flow control
{"title":"Control Oriented Models & Feedback Design in Fluid Flow Systems: A Review","authors":"G. Tadmor, B. R. Noack, M. Morzynski","doi":"10.1109/MED.2006.328757","DOIUrl":"https://doi.org/10.1109/MED.2006.328757","url":null,"abstract":"The nonlinearity and high dimension of computational fluid dynamics (CFD) models (O(104) at the low end) reflect fluid dynamics' intrinsic complexity. It is a formidable challenge, setting fluid flow control apart from conventional applications. Its implications include restrictions on model based control design, reliable state estimation, and thus, on feedback implementation. Seeking low order, design accessible models, the issue of an ample dynamic envelope, covering targeted free and actuated transients, is in the essence. We review some enablers for very low order, Galerkin models (GMs). Those include the combination of empirical proper orthogonal decomposition (POD) and physics based modes, estimation of turbulence and pressure effects, actuation models, interpolated models that cover an enhanced dynamic range, and auxiliary, phasor models, focused on sensor readings. The dynamic manifold of model validity must be respected for a meaningful use of the model, but can also be exploited, such as by a restriction to slow drift in the system's periodic behavior, enabling the use of simplifying dynamic phasor models. Finally, we shall highlight some intrinsic performance limitations in GM based feedback flow control","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130277495","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}
Computation friendly conditions to verify if a given nonlinear control system is identifiable, together with implementation in computer algebra system Mathematica have been studied in the present contribution. Additionally, a method to verify if the system parameters can be identified by a least-squares method is implemented in Mathematica
{"title":"Verification of the identifiability property for nonlinear control systems with computer algebra system Mathematica","authors":"J. Tabun, S. Nõmm, U. Kotta, C. Moog","doi":"10.1109/MED.2006.328812","DOIUrl":"https://doi.org/10.1109/MED.2006.328812","url":null,"abstract":"Computation friendly conditions to verify if a given nonlinear control system is identifiable, together with implementation in computer algebra system Mathematica have been studied in the present contribution. Additionally, a method to verify if the system parameters can be identified by a least-squares method is implemented in Mathematica","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130293086","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}
A method is presented that attempts to optimize, standardize, and automate the process of unmanned vehicle controller design, evaluation, validation and verification, followed by actual hardware controller implementation on the vehicle. The proposed approach follows the standard practice to utilize MATLAB/SIMULINK and related toolboxes as the design framework. Controller design in MATLAB/SIMULINK is followed by automatic conversion from MATLAB to code generation and optimization for particular types of processors using real-time workshop, and C to assembly language conversion to produce assembly code for a target microcontroller. X-Plane is used to verify, validate and optimize controllers before actual testing on an unmanned vehicle and actual implementation on a chip and printed circuit board. Sample designs demonstrate the applicability of the proposed method
{"title":"Automated Process for Unmanned Aerial Systems Controller Implementation Using MATLAB","authors":"D. Ernst, K. Valavanis, J. Craighead","doi":"10.1109/MED.2006.328858","DOIUrl":"https://doi.org/10.1109/MED.2006.328858","url":null,"abstract":"A method is presented that attempts to optimize, standardize, and automate the process of unmanned vehicle controller design, evaluation, validation and verification, followed by actual hardware controller implementation on the vehicle. The proposed approach follows the standard practice to utilize MATLAB/SIMULINK and related toolboxes as the design framework. Controller design in MATLAB/SIMULINK is followed by automatic conversion from MATLAB to code generation and optimization for particular types of processors using real-time workshop, and C to assembly language conversion to produce assembly code for a target microcontroller. X-Plane is used to verify, validate and optimize controllers before actual testing on an unmanned vehicle and actual implementation on a chip and printed circuit board. Sample designs demonstrate the applicability of the proposed method","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130280484","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 robust exact model matching is studied for the case of SISO discrete-time linear systems with nonlinear uncertain structure. The problem is solved using finite precision dynamic output feedback controllers. The controller is restricted to be independent from the uncertainties. Necessary and sufficient conditions for the problem to have a solution are established. The general solution for the controller parameters is derived. Moreover, sufficient conditions for robust exact model matching with simultaneous robust asymptotic stability are derived
{"title":"Robust Exact Model Matching for SISO systems via Finite Precision Dynamic Output Feedback","authors":"F. Koumboulis, M. Tzamtzi, M. G. Skarpetis","doi":"10.1109/MED.2006.328722","DOIUrl":"https://doi.org/10.1109/MED.2006.328722","url":null,"abstract":"The problem of robust exact model matching is studied for the case of SISO discrete-time linear systems with nonlinear uncertain structure. The problem is solved using finite precision dynamic output feedback controllers. The controller is restricted to be independent from the uncertainties. Necessary and sufficient conditions for the problem to have a solution are established. The general solution for the controller parameters is derived. Moreover, sufficient conditions for robust exact model matching with simultaneous robust asymptotic stability are derived","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128983000","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}
We show that strongly monotone systems of ordinary differential equations which have a certain translation-invariance property are so that all solutions converge to a unique equilibrium. The result may be seen as a dual of a well-known theorem of Mierczynski for systems that satisfy a conservation law. An application to a reaction of interest in biochemistry is provided as an illustration
{"title":"A note on Monotone Systems with Positive Translation Invariance","authors":"D. Angeli, E. Sontag","doi":"10.1109/MED.2006.328782","DOIUrl":"https://doi.org/10.1109/MED.2006.328782","url":null,"abstract":"We show that strongly monotone systems of ordinary differential equations which have a certain translation-invariance property are so that all solutions converge to a unique equilibrium. The result may be seen as a dual of a well-known theorem of Mierczynski for systems that satisfy a conservation law. An application to a reaction of interest in biochemistry is provided as an illustration","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114300295","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 finite time unknown input observer for linear systems, i.e. an observer which estimates the exact state of a linear system with unknown input disturbances in a predefined finite time. Based on recent results in observer design for linear systems, conditions are established to guarantee finite time convergence of the estimation error dynamics. The proposed observer is demonstrated on a DC motor for the estimation of the rotor current and the angular velocity despite an unknown input disturbance in the stator voltage
{"title":"A Finite Time Unknown Input Observer For Linear Systems","authors":"T. Raff, F. Lachner, F. Allgower","doi":"10.1109/MED.2006.328795","DOIUrl":"https://doi.org/10.1109/MED.2006.328795","url":null,"abstract":"This paper presents a finite time unknown input observer for linear systems, i.e. an observer which estimates the exact state of a linear system with unknown input disturbances in a predefined finite time. Based on recent results in observer design for linear systems, conditions are established to guarantee finite time convergence of the estimation error dynamics. The proposed observer is demonstrated on a DC motor for the estimation of the rotor current and the angular velocity despite an unknown input disturbance in the stator voltage","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114440671","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}
A. Balestrino, A. Landi, Michele Medaglia, Massimo Satler
Industrial practice in process control shows a very wide gap with respect to the theory, as usually taught at the university. Standard controller tuning is often a compromise between performance and robustness. In this paper we examine some common PI(D) controller tuning rules and the achievable performances for a PI(D) controlled plant modeled as a first order plus time delay. The performance indices considered are IAE and ISE in a particular non-dimensional form including also controller output variations. The output performance indices are weakly dependent on loop gain. Therefore loop gain is essentially constrained by robustness, while the indices are dominated by the frequency response. Conversely the controller output variations are strongly dependent on the loop gain
{"title":"Performance Indices and Tuning in Process Control","authors":"A. Balestrino, A. Landi, Michele Medaglia, Massimo Satler","doi":"10.1109/MED.2006.328852","DOIUrl":"https://doi.org/10.1109/MED.2006.328852","url":null,"abstract":"Industrial practice in process control shows a very wide gap with respect to the theory, as usually taught at the university. Standard controller tuning is often a compromise between performance and robustness. In this paper we examine some common PI(D) controller tuning rules and the achievable performances for a PI(D) controlled plant modeled as a first order plus time delay. The performance indices considered are IAE and ISE in a particular non-dimensional form including also controller output variations. The output performance indices are weakly dependent on loop gain. Therefore loop gain is essentially constrained by robustness, while the indices are dominated by the frequency response. Conversely the controller output variations are strongly dependent on the loop gain","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126649108","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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