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":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":"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}
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":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":"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}
H. S. Ali, L. Boutat-Baddas, Y. Becis-Aubry, M. Darouach
This paper investigates the H∞ control of robotic system presenting a linear parameter varying (LPV) representation. From a usual Lagrangian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H∞ approach are used to design a state feedback controller for the robotic system. The approach is extended to take into account pole placement requirements
{"title":"H∞ control of a SCARA robot using polytopic LPV approach","authors":"H. S. Ali, L. Boutat-Baddas, Y. Becis-Aubry, M. Darouach","doi":"10.1109/MED.2006.328836","DOIUrl":"https://doi.org/10.1109/MED.2006.328836","url":null,"abstract":"This paper investigates the H∞ control of robotic system presenting a linear parameter varying (LPV) representation. From a usual Lagrangian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H∞ approach are used to design a state feedback controller for the robotic system. The approach is extended to take into account pole placement requirements","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":"122638602","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 work, some parametric nonlinear dynamic models for the pneumatic adhesion subsystem of the climbing robot Alicia II have been computed. The structures of the used models rely on the real system physics and on some heuristic considerations. The former allowed to classify the system as direction dependent; the latter allowed to compensate the models for some other kind of nonlinearities. The proposed models can be useful to implement and tune a control algorithm for the pressure inside the pneumatic adhesion cup of the robot, in order to prevent it from falling down
{"title":"A Direction Dependent Parametric Model for the Vacuum Adhesion System of the Alicia II Robot","authors":"S. De Francisci, D. Longo, G. Muscato","doi":"10.1109/MED.2006.328872","DOIUrl":"https://doi.org/10.1109/MED.2006.328872","url":null,"abstract":"In this work, some parametric nonlinear dynamic models for the pneumatic adhesion subsystem of the climbing robot Alicia II have been computed. The structures of the used models rely on the real system physics and on some heuristic considerations. The former allowed to classify the system as direction dependent; the latter allowed to compensate the models for some other kind of nonlinearities. The proposed models can be useful to implement and tune a control algorithm for the pressure inside the pneumatic adhesion cup of the robot, in order to prevent it from falling down","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":"123963345","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. Kumar, H. Tanner, A. Klimenko, K. Borozdin, W. Priedhorsky
We demonstrate the principle of a bidirectional interaction between the perception model that describes the environment, and the sensor data collection that shapes the model, through the first automated scheme for sequential nuclear search. The objective is to detect and localize a weak radioactive point source, with consideration to the time spent for the search. Numerical simulations verify that desired false positive and false negative rates can be achieved using the control algorithm developed for deployment on prototype system. The simulation results are also consistent with previous theoretical, discrete simulation of the sequential search strategy that our continuous search control algorithm is based on
{"title":"Automated Sequential Search for Weak Radiation Sources","authors":"A. Kumar, H. Tanner, A. Klimenko, K. Borozdin, W. Priedhorsky","doi":"10.1109/MED.2006.328866","DOIUrl":"https://doi.org/10.1109/MED.2006.328866","url":null,"abstract":"We demonstrate the principle of a bidirectional interaction between the perception model that describes the environment, and the sensor data collection that shapes the model, through the first automated scheme for sequential nuclear search. The objective is to detect and localize a weak radioactive point source, with consideration to the time spent for the search. Numerical simulations verify that desired false positive and false negative rates can be achieved using the control algorithm developed for deployment on prototype system. The simulation results are also consistent with previous theoretical, discrete simulation of the sequential search strategy that our continuous search control algorithm is based on","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":"123991601","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}
Traditionally the control problem has been tackled from a reductionist point of view. The complex whole problem has been divided in smaller more manageable subproblems (e.g. model identification, control structure selection, control design, etc). However this presents several problems: i) issues arising from the interrelation between subproblems of the reductionist approach are neglected, ii) recent advances in identification for control have arisen the necessity of tackling the identification and control design in an unified approach, iii) in order to design automatic supervisors high level issues must be considered. Consequently we face the holistic control design problem. First the elements of the problem are defined and their relations established. Secondly we proposed a new scheme for dynamic management of information flow of the control design problem. It provides a structured approach to consider all the important aspects of the control design. It is suited for automatic supervisory schemes design
{"title":"The Control Problem: A Framework for A Holistic Design","authors":"P. Balaguer, R. Vilanova, R. Moreno","doi":"10.1109/MED.2006.328844","DOIUrl":"https://doi.org/10.1109/MED.2006.328844","url":null,"abstract":"Traditionally the control problem has been tackled from a reductionist point of view. The complex whole problem has been divided in smaller more manageable subproblems (e.g. model identification, control structure selection, control design, etc). However this presents several problems: i) issues arising from the interrelation between subproblems of the reductionist approach are neglected, ii) recent advances in identification for control have arisen the necessity of tackling the identification and control design in an unified approach, iii) in order to design automatic supervisors high level issues must be considered. Consequently we face the holistic control design problem. First the elements of the problem are defined and their relations established. Secondly we proposed a new scheme for dynamic management of information flow of the control design problem. It provides a structured approach to consider all the important aspects of the control design. It is suited for automatic supervisory schemes design","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":"128815900","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 tracking control problem of an underwater vehicle subjected to different load configurations, which from time to time introduce considerable variations of its mass and inertial parameters. The control of this kind of mode-switch process can not be adequately faced with traditional adaptive control techniques because of the too long time needed for adaptation. To cope with this problem, a switching control scheme is proposed and multiple neural network-based plant models are defined to describe the different possible operative conditions of the vehicle. The performance of the switched controller is evaluated by numerical simulations
{"title":"Multiple Model Control Using Neural Networks for a Remotely Operated Vehicle","authors":"M. Cavalletti, G. Ippoliti, S. Longhi","doi":"10.1109/MED.2006.328829","DOIUrl":"https://doi.org/10.1109/MED.2006.328829","url":null,"abstract":"This paper considers the tracking control problem of an underwater vehicle subjected to different load configurations, which from time to time introduce considerable variations of its mass and inertial parameters. The control of this kind of mode-switch process can not be adequately faced with traditional adaptive control techniques because of the too long time needed for adaptation. To cope with this problem, a switching control scheme is proposed and multiple neural network-based plant models are defined to describe the different possible operative conditions of the vehicle. The performance of the switched controller is evaluated by numerical simulations","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":"114570921","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 provides an eigenvalue perturbation result and applies it to the estimation of stability margins for uncertain, linear, discrete-time systems. An upper bound on the norm of a real perturbation maintaining the stability of a given asymptotically stable matrix is computed. It is shown that some other existing unstructured bounds are obtained as particular cases of the estimated stability margin. The main example of application of the estimated bound is relative to the case of structured perturbations given by interval matrices whose non null diagonal elements are not centered around zero. A numerical comparison with other stability bounds proposed in the literature is reported
{"title":"An eigenvalue perturbation result for stability bound with respect to biased structured perturbations","authors":"L. Jetto, V. Orsini","doi":"10.1109/MED.2006.328832","DOIUrl":"https://doi.org/10.1109/MED.2006.328832","url":null,"abstract":"This paper provides an eigenvalue perturbation result and applies it to the estimation of stability margins for uncertain, linear, discrete-time systems. An upper bound on the norm of a real perturbation maintaining the stability of a given asymptotically stable matrix is computed. It is shown that some other existing unstructured bounds are obtained as particular cases of the estimated stability margin. The main example of application of the estimated bound is relative to the case of structured perturbations given by interval matrices whose non null diagonal elements are not centered around zero. A numerical comparison with other stability bounds proposed in the literature is reported","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":"114601232","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 introduces a new algorithm where particle filtering techniques and set-membership theory are blended together in one only framework. The idea is to build a recursive filter where, at every step, an approximation of the probability density of the states given the latest observations is provided together with the set of all the possible states consistent with the process and observation models. The results obtained confirm that the advantages furnished by particle filtering and set-membership techniques add up together to obtain more accurate estimates
{"title":"Particle Filtering within a Set-Membership Approach to State Estimation","authors":"A. Balestrino, A. Caiti, E. Crisostomi","doi":"10.1109/MED.2006.328797","DOIUrl":"https://doi.org/10.1109/MED.2006.328797","url":null,"abstract":"This paper introduces a new algorithm where particle filtering techniques and set-membership theory are blended together in one only framework. The idea is to build a recursive filter where, at every step, an approximation of the probability density of the states given the latest observations is provided together with the set of all the possible states consistent with the process and observation models. The results obtained confirm that the advantages furnished by particle filtering and set-membership techniques add up together to obtain more accurate estimates","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":"114565541","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}
G. Campa, M. Mammarella, M. Napolitano, M. L. Fravolini, L. Pollini, B. Stolarik
This paper focuses on the analysis of the performance of specific 'detection and labeling' and 'pose estimation' algorithms within a machine vision (MV)-based approach for the problem of autonomous aerial refueling (AAR) of UAVs. A robust 'detection and labeling algorithm' for the correct identification and sorting of the optical markers is proposed; a sorted list of marker positions is then provided as input to the 'pose estimation' algorithm. A detailed study of the performance of two specific 'pose estimation' algorithms (GLSDC and LHM) is performed with special emphasis on the required computational effort as well as on the robustness and error propagation characteristics. Extensive simulation studies demonstrate the performance of the LHM and GLSDC algorithms and show the importance of a robust 'detection and labeling' algorithm. The simulation effort is performed using a detailed modeling of the AAR maneuver according to the USAF refueling method
{"title":"A comparison of Pose Estimation algorithms for Machine Vision based Aerial Refueling for UAVs","authors":"G. Campa, M. Mammarella, M. Napolitano, M. L. Fravolini, L. Pollini, B. Stolarik","doi":"10.1109/MED.2006.328769","DOIUrl":"https://doi.org/10.1109/MED.2006.328769","url":null,"abstract":"This paper focuses on the analysis of the performance of specific 'detection and labeling' and 'pose estimation' algorithms within a machine vision (MV)-based approach for the problem of autonomous aerial refueling (AAR) of UAVs. A robust 'detection and labeling algorithm' for the correct identification and sorting of the optical markers is proposed; a sorted list of marker positions is then provided as input to the 'pose estimation' algorithm. A detailed study of the performance of two specific 'pose estimation' algorithms (GLSDC and LHM) is performed with special emphasis on the required computational effort as well as on the robustness and error propagation characteristics. Extensive simulation studies demonstrate the performance of the LHM and GLSDC algorithms and show the importance of a robust 'detection and labeling' algorithm. The simulation effort is performed using a detailed modeling of the AAR maneuver according to the USAF refueling method","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":"114632852","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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