The general stability theory of nonlinear receding horizon controllers has attracted much attention over the last fifteen years, and many algorithms have been proposed to ensure closed-loop stability. On the other hand many reports exist regarding the use of artificial neural network models in nonlinear receding horizon control. However, little attention has been given to the stability issue of these specific controllers. This paper addresses this problem and proposes to cast the nonlinear receding horizon control based on neural network models within the framework of an existing stabilising algorithm
{"title":"Stable Nonlinear Receding Horizon Regulator Using RBF Neural Network Models","authors":"Z. Ahmida, A. Charef, V. Becerra","doi":"10.1109/MED.2006.328824","DOIUrl":"https://doi.org/10.1109/MED.2006.328824","url":null,"abstract":"The general stability theory of nonlinear receding horizon controllers has attracted much attention over the last fifteen years, and many algorithms have been proposed to ensure closed-loop stability. On the other hand many reports exist regarding the use of artificial neural network models in nonlinear receding horizon control. However, little attention has been given to the stability issue of these specific controllers. This paper addresses this problem and proposes to cast the nonlinear receding horizon control based on neural network models within the framework of an existing stabilising algorithm","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"37 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":"127969486","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 deals with modelling and identification of aircraft dynamic entering a vertical gust. The identification approach initiated in (M. Fliess et al., 2003) falls under a prospect for identification from tests carried out in the Flight Analysis Laboratory of the DCSD of ONERA in Lille. The plane is considered into various elements which consist in the fuselage, the wing and the tail. The model incorporates delays linked to the aircraft passage through the atmospheric turbulence
本文研究了飞机进入垂直阵风的动力学建模和识别问题。在(M. Fliess et al.， 2003)中提出的鉴定方法属于在里尔ONERA DCSD飞行分析实验室进行的测试中进行鉴定的前景。飞机被认为是由机身、机翼和尾部组成的各种元素。该模型包含了与飞机通过大气湍流有关的延迟
{"title":"Delay system identification applied to the longitudinal flight of an aircraft through a vertical gust","authors":"F. Veysset, L. Belkoura, P. Coton, J. Richard","doi":"10.1109/MED.2006.328876","DOIUrl":"https://doi.org/10.1109/MED.2006.328876","url":null,"abstract":"This paper deals with modelling and identification of aircraft dynamic entering a vertical gust. The identification approach initiated in (M. Fliess et al., 2003) falls under a prospect for identification from tests carried out in the Flight Analysis Laboratory of the DCSD of ONERA in Lille. The plane is considered into various elements which consist in the fuselage, the wing and the tail. The model incorporates delays linked to the aircraft passage through the atmospheric turbulence","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"229 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":"123253295","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 summarizes the work done on the development of a module to interface a commercial mechanical scan sonar within an ROV control architecture and its integration with the other modules. The sonar module fulfills the scope of endowing the ROV with an open tool for the management of the sonar setting, adapting sonar performances to the specific mission requirement. In particular, this work is focused on the problem of the generation of environmental map from raw sonar scan data for objects detection purposes as well as for ROV self localization means. Preliminary assumption on the ROV motion ensures the construction of two-dimensional maps of the environment. Additionally, a procedure for self localization of the ROV based on sonar map and on onboard compass data is developed. Experimental tests on structured environment have been performed and other are planned in order to test the validity of the proposed solution. The research has been partially sponsored by the national project PICTURE
{"title":"Acoustic Mapping and Localization of an ROV","authors":"G. Conte, S. Zanoli, L. Gambella, D. Scaradozzi","doi":"10.1109/MED.2006.328873","DOIUrl":"https://doi.org/10.1109/MED.2006.328873","url":null,"abstract":"This paper summarizes the work done on the development of a module to interface a commercial mechanical scan sonar within an ROV control architecture and its integration with the other modules. The sonar module fulfills the scope of endowing the ROV with an open tool for the management of the sonar setting, adapting sonar performances to the specific mission requirement. In particular, this work is focused on the problem of the generation of environmental map from raw sonar scan data for objects detection purposes as well as for ROV self localization means. Preliminary assumption on the ROV motion ensures the construction of two-dimensional maps of the environment. Additionally, a procedure for self localization of the ROV based on sonar map and on onboard compass data is developed. Experimental tests on structured environment have been performed and other are planned in order to test the validity of the proposed solution. The research has been partially sponsored by the national project PICTURE","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"39 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":"123348206","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 principle of operation of the switched reluctance motor (SRM) drive demands that the motor and converter be treated as one unit. The control of the SRM is very important and difficult. The motor's double salient structure makes its magnetic characteristics highly nonlinear. The motor flux linkage appears to be a nonlinear function of stator currents as well as rotor position. This paper deals with control parameters and converter topology of switched reluctance motor, where an equivalent circuit model is used. Its converter topology and its control are discussed in detail. Control parameters and its converter topology are obtained by using linear model and dynamics of the switched reluctance motor. Simulation studies are performed for phase currents and the steady-state motor operation
{"title":"Control of Switched Reluctance Motor Containing a Linear Model","authors":"M. Ayaz, A. Yıldız","doi":"10.1109/MED.2006.328699","DOIUrl":"https://doi.org/10.1109/MED.2006.328699","url":null,"abstract":"The principle of operation of the switched reluctance motor (SRM) drive demands that the motor and converter be treated as one unit. The control of the SRM is very important and difficult. The motor's double salient structure makes its magnetic characteristics highly nonlinear. The motor flux linkage appears to be a nonlinear function of stator currents as well as rotor position. This paper deals with control parameters and converter topology of switched reluctance motor, where an equivalent circuit model is used. Its converter topology and its control are discussed in detail. Control parameters and its converter topology are obtained by using linear model and dynamics of the switched reluctance motor. Simulation studies are performed for phase currents and the steady-state motor operation","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":"124016970","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 modification of a predictive adaptive controller that renders it robust with respect to the occurrence of outliers in the plant measured output. Outliers are large deviations of the signal being measured that are not explained by a Gaussian distribution. Making a Gaussian assumption on the statistics of the observation noise results in the use of a quadratic loss for designing either estimators or controllers. In turn of a quadratic loss yields major amplification of large signal deviations causing poor parameter estimates and, consequently, controller gain detuning and loss of performance. The algorithm presented to solve this problem relies on a modification of the cost being minimized, such as to render it more insensitive to large prediction error values. Simulations on the position control in a ball and beam plant are presented to illustrate the advantages of the controller proposed
{"title":"Adaptive Control in the Presence of Outliers","authors":"J. M. Lemos","doi":"10.1109/MED.2006.328762","DOIUrl":"https://doi.org/10.1109/MED.2006.328762","url":null,"abstract":"This paper presents a modification of a predictive adaptive controller that renders it robust with respect to the occurrence of outliers in the plant measured output. Outliers are large deviations of the signal being measured that are not explained by a Gaussian distribution. Making a Gaussian assumption on the statistics of the observation noise results in the use of a quadratic loss for designing either estimators or controllers. In turn of a quadratic loss yields major amplification of large signal deviations causing poor parameter estimates and, consequently, controller gain detuning and loss of performance. The algorithm presented to solve this problem relies on a modification of the cost being minimized, such as to render it more insensitive to large prediction error values. Simulations on the position control in a ball and beam plant are presented to illustrate the advantages of the controller proposed","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"23 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":"115652877","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 the application and the comparison of bilateral teleoperation laws applied on a device made of two industrial systems equipped with force sensors. Theoretical study of these kinesthetic couplings were carried on and experimental results are presented showing forces interactions during movements. A poor connection is found between the accuracy of the force sensor and the quality of the haptic feedback
{"title":"Theoretical and experimental overview of bilateral teleoperation control laws","authors":"N. Marcassus, A. Chriette, M. Gautier","doi":"10.1109/MED.2006.328766","DOIUrl":"https://doi.org/10.1109/MED.2006.328766","url":null,"abstract":"This paper presents the application and the comparison of bilateral teleoperation laws applied on a device made of two industrial systems equipped with force sensors. Theoretical study of these kinesthetic couplings were carried on and experimental results are presented showing forces interactions during movements. A poor connection is found between the accuracy of the force sensor and the quality of the haptic feedback","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"22 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":"132630149","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}
Necessary and sufficient conditions are established for the positivity of bilinear discrete-time systems with delays. The controllability to zero of the bilinear positive systems with delays is addressed. Necessary and sufficient conditions for the controllability to zero of positive bilinear systems with delays are formulated and proved. The considerations are illustrated by examples
{"title":"Controllability to Zero of Positive Bilinear Discrete-Time Systems with Delays","authors":"Tadeusz Kaczorek","doi":"10.1109/MED.2006.328719","DOIUrl":"https://doi.org/10.1109/MED.2006.328719","url":null,"abstract":"Necessary and sufficient conditions are established for the positivity of bilinear discrete-time systems with delays. The controllability to zero of the bilinear positive systems with delays is addressed. Necessary and sufficient conditions for the controllability to zero of positive bilinear systems with delays are formulated and proved. The considerations are illustrated by examples","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"46 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":"123796738","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}
An overview of the prototypes of autonomous surface craft (ASC) developed in the last years is presented in this paper, together with a discussion of main research issues, design trends and technological developments
本文概述了近年来自主水面艇(ASC)的原型，并讨论了主要研究问题、设计趋势和技术发展
{"title":"Autonomous Surface Craft: prototypes and basic research issues","authors":"M. Caccia","doi":"10.1109/MED.2006.328786","DOIUrl":"https://doi.org/10.1109/MED.2006.328786","url":null,"abstract":"An overview of the prototypes of autonomous surface craft (ASC) developed in the last years is presented in this paper, together with a discussion of main research issues, design trends and technological developments","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"107 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":"121666513","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}
Robust fault detection problem for discrete-time LTI systems is considered. Allowing stochastic white noises and bounded unknown deterministic disturbances to model system uncertainties, it is shown that this problem can be cast as a mixed norm H2/Halpha residual generation problem. An example is presented to illustrate the application of the results.
{"title":"Robust Fault Detection in a Mixed Η2/Ηα Setting: The Discrete - Time Case","authors":"M. Khosrowjerdi, N. Safari-Shad, R. Nikoukhah","doi":"10.1109/MED.2006.328743","DOIUrl":"https://doi.org/10.1109/MED.2006.328743","url":null,"abstract":"Robust fault detection problem for discrete-time LTI systems is considered. Allowing stochastic white noises and bounded unknown deterministic disturbances to model system uncertainties, it is shown that this problem can be cast as a mixed norm H2/Halpha residual generation problem. An example is presented to illustrate the application of the results.","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"111 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":"124044350","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. Cai, Ben M. Chen, K. Peng, Miaobo Dong, Tong-heng Lee
We present in this paper a linearized hovering model of a UAV helicopter obtained using the in-flight data generated through a perturbation method. The UAV helicopter is constructed from a radio-controlled helicopter by integrating an onboard system, which includes a data processing unit, a data acquisition system, a wireless communications and all necessary sensors. A flight control law is then designed using a newly developed nonlinear control technique, i.e. the composite nonlinear feedback control. Actual flight testing shows that the design is successful
{"title":"Modeling and Control System Design for a UAV Helicopter","authors":"G. Cai, Ben M. Chen, K. Peng, Miaobo Dong, Tong-heng Lee","doi":"10.1109/MED.2006.328860","DOIUrl":"https://doi.org/10.1109/MED.2006.328860","url":null,"abstract":"We present in this paper a linearized hovering model of a UAV helicopter obtained using the in-flight data generated through a perturbation method. The UAV helicopter is constructed from a radio-controlled helicopter by integrating an onboard system, which includes a data processing unit, a data acquisition system, a wireless communications and all necessary sensors. A flight control law is then designed using a newly developed nonlinear control technique, i.e. the composite nonlinear feedback control. Actual flight testing shows that the design is successful","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"2 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":"124422606","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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