Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068359
R. Kulic, Z. Vukic
The problem of dynamic path generation for the autonomous vehicle in environments with unmoving obstacles is presented. Generally, the problem is known in the literature as the vehicle motion planning. In this paper the behavioural cloning approach is applied to design the vehicle controller and virtual obstacle is used also in the goal position reaching. In behavioural cloning, the system learns from control traces of a human operator. To learn from control traces the machine learning algorithm and neural network algorithms are used. The goal is to find the controller for the autonomous vehicle motion planning in situation with infinite number of obstacles.
{"title":"Autonomous vehicle obstacle avoiding and goal position reaching by virtual obstacle","authors":"R. Kulic, Z. Vukic","doi":"10.23919/ECC.2007.7068359","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068359","url":null,"abstract":"The problem of dynamic path generation for the autonomous vehicle in environments with unmoving obstacles is presented. Generally, the problem is known in the literature as the vehicle motion planning. In this paper the behavioural cloning approach is applied to design the vehicle controller and virtual obstacle is used also in the goal position reaching. In behavioural cloning, the system learns from control traces of a human operator. To learn from control traces the machine learning algorithm and neural network algorithms are used. The goal is to find the controller for the autonomous vehicle motion planning in situation with infinite number of obstacles.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117018025","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068963
M. Sekher, M. Farza, M. M'Saad
This paper deals with the temperature tracking problem for a jacketed chemical reactor involving an exothermic reaction. A high gain based controller are designed to achieve this control objective. The proposed high gain control design involves a design function that has to satisfy a well defined mild condition. Usefull expressions of such a function are proposed from the available sliding mode like controllers. More specifically, it is shown that one can easily incorporate a filtered integral action in the control design to provide a robust offset free performance in te presence of step like disturbances while reducing the sensitivity with respect to noise measurements. The performances of the proposed control approach are illustrated in a realistic simulation simulation framework. Two controllers have been particularly used depending on the reaction rate processing. More specifically, the reaction rate is not taken into account or considered in the control design throughout an adequate high gain observer.
{"title":"Chemical process high-gain state feedback controllers","authors":"M. Sekher, M. Farza, M. M'Saad","doi":"10.23919/ECC.2007.7068963","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068963","url":null,"abstract":"This paper deals with the temperature tracking problem for a jacketed chemical reactor involving an exothermic reaction. A high gain based controller are designed to achieve this control objective. The proposed high gain control design involves a design function that has to satisfy a well defined mild condition. Usefull expressions of such a function are proposed from the available sliding mode like controllers. More specifically, it is shown that one can easily incorporate a filtered integral action in the control design to provide a robust offset free performance in te presence of step like disturbances while reducing the sensitivity with respect to noise measurements. The performances of the proposed control approach are illustrated in a realistic simulation simulation framework. Two controllers have been particularly used depending on the reaction rate processing. More specifically, the reaction rate is not taken into account or considered in the control design throughout an adequate high gain observer.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116290607","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068541
Y. C. Kim, L. Keel, S. Bhattacharyya
A new approach to control system design has been implemented in the software described here. The set of controllers simultaneously satisfying multiple design specifications can be obtained without performing a traditional optimization procedure. The most notable strength of the method is that the entire set of controllers, satisfying some of the most important specifications such as stability and robust stability can be described first by sets of linear inequalities within which performance is sought. This paper describes the basic principle of the design method along with a series of examples for illustration.
{"title":"Computer aided control system design: Multiple design objectives","authors":"Y. C. Kim, L. Keel, S. Bhattacharyya","doi":"10.23919/ECC.2007.7068541","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068541","url":null,"abstract":"A new approach to control system design has been implemented in the software described here. The set of controllers simultaneously satisfying multiple design specifications can be obtained without performing a traditional optimization procedure. The most notable strength of the method is that the entire set of controllers, satisfying some of the most important specifications such as stability and robust stability can be described first by sets of linear inequalities within which performance is sought. This paper describes the basic principle of the design method along with a series of examples for illustration.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116367110","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068659
V. Eldem, K. Ozcaldiran
In this paper, we show that under certain conditions, the feasibility set of an LMI defined by n × n matrices can be computed by considering another LMI defined by ñ×ñ matrices where ñ <; n.
在本文中，我们证明了在一定条件下，考虑另一个由ñ×ñ矩阵定义的LMI (ñ <;n。
{"title":"A reduction algorithm for LMIs","authors":"V. Eldem, K. Ozcaldiran","doi":"10.23919/ECC.2007.7068659","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068659","url":null,"abstract":"In this paper, we show that under certain conditions, the feasibility set of an LMI defined by n × n matrices can be computed by considering another LMI defined by ñ×ñ matrices where ñ <; n.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121970819","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068865
J. J. Fuertes, M. A. Prada, M. Domínguez, P. Reguera, I. Díaz
Visualization techniques are the subject of a growing interest for processing and interpretation of large volumes of multidimensional data, giving rise to the so called visual data mining paradigm. A prominent approach for multidimensional data visualization is based on the Self-Organizing Map (SOM), which allows to project the input data on a 2D or 3D space that can be visualized. This approach has been used in this work for supervision and modeling of industrial processes. In this field, a large amount of variables have to be managed and joined. Most of them are located in distant places, suggesting the use of Information Technologies (IT) based on the Internet for remote supervision. In this work, a growable and modular client-server architecture is proposed for the remote supervision. In this architecture, the SOM models of the industrial processes are stored in the standard format PMML (Predictive Model Markup Language), so that any remote client that supports this standard can interpret them. The aim is to create an efficient structure of distributed supervision.
{"title":"Remote supervision of industrial processes based on PMML-defined SOM models","authors":"J. J. Fuertes, M. A. Prada, M. Domínguez, P. Reguera, I. Díaz","doi":"10.23919/ECC.2007.7068865","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068865","url":null,"abstract":"Visualization techniques are the subject of a growing interest for processing and interpretation of large volumes of multidimensional data, giving rise to the so called visual data mining paradigm. A prominent approach for multidimensional data visualization is based on the Self-Organizing Map (SOM), which allows to project the input data on a 2D or 3D space that can be visualized. This approach has been used in this work for supervision and modeling of industrial processes. In this field, a large amount of variables have to be managed and joined. Most of them are located in distant places, suggesting the use of Information Technologies (IT) based on the Internet for remote supervision. In this work, a growable and modular client-server architecture is proposed for the remote supervision. In this architecture, the SOM models of the industrial processes are stored in the standard format PMML (Predictive Model Markup Language), so that any remote client that supports this standard can interpret them. The aim is to create an efficient structure of distributed supervision.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122005229","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 : 2007-07-02DOI: 10.23919/ECC.2007.7069040
J. Bokor
The study of LPV systems is motivated by the gain scheduling control design methodology. The classical approach to gain-scheduling involves the design of several LTI controllers for a parameterized family of linearized models of a system and the interpolation of the controller gains. LPV control theory has been proven useful to simplify the interpolation and realization problems associated with conventional gain-scheduling since it allows us to treat gain-scheduled controllers as a single entity, with the gain-scheduling achieved entirely by the parameter dependent controller. Using scaled small-gain theorem, a systematic gain scheduling control design technique has been developed. When the parameter dependency in both plant and controller is linear fractional, the existence of such a gain-scheduled controller is fully characterized in terms of linear matrix inequalities (LMIs). The underlying synthesis problem is therefore a convex problem for which efficient optimization techniques are available. This control structure is applicable whenever the value of parameter is measured in real-time. The resulting controller is time-varying and smoothly scheduled by the measurements of parameter. In a parallel approach a single, possible parameter-dependent, Lyapunov function has been used in the analysis and control design for parameter-dependent plants in robust control framework. Known bounds on the rate of parameter variation can be also incorporated into the analysis conditions. The solution to the LPV control synthesis problem was formulated as a parameter-dependent LMI optimization problem. For a general parameter dependence a brutal force griding method can be used to divide the parameter space and to render the semiinfinite optimization problem to be finite one; an alternative and very appealing solution can be applied for affine parameterizations.
{"title":"Robust adaptive control: The qLPV paradigm","authors":"J. Bokor","doi":"10.23919/ECC.2007.7069040","DOIUrl":"https://doi.org/10.23919/ECC.2007.7069040","url":null,"abstract":"The study of LPV systems is motivated by the gain scheduling control design methodology. The classical approach to gain-scheduling involves the design of several LTI controllers for a parameterized family of linearized models of a system and the interpolation of the controller gains. LPV control theory has been proven useful to simplify the interpolation and realization problems associated with conventional gain-scheduling since it allows us to treat gain-scheduled controllers as a single entity, with the gain-scheduling achieved entirely by the parameter dependent controller. Using scaled small-gain theorem, a systematic gain scheduling control design technique has been developed. When the parameter dependency in both plant and controller is linear fractional, the existence of such a gain-scheduled controller is fully characterized in terms of linear matrix inequalities (LMIs). The underlying synthesis problem is therefore a convex problem for which efficient optimization techniques are available. This control structure is applicable whenever the value of parameter is measured in real-time. The resulting controller is time-varying and smoothly scheduled by the measurements of parameter. In a parallel approach a single, possible parameter-dependent, Lyapunov function has been used in the analysis and control design for parameter-dependent plants in robust control framework. Known bounds on the rate of parameter variation can be also incorporated into the analysis conditions. The solution to the LPV control synthesis problem was formulated as a parameter-dependent LMI optimization problem. For a general parameter dependence a brutal force griding method can be used to divide the parameter space and to render the semiinfinite optimization problem to be finite one; an alternative and very appealing solution can be applied for affine parameterizations.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122143936","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068595
M. Houdebine, M. Alamir, S. Dedieu, O. Sename
This paper presents an efficient and easy to implement observer to increase the output frequency measurement accuracy on a Digital Phase Locked Loop feedback path. The proposed observer improves the Radio Frequency PLL output phase noise and cancels the measurement offset. Theoretical expressions have been derived to evaluate its efficiency and simulation results illustrate the phase noise reduction.
{"title":"Nonlinear observer for Frequency Meter in Digital Phase Locked Loops","authors":"M. Houdebine, M. Alamir, S. Dedieu, O. Sename","doi":"10.23919/ECC.2007.7068595","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068595","url":null,"abstract":"This paper presents an efficient and easy to implement observer to increase the output frequency measurement accuracy on a Digital Phase Locked Loop feedback path. The proposed observer improves the Radio Frequency PLL output phase noise and cancels the measurement offset. Theoretical expressions have been derived to evaluate its efficiency and simulation results illustrate the phase noise reduction.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122151412","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068910
S. Veres, N. Lincoln, S. Gabriel
This paper presents a formation flying testbed for ground based testing of satellite formation control. The aim is to provide a cost effective and upgradeable testbed for testing control technologies needed for smooth operation of satellite formation flying missions. Two approaches are presented to hardware testing: (1) mechanical satellite frames for testing sensors, actuators and communications (2) autonomy and robust control testing using a hardware in the loop system. Design and hardware implementation of the testbed are presented with mathematical models of system dynamics and control.
{"title":"Testbed for satellite formation flying under ground conditions","authors":"S. Veres, N. Lincoln, S. Gabriel","doi":"10.23919/ECC.2007.7068910","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068910","url":null,"abstract":"This paper presents a formation flying testbed for ground based testing of satellite formation control. The aim is to provide a cost effective and upgradeable testbed for testing control technologies needed for smooth operation of satellite formation flying missions. Two approaches are presented to hardware testing: (1) mechanical satellite frames for testing sensors, actuators and communications (2) autonomy and robust control testing using a hardware in the loop system. Design and hardware implementation of the testbed are presented with mathematical models of system dynamics and control.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125914089","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068762
A. Germani, C. Manes
This paper presents an observer with exponential error decay for systems described by bilinear input-state dynamics and output functions that are ratios of polynomials in the state. It is shown that such kind of systems can be immersed into systems of higher dimension, with time-varying linear state dynamics and linear output map. The observer here presented is derived exploiting the structure of the extended system. Conditions of global exponential convergence are given and discussed. Computer simulations demonstrate good behavior of the observer, even in the presence of disturbances on the state and output equations.
{"title":"An exponential observer for discrete-time systems with bilinear drift and rational output functions","authors":"A. Germani, C. Manes","doi":"10.23919/ECC.2007.7068762","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068762","url":null,"abstract":"This paper presents an observer with exponential error decay for systems described by bilinear input-state dynamics and output functions that are ratios of polynomials in the state. It is shown that such kind of systems can be immersed into systems of higher dimension, with time-varying linear state dynamics and linear output map. The observer here presented is derived exploiting the structure of the extended system. Conditions of global exponential convergence are given and discussed. Computer simulations demonstrate good behavior of the observer, even in the presence of disturbances on the state and output equations.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124630199","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068601
M. Jungers, A.L. Driemeyer Franco
Coupled algebraic Riccati type equations issued from a Nash strategy with a closed-loop information structure are very difficult to solve. Even if there does not exist an analytic solution of these equations, the literature offers several iterative algorithms to obtain numerical solutions. These algorithms are usually delicate because they imply solving sophisticated equations. This paper provides a simpler algorithm using only one standard algebraic Riccati equation and several Lyapunov equations. For some classical examples considered here, this algorithm leads to a reasonable convergence rate with respect to the algorithms of the literature.
{"title":"A series solution for coupled algebraic Riccati type equations from closed-loop Nash strategy","authors":"M. Jungers, A.L. Driemeyer Franco","doi":"10.23919/ECC.2007.7068601","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068601","url":null,"abstract":"Coupled algebraic Riccati type equations issued from a Nash strategy with a closed-loop information structure are very difficult to solve. Even if there does not exist an analytic solution of these equations, the literature offers several iterative algorithms to obtain numerical solutions. These algorithms are usually delicate because they imply solving sophisticated equations. This paper provides a simpler algorithm using only one standard algebraic Riccati equation and several Lyapunov equations. For some classical examples considered here, this algorithm leads to a reasonable convergence rate with respect to the algorithms of the literature.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124685239","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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