Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068997
J. Raouf, E. Boukas
This paper deals with the class of continuous-time linear Markovian jumps singular systems with discontinuities. Based on the Lyapunov method, a design procedure for an output feedback controller, via the linear matrix inequality (LMI) technique and the sequential linear programming matrix methods (SLPMM), is proposed for this class of systems. A numerical example is presented to show the usefulness of the proposed results.
{"title":"Stochastic output feedback controller of singular Markovian jump systems with discontinuities","authors":"J. Raouf, E. Boukas","doi":"10.23919/ECC.2007.7068997","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068997","url":null,"abstract":"This paper deals with the class of continuous-time linear Markovian jumps singular systems with discontinuities. Based on the Lyapunov method, a design procedure for an output feedback controller, via the linear matrix inequality (LMI) technique and the sequential linear programming matrix methods (SLPMM), is proposed for this class of systems. A numerical example is presented to show the usefulness of the proposed results.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"60 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":"117261603","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.2007.7068978
J. B. Jørgensen, Morten Rode Kristensen, P. G. Thomsen, H. Madsen
We present a novel numerically robust and computationally efficient extended Kalman filter for state estimation in nonlinear continuous-discrete stochastic systems. The resulting differential equations for the mean-covariance evolution of the nonlinear stochastic continuous-discrete time systems are solved efficiently using an ESDIRK integrator with sensitivity analysis capabilities. This ESDIRK integrator for the mean-covariance evolution is implemented as part of an extended Kalman filter and tested on a PDE system. For moderate to large sized systems, the ESDIRK based extended Kalman filter for nonlinear stochastic continuous-discrete time systems is more than two orders of magnitude faster than a conventional implementation. This is of significance in nonlinear model predictive control applications, statistical process monitoring as well as grey-box modelling of systems described by stochastic differential equations.
{"title":"A numerically robust ESDIRK-based implementation of the continuous-discrete extended Kalman filter","authors":"J. B. Jørgensen, Morten Rode Kristensen, P. G. Thomsen, H. Madsen","doi":"10.23919/ECC.2007.7068978","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068978","url":null,"abstract":"We present a novel numerically robust and computationally efficient extended Kalman filter for state estimation in nonlinear continuous-discrete stochastic systems. The resulting differential equations for the mean-covariance evolution of the nonlinear stochastic continuous-discrete time systems are solved efficiently using an ESDIRK integrator with sensitivity analysis capabilities. This ESDIRK integrator for the mean-covariance evolution is implemented as part of an extended Kalman filter and tested on a PDE system. For moderate to large sized systems, the ESDIRK based extended Kalman filter for nonlinear stochastic continuous-discrete time systems is more than two orders of magnitude faster than a conventional implementation. This is of significance in nonlinear model predictive control applications, statistical process monitoring as well as grey-box modelling of systems described by stochastic differential equations.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"16 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":"129732817","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.2007.7068936
V. Hassani, H. Talebi, M. Shafiee, H. Taheri
This paper presents an approach for timing analysis and response time of end to end packet delivery for Ethernet Networked Control System (ENCS). Ethernet is a popular network for control applications. However, traditional Ethernet network suffers from non-deterministic handling of the network communication caused by Carrier Sense Multiple Access Collision Detection (CSMA/CD) Protocol, where the nodes compete for access to the media. In this paper, a collision free network configuration model for Ethernet is used which is more suitable for control application as compared to the traditional network configurations. The office network is separated from the control network and a fully switched Ethernet network is employed for control network. The timing behaviour of a fully switched network is analysed and the response time of end to end packet delivery in switched Ethernet network is derived. This analysis can then be served as a time delay model for NCS.
{"title":"Timing analysis and response time of end to end packet delivery in switched Ethernet network","authors":"V. Hassani, H. Talebi, M. Shafiee, H. Taheri","doi":"10.23919/ECC.2007.7068936","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068936","url":null,"abstract":"This paper presents an approach for timing analysis and response time of end to end packet delivery for Ethernet Networked Control System (ENCS). Ethernet is a popular network for control applications. However, traditional Ethernet network suffers from non-deterministic handling of the network communication caused by Carrier Sense Multiple Access Collision Detection (CSMA/CD) Protocol, where the nodes compete for access to the media. In this paper, a collision free network configuration model for Ethernet is used which is more suitable for control application as compared to the traditional network configurations. The office network is separated from the control network and a fully switched Ethernet network is employed for control network. The timing behaviour of a fully switched network is analysed and the response time of end to end packet delivery in switched Ethernet network is derived. This analysis can then be served as a time delay model for NCS.","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":"128218062","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.2007.7068429
D. Kalligeropoulos
In Rhapsody Σ (book18) of Iliad, Homer describes the construction of Achilles' shield by the god of technology, Hephaestus. This shield is the symbol of Achilles, the central hero of the Homeric epic. At the same time, the shield constitutes a whole, even wider than the epic itself. It sums up, in a poetic and descriptive way, the total knowledge of the Homeric era. The shield itself is a model of the whole world, natural and human. It is a model of the physical world's structure, a model of the universe, which had a deep influence on the natural perception of the presocratic philosophers - of Anaximander, Anaxagoras, Empedocles, and later on, of Plato and Aristotle. Moreover, it is a model of the social structure of the Greek city, which also had an effect on the classical philosophers. At the same time, the shield constitutes an introduction to the Platonic philosophical method of dichotomy and to the Aristotelian digital analysis of the world into categories. In this way, Homer paves the way to the following science and technology.
{"title":"Modelling and dichotomy by Homer","authors":"D. Kalligeropoulos","doi":"10.23919/ECC.2007.7068429","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068429","url":null,"abstract":"In Rhapsody Σ (book18) of Iliad, Homer describes the construction of Achilles' shield by the god of technology, Hephaestus. This shield is the symbol of Achilles, the central hero of the Homeric epic. At the same time, the shield constitutes a whole, even wider than the epic itself. It sums up, in a poetic and descriptive way, the total knowledge of the Homeric era. The shield itself is a model of the whole world, natural and human. It is a model of the physical world's structure, a model of the universe, which had a deep influence on the natural perception of the presocratic philosophers - of Anaximander, Anaxagoras, Empedocles, and later on, of Plato and Aristotle. Moreover, it is a model of the social structure of the Greek city, which also had an effect on the classical philosophers. At the same time, the shield constitutes an introduction to the Platonic philosophical method of dichotomy and to the Aristotelian digital analysis of the world into categories. In this way, Homer paves the way to the following science and technology.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"15 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":"128332420","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.2007.7068570
C. Kinney, R. D. de Callafon, M. D. de Oliveira
This paper presents a method of finding a control relevant, low-order weighting filter that over bounds the uncertainty variations in measured frequency domain data. Frequency response measurements of hard disk drive actuators are used to model manufacturing and mounting variation. A polynomial positivity condition is use to guarantee that a minimal phase representation of the uncertainty that is found and linear constraints in the frequency domain are used to bound the magnitude of uncertainty model. The positivity condition can be formulated as a linear matrix inequality and linear constraints are used to shape the filter. Manufacturing and mounting variations in hard disk drives are modeled as a multiplicative uncertainty and a low-order over bound is found from data on a finite grid. This application compares a linear programming based methods for finding uncertainty models with the purpose of designing a robust controller.
{"title":"Spectral over-bounding of frequency data for modeling product variability in hard disk drive actuators","authors":"C. Kinney, R. D. de Callafon, M. D. de Oliveira","doi":"10.23919/ECC.2007.7068570","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068570","url":null,"abstract":"This paper presents a method of finding a control relevant, low-order weighting filter that over bounds the uncertainty variations in measured frequency domain data. Frequency response measurements of hard disk drive actuators are used to model manufacturing and mounting variation. A polynomial positivity condition is use to guarantee that a minimal phase representation of the uncertainty that is found and linear constraints in the frequency domain are used to bound the magnitude of uncertainty model. The positivity condition can be formulated as a linear matrix inequality and linear constraints are used to shape the filter. Manufacturing and mounting variations in hard disk drives are modeled as a multiplicative uncertainty and a low-order over bound is found from data on a finite grid. This application compares a linear programming based methods for finding uncertainty models with the purpose of designing a robust controller.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"15 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":"128413136","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.2007.7068740
J. Larrañaga, J. Zulaika, Jon Agirre
The aim of this job is to study the polynomial path profiles with low frequency excitation. In one dimension, time dependent, kinematical path profiles frequency spectrums are studied. We show that any discontinuity on the k-th order position derivative of the path profile lead to the excitations on the whole frequency spectrum. The decay on frequency is faster as the order of the discontinuity raises. Therefore, Machine Tools will have less frequency excitation if higher order path profiles are used. Fourth order path profiles are generated combined with low pass filters. The path profile design procedure is the following: to find an optimal function effected by the jerk derivative, with the cost functional of frequency weighted energy. The profile optimization is more effective if a Particle Swarm optimization is used. For simulation, frequency spectrums of both path profiles are represented.
{"title":"Polynomial path profiles for Machine Tools with low frequency excitation","authors":"J. Larrañaga, J. Zulaika, Jon Agirre","doi":"10.23919/ECC.2007.7068740","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068740","url":null,"abstract":"The aim of this job is to study the polynomial path profiles with low frequency excitation. In one dimension, time dependent, kinematical path profiles frequency spectrums are studied. We show that any discontinuity on the k-th order position derivative of the path profile lead to the excitations on the whole frequency spectrum. The decay on frequency is faster as the order of the discontinuity raises. Therefore, Machine Tools will have less frequency excitation if higher order path profiles are used. Fourth order path profiles are generated combined with low pass filters. The path profile design procedure is the following: to find an optimal function effected by the jerk derivative, with the cost functional of frequency weighted energy. The profile optimization is more effective if a Particle Swarm optimization is used. For simulation, frequency spectrums of both path profiles are represented.","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":"128754586","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.2007.7068264
F. Bejarano, L. Fridman, A. Poznyak
In this manuscript we show that neither left invertibility is a sufficient condition nor strong detectability is a necessary condition for estimating the unknown inputs. Here we show that the necessary and sufficient condition for estimating the unknown inputs is that the invariant zeros of the system not belonging to the set of unobservable eigenvalues have negative real part. For estimating the unknown inputs, we propose a method of design based on the partial state observation, which is made via a hierarchical scheme where a second order (super-twisting) sliding mode is used. This is also applied for the case of fault detection and isolation. We give a numerical example to illustrate the method of design proposed here.
{"title":"Estimation of unknown inputs, with application to fault detection, via partial hierarchical observation","authors":"F. Bejarano, L. Fridman, A. Poznyak","doi":"10.23919/ECC.2007.7068264","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068264","url":null,"abstract":"In this manuscript we show that neither left invertibility is a sufficient condition nor strong detectability is a necessary condition for estimating the unknown inputs. Here we show that the necessary and sufficient condition for estimating the unknown inputs is that the invariant zeros of the system not belonging to the set of unobservable eigenvalues have negative real part. For estimating the unknown inputs, we propose a method of design based on the partial state observation, which is made via a hierarchical scheme where a second order (super-twisting) sliding mode is used. This is also applied for the case of fault detection and isolation. We give a numerical example to illustrate the method of design proposed here.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"8 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":"128284232","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.2007.7068979
Dimos V. Dimarogonas, K. Kyriakopoulos
In this short paper, a new Gersgorin-type criterion for eigenvalue inclusion sets is used to derive a new sufficient condition for the positive definiteness of real symmetric matrices. The result is less conservative than the classic strict diagonal dominance criterion imposed by Gersgorin's Theorem. We show that this result can be applied to various classes of interconnected systems, including systems consisting of subsystems with linear and nonlinear interconnection terms. Numerical examples as well as the intuition behind the derived results are also provided.
{"title":"An improved result for the stability of interconnected systems based on a new Gersgorin-type criterion","authors":"Dimos V. Dimarogonas, K. Kyriakopoulos","doi":"10.23919/ECC.2007.7068979","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068979","url":null,"abstract":"In this short paper, a new Gersgorin-type criterion for eigenvalue inclusion sets is used to derive a new sufficient condition for the positive definiteness of real symmetric matrices. The result is less conservative than the classic strict diagonal dominance criterion imposed by Gersgorin's Theorem. We show that this result can be applied to various classes of interconnected systems, including systems consisting of subsystems with linear and nonlinear interconnection terms. Numerical examples as well as the intuition behind the derived results are also provided.","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":"128564612","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.2007.7068652
A. Savkin
The paper gives a qualitative analysis of the dynamics of a system consisting of several mobile robots coordinating their motion using simple local nearest neighbor rules. We show that under some assumptions the headings of all robots will be eventually constant. We give an example of a multi-agent system with a cyclic dynamics.
{"title":"Flocking motion of groups of autonomous mobile robots","authors":"A. Savkin","doi":"10.23919/ECC.2007.7068652","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068652","url":null,"abstract":"The paper gives a qualitative analysis of the dynamics of a system consisting of several mobile robots coordinating their motion using simple local nearest neighbor rules. We show that under some assumptions the headings of all robots will be eventually constant. We give an example of a multi-agent system with a cyclic dynamics.","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":"129316692","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: 10.1007/978-3-642-18041-5_10
Y. S. Hanay, H. V. Hunerli, M. I. Koksal, Andaç T. Samiloglu, V. Gazi
{"title":"Formation control with potential functions and Newton's iteration","authors":"Y. S. Hanay, H. V. Hunerli, M. I. Koksal, Andaç T. Samiloglu, V. Gazi","doi":"10.1007/978-3-642-18041-5_10","DOIUrl":"https://doi.org/10.1007/978-3-642-18041-5_10","url":null,"abstract":"","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"53 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":"124734993","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：