Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068471
Yoon Sukjune, Park Sung-Kee, Choi Hyun Do, Kim Soohyun, Kwak Yoon Keun
In this paper, we propose a vision-based simultaneous localization and map-building (SLAM) algorithm using compressed extended Kalman filter (CEKF). SLAM addresses the problem of locating a mobile robot in unknown environments. Extended Kalman filters (EKF) are widely used to solve this problem. However, this filter is very time consuming. To reduce the computational complexity, we apply a CEKF to stereo images while compensating for some of the limitation shown in previous implementations of CEKF. Moreover, we estimate the full DOF, its position and pose, of the mobile robots which is required when operating in the outdoor environment. Outdoor experiments have been conducted to test the effectiveness of the proposed SLAM algorithm.
{"title":"Vision-based outdoor simultaneous localization and map building using compressed extended Kalman filter","authors":"Yoon Sukjune, Park Sung-Kee, Choi Hyun Do, Kim Soohyun, Kwak Yoon Keun","doi":"10.23919/ECC.2007.7068471","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068471","url":null,"abstract":"In this paper, we propose a vision-based simultaneous localization and map-building (SLAM) algorithm using compressed extended Kalman filter (CEKF). SLAM addresses the problem of locating a mobile robot in unknown environments. Extended Kalman filters (EKF) are widely used to solve this problem. However, this filter is very time consuming. To reduce the computational complexity, we apply a CEKF to stereo images while compensating for some of the limitation shown in previous implementations of CEKF. Moreover, we estimate the full DOF, its position and pose, of the mobile robots which is required when operating in the outdoor environment. Outdoor experiments have been conducted to test the effectiveness of the proposed SLAM algorithm.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"2 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":"129912409","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.2007.7068407
A. Casavola, G. Franzé, M. Sorbara
In this paper we propose a novel discrete-time predictive control strategy for the supervision of networked dynamical systems subject to coordination constraints. The approach joins in a unique framework Reference Governor (RG) and Offset Governor (OG) actions. RG units are used to modify the reference to a regulated plant whenever such an application would lead to constraint violations. On the contrary, OG units are used to add, for a finite amount of time, an offset to the nominal command at the input terminal in order to enlarge the set of feasible transients of the system. Numerical comparisons between the basic Reference Governor (RG) and the proposed Reference-Offset Governor (ROG) are presented. As a final example, we consider a well-known benchmark in power system control problems: a two-area power system subject to operative constraints on maximum deviations of frequencies, exchanged and generated powers.
{"title":"Reference-Offset Governor approach for the supervision of constrained networked dynamical systems","authors":"A. Casavola, G. Franzé, M. Sorbara","doi":"10.23919/ECC.2007.7068407","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068407","url":null,"abstract":"In this paper we propose a novel discrete-time predictive control strategy for the supervision of networked dynamical systems subject to coordination constraints. The approach joins in a unique framework Reference Governor (RG) and Offset Governor (OG) actions. RG units are used to modify the reference to a regulated plant whenever such an application would lead to constraint violations. On the contrary, OG units are used to add, for a finite amount of time, an offset to the nominal command at the input terminal in order to enlarge the set of feasible transients of the system. Numerical comparisons between the basic Reference Governor (RG) and the proposed Reference-Offset Governor (ROG) are presented. As a final example, we consider a well-known benchmark in power system control problems: a two-area power system subject to operative constraints on maximum deviations of frequencies, exchanged and generated powers.","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":"130354550","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.2007.7068990
G. Conte, A. Perdon, A. Bonci
The problem of estimating the largest possible component of the state of a parameter dependent linear system in presence of unknown inputs is considered. Using a geometric approach and suitable defined invariant subspaces, that capture the concept of robustness with respect to parameter variation, a procedure for detecting the largest component of the state that may possibly be estimated together with a construction of the observer system and a technique for analyzing its asymptotic behavior is provided.
{"title":"Unknown inputs, robust state observation for linear parameter varying systems","authors":"G. Conte, A. Perdon, A. Bonci","doi":"10.23919/ECC.2007.7068990","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068990","url":null,"abstract":"The problem of estimating the largest possible component of the state of a parameter dependent linear system in presence of unknown inputs is considered. Using a geometric approach and suitable defined invariant subspaces, that capture the concept of robustness with respect to parameter variation, a procedure for detecting the largest component of the state that may possibly be estimated together with a construction of the observer system and a technique for analyzing its asymptotic behavior is provided.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"47 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":"130538137","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.2007.7068720
M. Buchholz, G. Pêcheur, Jens Niemeyer, V. Krebs
Using polymer electrolyte membrane fuel cell (PEMFC) stacks as power supply in technical systems, a long life time and safe operation of the stack are important issues. Therefore, methods are needed to detect deviations from the chosen operating point before any damage to the stack or the environment occurs. In this paper, a fault detection and isolation (FDI) method for PEMFC stacks is described. Based on the measurement of current and voltage of the stack, deviations of other parameters like gas pressure, stoichiometry, or humidification of the supplied air can be detected and isolated.
{"title":"Fault detection and isolation for PEM fuel cell stacks using fuzzy clusters","authors":"M. Buchholz, G. Pêcheur, Jens Niemeyer, V. Krebs","doi":"10.23919/ECC.2007.7068720","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068720","url":null,"abstract":"Using polymer electrolyte membrane fuel cell (PEMFC) stacks as power supply in technical systems, a long life time and safe operation of the stack are important issues. Therefore, methods are needed to detect deviations from the chosen operating point before any damage to the stack or the environment occurs. In this paper, a fault detection and isolation (FDI) method for PEMFC stacks is described. Based on the measurement of current and voltage of the stack, deviations of other parameters like gas pressure, stoichiometry, or humidification of the supplied air can be detected and isolated.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"20 3 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":"126983874","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.2007.7068900
M. Sedlak, K. Žáková
The paper presents several possibilities of remote control of real experiments using Matlab software environment. There are number of ways how to approach Matlab remotely. They include e.g. Matlab Web Server, Matlab S-function, COM, DDE, shared communication file, Virtual Reality Toolbox. One of these proposed concepts was used and tested for control of magnetic levitation system. The gained experience was also discussed in the paper.
本文介绍了利用Matlab软件环境对实际实验进行远程控制的几种可能性。有许多方法可以远程接近Matlab。其中包括Matlab Web Server、Matlab S-function、COM、DDE、共享通信文件、虚拟现实工具箱等。其中一个提出的概念被用于磁悬浮系统的控制并进行了测试。本文还对取得的经验进行了讨论。
{"title":"Remote experiments in Matlab","authors":"M. Sedlak, K. Žáková","doi":"10.23919/ECC.2007.7068900","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068900","url":null,"abstract":"The paper presents several possibilities of remote control of real experiments using Matlab software environment. There are number of ways how to approach Matlab remotely. They include e.g. Matlab Web Server, Matlab S-function, COM, DDE, shared communication file, Virtual Reality Toolbox. One of these proposed concepts was used and tested for control of magnetic levitation system. The gained experience was also discussed in the paper.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"79 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":"129213633","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.2007.7068512
S. Bertrand, T. Hamel, H. Piet-Lahanier
This paper presents guidance and control laws design for trajectory tracking of an Unmanned Aerial Vehicle, using only position and attitude measurements. Stabilizing tracking controllers are obtained via the introduction of virtual states in the system dynamics, and without using velocity measurements nor any observer. Simulation results are provided for a six degrees of freedom model of a small Vertical Take Off and Landing Unmanned Aerial Vehicle.
{"title":"Trajectory tracking of an Unmanned Aerial Vehicle model using partial state feedback","authors":"S. Bertrand, T. Hamel, H. Piet-Lahanier","doi":"10.23919/ECC.2007.7068512","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068512","url":null,"abstract":"This paper presents guidance and control laws design for trajectory tracking of an Unmanned Aerial Vehicle, using only position and attitude measurements. Stabilizing tracking controllers are obtained via the introduction of virtual states in the system dynamics, and without using velocity measurements nor any observer. Simulation results are provided for a six degrees of freedom model of a small Vertical Take Off and Landing Unmanned Aerial Vehicle.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"13 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":"129340359","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.2007.7068258
A. Zemouche, M. Boutayeb, G. I. Bara
In this note, a new observer design method for a class of nonlinear Lipschitz discrete-time systems is proposed. The developed method presents significant improvements with respect to the results of [1] and [2]. This is due, firstly, to the use of another structure of the observer introduced recently in [3] and, secondly, to the use of a detailed form of the system by specifying the distribution matrix of the nonlinearities in the system and the dependence matrix of the nonlinearities on the state of the system. The stability analysis is performed using a particular Lyapunov function that leads to the solvability of matrix inequalities which become linear (LMIs) whenever unknown scalar variables are chosen a priori. An illustrative example is given in order to show the efficiency of our method with respect to [1] and [2]. This new design approach is then generalized to systems with unknown inputs. In this paper, we have considered the problem of synchronization and input recovery. This generalization is tested successfully by a numerical application.
{"title":"Nonlinear observers for Lipschitz discrete-time systems. Application to synchronization and input recovery","authors":"A. Zemouche, M. Boutayeb, G. I. Bara","doi":"10.23919/ECC.2007.7068258","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068258","url":null,"abstract":"In this note, a new observer design method for a class of nonlinear Lipschitz discrete-time systems is proposed. The developed method presents significant improvements with respect to the results of [1] and [2]. This is due, firstly, to the use of another structure of the observer introduced recently in [3] and, secondly, to the use of a detailed form of the system by specifying the distribution matrix of the nonlinearities in the system and the dependence matrix of the nonlinearities on the state of the system. The stability analysis is performed using a particular Lyapunov function that leads to the solvability of matrix inequalities which become linear (LMIs) whenever unknown scalar variables are chosen a priori. An illustrative example is given in order to show the efficiency of our method with respect to [1] and [2]. This new design approach is then generalized to systems with unknown inputs. In this paper, we have considered the problem of synchronization and input recovery. This generalization is tested successfully by a numerical application.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"7 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":"123873014","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.2007.7068550
O. Costa, R. B. Nabholz
In this paper we investigate mean variance optimization problems that arise in portfolio selection. Restrictions on intermediate expected values or variances of the portfolio are considered in the optimization problem. Some explicit procedures for obtaining the solution of the problems are presented. The main advantage of this technique is that it is possible to control the intermediate behavior of a portfolio's return or variance. Some examples illustrating these situations are presented.
{"title":"Multi-period mean-variance portfolio optimization with intertemporal constraints","authors":"O. Costa, R. B. Nabholz","doi":"10.23919/ECC.2007.7068550","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068550","url":null,"abstract":"In this paper we investigate mean variance optimization problems that arise in portfolio selection. Restrictions on intermediate expected values or variances of the portfolio are considered in the optimization problem. Some explicit procedures for obtaining the solution of the problems are presented. The main advantage of this technique is that it is possible to control the intermediate behavior of a portfolio's return or variance. Some examples illustrating these situations are presented.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"208 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":"123153714","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.2007.7068597
Shuichi Fukunaga, Kenji Fujimoto
This paper proposes an independent component analysis method using stable dynamic model inversion for nonminimum phase systems. First, a stable inverse filter is constructed based on a Kalman filter in order to estimate the input sequence of the given plant. Second, the learning algorithm is derived by minimizing the Kullback-Leibler divergence. Furthermore, a numerical simulation demonstrates the effectiveness of the proposed method.
{"title":"Independent component analysis for nonminimum phase systems using stable dynamic model inversion","authors":"Shuichi Fukunaga, Kenji Fujimoto","doi":"10.23919/ECC.2007.7068597","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068597","url":null,"abstract":"This paper proposes an independent component analysis method using stable dynamic model inversion for nonminimum phase systems. First, a stable inverse filter is constructed based on a Kalman filter in order to estimate the input sequence of the given plant. Second, the learning algorithm is derived by minimizing the Kullback-Leibler divergence. Furthermore, a numerical simulation demonstrates the effectiveness of the proposed method.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"29 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":"114209739","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.2007.7068848
F. Morbidi, L. Consolini, D. Prattichizzo, M. Tosques
In this paper we present the leader-follower formation control of nonholonomic mobile robots as a disturbance decoupling problem. By means of purely geometrical conditions we show that the formation control problem is solvable if and only if the velocity vector of the leader can be measured and a scalable solution to the problem is provided. The main idea of the work is that of interpreting leader control input as a disturbance affecting the state of the leader-follower dynamic system. Extensive simulation experiments prove the effectiveness of the proposed approach.
{"title":"Leader-follower formation control as a disturbance decoupling problem","authors":"F. Morbidi, L. Consolini, D. Prattichizzo, M. Tosques","doi":"10.23919/ECC.2007.7068848","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068848","url":null,"abstract":"In this paper we present the leader-follower formation control of nonholonomic mobile robots as a disturbance decoupling problem. By means of purely geometrical conditions we show that the formation control problem is solvable if and only if the velocity vector of the leader can be measured and a scalable solution to the problem is provided. The main idea of the work is that of interpreting leader control input as a disturbance affecting the state of the leader-follower dynamic system. Extensive simulation experiments prove the effectiveness of the proposed approach.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"99 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":"116271475","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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