Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068406
M. Caccia, M. Bibuli, R. Bono, G. Bruzzone
This paper discusses the navigation, guidance and control (NGC) system of the Charlie Autonomous Surface Craft (ASC) through extended at sea trials carried out with the prototype autonomous catamaran.
{"title":"Basic navigation, guidance and control of the Charlie2005 ASC","authors":"M. Caccia, M. Bibuli, R. Bono, G. Bruzzone","doi":"10.23919/ECC.2007.7068406","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068406","url":null,"abstract":"This paper discusses the navigation, guidance and control (NGC) system of the Charlie Autonomous Surface Craft (ASC) through extended at sea trials carried out with the prototype autonomous catamaran.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"496 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":"115885416","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 the adaptive regulation problem for unknown multi-input/multi-output linear systems with unknown exosystems. The adaptive output feedback controller with an adaptive internal model is proposed for MIMO minimum phase systems. The proposed method is based on the ASPR based adaptive output feedback control and the controller is designed based on an expanded backstepping strategy of only one step with a parallel feedforward compensator (PFC). The obtained controller structure is relatively simple even if the system has a higher order and a higher order relative degree.
{"title":"Adaptive output regulation of unknown MIMO linear systems with unknown exosystems","authors":"I. Mizumoto, Z. Iwai","doi":"10.5772/6501","DOIUrl":"https://doi.org/10.5772/6501","url":null,"abstract":"This paper deals with the adaptive regulation problem for unknown multi-input/multi-output linear systems with unknown exosystems. The adaptive output feedback controller with an adaptive internal model is proposed for MIMO minimum phase systems. The proposed method is based on the ASPR based adaptive output feedback control and the controller is designed based on an expanded backstepping strategy of only one step with a parallel feedforward compensator (PFC). The obtained controller structure is relatively simple even if the system has a higher order and a higher order relative degree.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"21 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":"132246952","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.2007.7068925
O. Dahl, Fredrik Nyberg, A. Heyden
Estimation of 3D structure and motion from 2D images in computer vision systems can be performed using a nonlinear dynamic system, often referred to as a perspective dynamic system. In this paper we describe how a specific parametrization of the perspective dynamic system can be utilized when formulating estimation problems for structure and motion. The parametrization allows for a single estimation problem formulation which is applicable to structure estimation as well as motion estimation. The parameters to be estimated appear explicitly in the resulting dynamic system, and available partial knowledge of parameters can be taken into account in a straightforward manner. The problem formulation allows estimators for structure and motion to be derived using available methods from nonlinear and adaptive control. We demonstrate how estimators for structure and motion can be constructed based on the parametrization, and illustrate the estimation performance by simulations. In this way, it is demonstrated how a nonlinear observer can be used for motion estimation as well as recovery of three-dimensional position in a monocular vision system, using measurements from two-dimensional images.
{"title":"Structure and motion estimation in perspective systems using a dynamic vision parametrization","authors":"O. Dahl, Fredrik Nyberg, A. Heyden","doi":"10.23919/ECC.2007.7068925","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068925","url":null,"abstract":"Estimation of 3D structure and motion from 2D images in computer vision systems can be performed using a nonlinear dynamic system, often referred to as a perspective dynamic system. In this paper we describe how a specific parametrization of the perspective dynamic system can be utilized when formulating estimation problems for structure and motion. The parametrization allows for a single estimation problem formulation which is applicable to structure estimation as well as motion estimation. The parameters to be estimated appear explicitly in the resulting dynamic system, and available partial knowledge of parameters can be taken into account in a straightforward manner. The problem formulation allows estimators for structure and motion to be derived using available methods from nonlinear and adaptive control. We demonstrate how estimators for structure and motion can be constructed based on the parametrization, and illustrate the estimation performance by simulations. In this way, it is demonstrated how a nonlinear observer can be used for motion estimation as well as recovery of three-dimensional position in a monocular vision system, using measurements from two-dimensional images.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"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":"132301873","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.2007.7068247
T. Kaczorek
A notion of positive fractional discrete-time system is introduced. Necessary and sufficient conditions are established for the positivity, reachability and controllability to zero of fractional discrete-time linear systems. The classical Cayley-Hamilton theorem is extended for the positive fractional systems.
{"title":"Reachability and controllability to zero of positive fractional discrete-time systems","authors":"T. Kaczorek","doi":"10.23919/ECC.2007.7068247","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068247","url":null,"abstract":"A notion of positive fractional discrete-time system is introduced. Necessary and sufficient conditions are established for the positivity, reachability and controllability to zero of fractional discrete-time linear systems. The classical Cayley-Hamilton theorem is extended for the positive fractional systems.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"37 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":"132489828","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.2007.7068685
J. Rudiger, A. Wagner, E. Badreddin
In this paper a formal definition for dependability of autonomous mobile systems is proposed. The presented concept is based on the framework of Willems. The definition for dependability aims at providing the system designer/architect with a method for analysing the dependability of autonomous mobile systems.
{"title":"Behavior based definition of dependability for autonomous mobile systems","authors":"J. Rudiger, A. Wagner, E. Badreddin","doi":"10.23919/ECC.2007.7068685","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068685","url":null,"abstract":"In this paper a formal definition for dependability of autonomous mobile systems is proposed. The presented concept is based on the framework of Willems. The definition for dependability aims at providing the system designer/architect with a method for analysing the dependability of autonomous mobile systems.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"2171 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":"130070571","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.2007.7068496
De-yuan Meng, Y. Jia, Junping Du, S. Yuan
In this paper, a fast iterative learning control (ILC) scheme is presented for linear time-variant continuous systems. It ensures that the whole desired output trajectory can be accurately tracked only after one learning trial. In this scheme, there are two types of ILC laws, i.e., the time-variant D-type ILC law and the fast ILC law. Based on two-dimensional (2-D) model, convergence of the both types of ILC laws is proved respectively, and sufficient conditions are derived. Motivated by this, two corresponding algorithms for ILC are proposed, which enable us to find the desired control inputs. Meanwhile, the 2-D linear continuous-discrete Roesser's type model is developed by extending the applications of ILC from time-invariant control systems to time-variant control systems. Two numerical simulation examples are included to illustrate the obtained results.
{"title":"A fast iterative learning control scheme for linear time-variant continuous systems","authors":"De-yuan Meng, Y. Jia, Junping Du, S. Yuan","doi":"10.23919/ECC.2007.7068496","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068496","url":null,"abstract":"In this paper, a fast iterative learning control (ILC) scheme is presented for linear time-variant continuous systems. It ensures that the whole desired output trajectory can be accurately tracked only after one learning trial. In this scheme, there are two types of ILC laws, i.e., the time-variant D-type ILC law and the fast ILC law. Based on two-dimensional (2-D) model, convergence of the both types of ILC laws is proved respectively, and sufficient conditions are derived. Motivated by this, two corresponding algorithms for ILC are proposed, which enable us to find the desired control inputs. Meanwhile, the 2-D linear continuous-discrete Roesser's type model is developed by extending the applications of ILC from time-invariant control systems to time-variant control systems. Two numerical simulation examples are included to illustrate the obtained results.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"35 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":"130253019","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.2007.7068419
D. Blake, Martin Brown
This paper considers the joint state/parameter estimation problem which arises when reconstructing multiplicative, simultaneous sensor and actuator faults using observer based methods. Results published in [1] for this type of fault, using a linear diagnostic observer and adaptive updating rules for the fault estimation, are shown unable to separate the individual contributions of faults and system states to obtain asymptotically convergent solutions. Basic constraints, on the presence of at least one fault-free measurable output and on the observability of the fault-free subspace, result in output error convergence guaranteeing state error convergence and resolve the problem. It is also shown that the system and fault representation used can be reformed and, meeting the same constraints, allows the use of existing theory in additive, simultaneous fault estimation, here for example using sliding-mode and linear observers. This enables an extension to the estimation of more general multiplicative faults than those seen in [1] to include time-varying signals.
{"title":"Simultaneous, multiplicative actuator and sensor fault estimation","authors":"D. Blake, Martin Brown","doi":"10.23919/ECC.2007.7068419","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068419","url":null,"abstract":"This paper considers the joint state/parameter estimation problem which arises when reconstructing multiplicative, simultaneous sensor and actuator faults using observer based methods. Results published in [1] for this type of fault, using a linear diagnostic observer and adaptive updating rules for the fault estimation, are shown unable to separate the individual contributions of faults and system states to obtain asymptotically convergent solutions. Basic constraints, on the presence of at least one fault-free measurable output and on the observability of the fault-free subspace, result in output error convergence guaranteeing state error convergence and resolve the problem. It is also shown that the system and fault representation used can be reformed and, meeting the same constraints, allows the use of existing theory in additive, simultaneous fault estimation, here for example using sliding-mode and linear observers. This enables an extension to the estimation of more general multiplicative faults than those seen in [1] to include time-varying signals.","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":"134122019","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.2007.7068383
E. Sagianos, N. Karcanias
The computation of the McMillan degree and structure at infinity for large scale uncertain models of the type known as Structural Transfer Functions (STF) have been shown to be equivalent to determining the maximal weight of associated integer matrices. These problems are equivalent to the class of “Optimal Assignment Problems” developed for the family of resource allocation studies. A new algorithm that exploits notions of “reduceness” of integer matrices and the notions of Bipartite Graphs associated with them is presented here. The complexity of the algorithm is examined and its performance with respect to known optimal assignment methods is considered in terms of features and demonstrated by examples.
{"title":"Computation of structural system properties, integer matrices, and Bipartite Graphs","authors":"E. Sagianos, N. Karcanias","doi":"10.23919/ECC.2007.7068383","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068383","url":null,"abstract":"The computation of the McMillan degree and structure at infinity for large scale uncertain models of the type known as Structural Transfer Functions (STF) have been shown to be equivalent to determining the maximal weight of associated integer matrices. These problems are equivalent to the class of “Optimal Assignment Problems” developed for the family of resource allocation studies. A new algorithm that exploits notions of “reduceness” of integer matrices and the notions of Bipartite Graphs associated with them is presented here. The complexity of the algorithm is examined and its performance with respect to known optimal assignment methods is considered in terms of features and demonstrated by examples.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"31 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":"134146657","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.2007.7068933
S. Furuki, A. Sano
A new fully adaptive control scheme is proposed for vibration isolation using a semi-active MR damper installed between ground and first floor, which is composed of two adaptive controllers. One is an adaptive inverse controller which can give necessary input voltage to MR damper so as to generate specified reference damping force acted on a controlled structure. The other is an adaptive reference controller which can match the dynamics of the first floor of structure to a desired reference dynamics. The proposed fully adaptive approach can deal with both uncertainties in models of MR damper and structure. The stability of the total system including the two adaptation mechanisms is discussed and the stability conditions are clarified. Experimental results are also shown to validate the effectiveness of the proposed adaptive scheme.
{"title":"Adaptive semi-active vibration isolation considering uncertainties of MR damper and structure","authors":"S. Furuki, A. Sano","doi":"10.23919/ECC.2007.7068933","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068933","url":null,"abstract":"A new fully adaptive control scheme is proposed for vibration isolation using a semi-active MR damper installed between ground and first floor, which is composed of two adaptive controllers. One is an adaptive inverse controller which can give necessary input voltage to MR damper so as to generate specified reference damping force acted on a controlled structure. The other is an adaptive reference controller which can match the dynamics of the first floor of structure to a desired reference dynamics. The proposed fully adaptive approach can deal with both uncertainties in models of MR damper and structure. The stability of the total system including the two adaptation mechanisms is discussed and the stability conditions are clarified. Experimental results are also shown to validate the effectiveness of the proposed adaptive scheme.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"26 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":"134570614","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.2007.7068291
Antonio Pedro Aguiar, M. Athans, A. Pascoal
We present and study a Continuous-Time Multiple-Model Adaptive Estimator (CT-MMAE) for state-affine multiple-input-multiple output (MIMO) systems with parametric uncertainty. The CT-MMAE is composed by a bank of local observers (typically Kalman filters) where each observer uses one element of a finite discrete parameter set in its implementation. The state estimate is given by a weighted sum of the estimates produced by the bank of observers. We show, for the case where the unknown noise and disturbance are L2 signals, and under appropriate observability assumptions, that if the actual plant parameter is identical to one of its discrete values, the state estimate converges globally asymptotically to the true value and the plant model is correctly identified. If the actual plant parameter vector does not belong to the finite discrete parameter set, we provide upper bounds to state and parameter estimation errors. Some deterministic and stochastic simulation results are presented and discussed.
{"title":"Convergence properties of a Continuous-Time Multiple-Model Adaptive Estimator","authors":"Antonio Pedro Aguiar, M. Athans, A. Pascoal","doi":"10.23919/ECC.2007.7068291","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068291","url":null,"abstract":"We present and study a Continuous-Time Multiple-Model Adaptive Estimator (CT-MMAE) for state-affine multiple-input-multiple output (MIMO) systems with parametric uncertainty. The CT-MMAE is composed by a bank of local observers (typically Kalman filters) where each observer uses one element of a finite discrete parameter set in its implementation. The state estimate is given by a weighted sum of the estimates produced by the bank of observers. We show, for the case where the unknown noise and disturbance are L2 signals, and under appropriate observability assumptions, that if the actual plant parameter is identical to one of its discrete values, the state estimate converges globally asymptotically to the true value and the plant model is correctly identified. If the actual plant parameter vector does not belong to the finite discrete parameter set, we provide upper bounds to state and parameter estimation errors. Some deterministic and stochastic simulation results are presented and discussed.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"215 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":"131610831","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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