Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068293
B. Mirkin, E. Mirkin, P. Gutman
State feedback Lyapunov-based design of direct model reference adaptive control (MRAC) for a class of linear systems with input and state delays based only on the lumped-delays without so-called distributed-delay (DD) blocks are developed. The design procedure is based on the concept of reference trajectories prediction, and on the formulation of an augmented error. We propose a controller parametrization which attempts to anticipate the future states. The appropriate Lyapunov-Krasovskii type functional is introduced. A simulation example illustrates the new controller.
{"title":"MRAC of linear systems with input and state delays","authors":"B. Mirkin, E. Mirkin, P. Gutman","doi":"10.23919/ECC.2007.7068293","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068293","url":null,"abstract":"State feedback Lyapunov-based design of direct model reference adaptive control (MRAC) for a class of linear systems with input and state delays based only on the lumped-delays without so-called distributed-delay (DD) blocks are developed. The design procedure is based on the concept of reference trajectories prediction, and on the formulation of an augmented error. We propose a controller parametrization which attempts to anticipate the future states. The appropriate Lyapunov-Krasovskii type functional is introduced. A simulation example illustrates the new controller.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"77 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":"132669279","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.2007.7068668
I. Ustoglu, M. Soylemez
This paper presents a method for PID controller design which can achieve dominant pole assignment using two of the controller parameters. The non-dominant poles are restricted on the left of the line s = σ̂, where σ̂ is the minimum feasible value, called as the feasibility border. It is obvious that a dominant pole assignment is not practical if σ̂ is close to the real parts of the required dominant poles. Hence, finding σ̂ for a given system is very important. The method, which parameterizes all such controllers in order to allow further design criteria, can be applied to other kinds of low-order compensators.
{"title":"Feasibility conditions on PID controller synthesis using dominant pole assignment","authors":"I. Ustoglu, M. Soylemez","doi":"10.23919/ECC.2007.7068668","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068668","url":null,"abstract":"This paper presents a method for PID controller design which can achieve dominant pole assignment using two of the controller parameters. The non-dominant poles are restricted on the left of the line s = σ̂, where σ̂ is the minimum feasible value, called as the feasibility border. It is obvious that a dominant pole assignment is not practical if σ̂ is close to the real parts of the required dominant poles. Hence, finding σ̂ for a given system is very important. The method, which parameterizes all such controllers in order to allow further design criteria, can be applied to other kinds of low-order compensators.","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":"132709157","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.2007.7068455
K. Tchoń, J. Jakubiak
Using control theoretic concepts we present a definitional procedure of extended Jacobian inverse kinematics algorithms for mobile robots. As a point of departure we assume a representation of the mobile robot kinematics as the end point map of a driftless control system with outputs. The space of admissible control functions of this system plays the role of the configuration space of the mobile robot, the system output space corresponds to the taskspace, so that the mobile robot kinematics transform the configuration space into the taskspace. The extended Jacobian inverse kinematics algorithm is obtained by means of the continuation method, and is based on the extended Jacobian inverse. The main step of its derivation consists in extending the original mobile robot kinematics to a map of the configuration space into itself. To this aim the configuration space is decomposed into a finite dimensional subspace, isomorphic to the taskspace, and the remaining quotient subspace. In compliance with this decomposition an augmenting kinematics map is introduced. The original kinematics and the augmenting kinematics constitute the extended kinematics. In a region free from singularities the inverse of the derivative of the extended kinematics defines the extended Jacobian inverse. By design, the extended Jacobian inverse kinematics algorithm has the property of repeatability. In the paper, the general procedure is exemplified by a derivation of the extended Jacobian inverse for a chained form system that is feedback equivalent to the kinematics of the kinematic car type mobile robot. An examination of algorithmic singularities of this algorithm is carried out. Computer simulations illustrate the performance of the algorithm.
{"title":"A definition of the extended Jacobian inverse kinematics algorithm for mobile robots","authors":"K. Tchoń, J. Jakubiak","doi":"10.23919/ECC.2007.7068455","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068455","url":null,"abstract":"Using control theoretic concepts we present a definitional procedure of extended Jacobian inverse kinematics algorithms for mobile robots. As a point of departure we assume a representation of the mobile robot kinematics as the end point map of a driftless control system with outputs. The space of admissible control functions of this system plays the role of the configuration space of the mobile robot, the system output space corresponds to the taskspace, so that the mobile robot kinematics transform the configuration space into the taskspace. The extended Jacobian inverse kinematics algorithm is obtained by means of the continuation method, and is based on the extended Jacobian inverse. The main step of its derivation consists in extending the original mobile robot kinematics to a map of the configuration space into itself. To this aim the configuration space is decomposed into a finite dimensional subspace, isomorphic to the taskspace, and the remaining quotient subspace. In compliance with this decomposition an augmenting kinematics map is introduced. The original kinematics and the augmenting kinematics constitute the extended kinematics. In a region free from singularities the inverse of the derivative of the extended kinematics defines the extended Jacobian inverse. By design, the extended Jacobian inverse kinematics algorithm has the property of repeatability. In the paper, the general procedure is exemplified by a derivation of the extended Jacobian inverse for a chained form system that is feedback equivalent to the kinematics of the kinematic car type mobile robot. An examination of algorithmic singularities of this algorithm is carried out. Computer simulations illustrate the performance of the algorithm.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"185 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":"132766824","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.2007.7068828
M. Azizian, J. Jayender, R. Patel
In this paper, we investigate vision-based robot-assisted active catheter insertion. A map of the vessels is extracted using image processing techniques and the locations of the junctions of the blood vessels are detected. The desired path of the catheter and the target is selected by the user/clinician. The tip of the catheter is tracked in real-time and the robot and the active catheter are controlled based on the position of the catheter inside the vessels. The active catheter is commanded by an autonomous guidance algorithm to bend in the appropriate direction at the branches. The stroke length for the robotic insertion is controlled by the autonomous guidance algorithm to ensure smooth motion of the catheter inside arteries. A PI controller has been implemented to overcome flexing in the catheter and maintain smooth motion. The catheter is autonomously guided from the point of entry to the target via appropriate commands, thereby shielding the surgeon from radiation exposure due to the X-rays in X-ray fluoroscopy and relieving him/her of stress and fatigue. Experimental results for the insertion algorithms are shown using a laboratory testbed.
{"title":"Image processing algorithms for real-time tracking and control of an active catheter","authors":"M. Azizian, J. Jayender, R. Patel","doi":"10.23919/ECC.2007.7068828","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068828","url":null,"abstract":"In this paper, we investigate vision-based robot-assisted active catheter insertion. A map of the vessels is extracted using image processing techniques and the locations of the junctions of the blood vessels are detected. The desired path of the catheter and the target is selected by the user/clinician. The tip of the catheter is tracked in real-time and the robot and the active catheter are controlled based on the position of the catheter inside the vessels. The active catheter is commanded by an autonomous guidance algorithm to bend in the appropriate direction at the branches. The stroke length for the robotic insertion is controlled by the autonomous guidance algorithm to ensure smooth motion of the catheter inside arteries. A PI controller has been implemented to overcome flexing in the catheter and maintain smooth motion. The catheter is autonomously guided from the point of entry to the target via appropriate commands, thereby shielding the surgeon from radiation exposure due to the X-rays in X-ray fluoroscopy and relieving him/her of stress and fatigue. Experimental results for the insertion algorithms are shown using a laboratory testbed.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"140 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":"128813024","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.2007.7068921
B. Boulkroune, M. Darouach, M. Zasadzinski
The Moving horizon approach is extended to a discrete linear systems with unknown inputs. The state and the unknown inputs are estimated via the optimal state estimation of singular systems. A numerical example is presented to illustrate the performance of the proposed filter.
{"title":"Moving horizon estimation for discrete time linear systems with unknown inputs","authors":"B. Boulkroune, M. Darouach, M. Zasadzinski","doi":"10.23919/ECC.2007.7068921","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068921","url":null,"abstract":"The Moving horizon approach is extended to a discrete linear systems with unknown inputs. The state and the unknown inputs are estimated via the optimal state estimation of singular systems. A numerical example is presented to illustrate the performance of the proposed filter.","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":"134477599","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.2007.7068676
H. Alonso, T. Mendonça, P. Rocha
This paper presents a contribution to the use of Hopfield neural networks (HNNs) for parameter estimation. Our focus is on time-invariant systems that are linear in the parameters. We introduce a suitable HNN and present a weaker condition than the currently existing ones that guarantees the convergence of the parameterization estimated by the network to the actual parameterization. The application of our results is illustrated in a parameter estimation problem for a two carts system.
{"title":"A contribution to the use of Hopfield neural networks for parameter estimation","authors":"H. Alonso, T. Mendonça, P. Rocha","doi":"10.23919/ECC.2007.7068676","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068676","url":null,"abstract":"This paper presents a contribution to the use of Hopfield neural networks (HNNs) for parameter estimation. Our focus is on time-invariant systems that are linear in the parameters. We introduce a suitable HNN and present a weaker condition than the currently existing ones that guarantees the convergence of the parameterization estimated by the network to the actual parameterization. The application of our results is illustrated in a parameter estimation problem for a two carts system.","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":"115609453","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.2007.7068501
T. Strasser, C. Sunder, M. Rooker, O. Hummer, Alois Zoitl, I. Muller
Future manufacturing is envisioned to be highly flexible and adaptable. New technologies for efficient engineering of reconfigurable systems and their adaptations are preconditions for this vision. Without such solutions, engineering adaptations of Industrial-Process Measurement and Control Systems (IPMCS) will exceed the costs of engineered systems by far and the reuse of equipment will become inefficient. Especially the evolution of control applications is not sufficiently solved by State-of-the-Art technology. This paper discusses a new approach for the evolution of control applications for downtimeless system evolution of control applications on basis of the IEC 61499 standard.
{"title":"Enhanced IEC 61499 system model for evolution of control applications in distributed Industrial-Process Measurement and Control Systems","authors":"T. Strasser, C. Sunder, M. Rooker, O. Hummer, Alois Zoitl, I. Muller","doi":"10.23919/ECC.2007.7068501","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068501","url":null,"abstract":"Future manufacturing is envisioned to be highly flexible and adaptable. New technologies for efficient engineering of reconfigurable systems and their adaptations are preconditions for this vision. Without such solutions, engineering adaptations of Industrial-Process Measurement and Control Systems (IPMCS) will exceed the costs of engineered systems by far and the reuse of equipment will become inefficient. Especially the evolution of control applications is not sufficiently solved by State-of-the-Art technology. This paper discusses a new approach for the evolution of control applications for downtimeless system evolution of control applications on basis of the IEC 61499 standard.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"33 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":"124296253","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.2007.7068596
M. Hirano, T. Shen, K. Tamura
Many physical phenomena are usually described as a discontinuous function in differential equation-based model, and the discontinuity causes the difficulty in design a controller with conventional differential equation theory. This paper investigates feedback stabilization problem for a class of cascaded nonlinear systems that the discontinuity appears in the connection path of two subsystems. Filippov-framework will be exploited to analyze the behavior of closed loop systems. First, stabilization with nominal model will be shown and then the design method will be extended to the adaptive controller design for the case with uncertainties in the system model. Numerical examples will be given to demonstrate the effectiveness of the proposed design approach.
{"title":"Adaptive robust feedback stabilization for a class of cascaded nonlinear systems with discontinuous connection","authors":"M. Hirano, T. Shen, K. Tamura","doi":"10.23919/ECC.2007.7068596","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068596","url":null,"abstract":"Many physical phenomena are usually described as a discontinuous function in differential equation-based model, and the discontinuity causes the difficulty in design a controller with conventional differential equation theory. This paper investigates feedback stabilization problem for a class of cascaded nonlinear systems that the discontinuity appears in the connection path of two subsystems. Filippov-framework will be exploited to analyze the behavior of closed loop systems. First, stabilization with nominal model will be shown and then the design method will be extended to the adaptive controller design for the case with uncertainties in the system model. Numerical examples will be given to demonstrate the effectiveness of the proposed design approach.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"25 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":"124435507","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.2007.7068378
Hui Ou, Xudong Wang, J. Allen, V. Syrmos
In order to develop an automatic target identification system for underwater objects, it is necessary to extract and classify the features contained in waves scattered from the targets. According to the acoustic scattering theory, the scattered signal contains the “signatures” corresponding to the structure and material content of the target. Pseudo-Wigner Distribution (PWD) function is applied on scattered waves, and the signatures are found and analyzed in the time-frequency plane. A method based on Fuzzy C-Means (FCM) algorithm is then introduced to eliminate the redundant features and represent the useful information (i.e. the time-frequency signatures) by FCM cluster centers. As a result, the amount of data that is required to identify the target is greatly reduced, and a target classification scheme can be simply developed based on the cluster representation.
{"title":"Time-frequency signatures based on fuzzy-clusters: Applications to echoes from absorbing spherical shells","authors":"Hui Ou, Xudong Wang, J. Allen, V. Syrmos","doi":"10.23919/ECC.2007.7068378","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068378","url":null,"abstract":"In order to develop an automatic target identification system for underwater objects, it is necessary to extract and classify the features contained in waves scattered from the targets. According to the acoustic scattering theory, the scattered signal contains the “signatures” corresponding to the structure and material content of the target. Pseudo-Wigner Distribution (PWD) function is applied on scattered waves, and the signatures are found and analyzed in the time-frequency plane. A method based on Fuzzy C-Means (FCM) algorithm is then introduced to eliminate the redundant features and represent the useful information (i.e. the time-frequency signatures) by FCM cluster centers. As a result, the amount of data that is required to identify the target is greatly reduced, and a target classification scheme can be simply developed based on the cluster representation.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"160 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":"114810075","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.2007.7068238
Ling Hou, A. Michel
In (Ye, et.al., 1998) we established, among other results, a set of sufficient conditions for the uniform asymptotic stability of invariant sets for discontinuous dynamical systems (DDS) defined on metric space, and under some additional minor assumptions, we also established a set of necessary conditions (a converse theorem). This converse theorem involves Lyapunov functions which need not necessarily be continuous. In the present paper, we show that under some additional very mild assumptions, the Lyapunov functions for the converse theorem need actually be continuous. This improvement in the regularity properties of the Lyapunov functions shows that the stability results in (Ye, et.al., 1998) (under the additional mild assumptions) are rather robust. To keep our presentation as simple as possible, we confine ourselves to discontinuous dynamical systems determined by ordinary differential equations. However, the methodology employed herein can be used to establish converse theorems for DDS involving continuous Lyapunov functions for dynamical systems defined on metric spaces concerning a variety of stability and boundedness types.
In (Ye)等。在其他结果中，我们建立了在度量空间上定义的不连续动力系统(DDS)的不变集一致渐近稳定的一组充分条件，并在一些附加的小假设下，我们还建立了一组必要条件(一个逆定理)。这个逆定理涉及的李雅普诺夫函数不一定是连续的。在本文中，我们证明了在一些附加的非常温和的假设下，逆定理的Lyapunov函数实际上必须是连续的。Lyapunov函数正则性的改进表明(Ye, et.等)的稳定性。(1998)(在附加的温和假设下)是相当稳健的。为了使我们的表述尽可能简单，我们将自己局限于由常微分方程决定的不连续动力系统。然而，本文所采用的方法可用于建立包含连续Lyapunov函数的动态系统的DDS的逆定理，该系统定义在度量空间上，涉及各种稳定性和有界类型。
{"title":"Converse stability theorems for discontinuous dynamical systems: Improved results","authors":"Ling Hou, A. Michel","doi":"10.23919/ECC.2007.7068238","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068238","url":null,"abstract":"In (Ye, et.al., 1998) we established, among other results, a set of sufficient conditions for the uniform asymptotic stability of invariant sets for discontinuous dynamical systems (DDS) defined on metric space, and under some additional minor assumptions, we also established a set of necessary conditions (a converse theorem). This converse theorem involves Lyapunov functions which need not necessarily be continuous. In the present paper, we show that under some additional very mild assumptions, the Lyapunov functions for the converse theorem need actually be continuous. This improvement in the regularity properties of the Lyapunov functions shows that the stability results in (Ye, et.al., 1998) (under the additional mild assumptions) are rather robust. To keep our presentation as simple as possible, we confine ourselves to discontinuous dynamical systems determined by ordinary differential equations. However, the methodology employed herein can be used to establish converse theorems for DDS involving continuous Lyapunov functions for dynamical systems defined on metric spaces concerning a variety of stability and boundedness types.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"25 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":"116941871","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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