Pub Date : 2008-12-01DOI: 10.1109/CDC.2008.4738568
F. Kelly
The Internet has attracted the attention of many theoreticians, eager to understand the remarkable success of this diverse and complex artifact. An important aspect of its success has been that simple decentralized algorithms, working with limited information, can produce coherent and purposeful behavior at the macroscopic level. The challenge is to understand how.
{"title":"CDC plenary: \"Network control: Modeling the internet\"","authors":"F. Kelly","doi":"10.1109/CDC.2008.4738568","DOIUrl":"https://doi.org/10.1109/CDC.2008.4738568","url":null,"abstract":"The Internet has attracted the attention of many theoreticians, eager to understand the remarkable success of this diverse and complex artifact. An important aspect of its success has been that simple decentralized algorithms, working with limited information, can produce coherent and purposeful behavior at the macroscopic level. The challenge is to understand how.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114660374","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 : 2008-12-01DOI: 10.1109/CDC.2008.4739022
H. Ishii, R. Tempo
In the search engine of Google, the PageRank algorithm plays a crucial role in ranking the obtained results. The algorithm determines the importance of each web page based on the link structure of the web. In this two-part paper, we propose a distributed randomized approach for the PageRank computation, where the pages locally update their values by communicating with linked pages. This paper is the second part, and we develop two enhanced distributed schemes which deal with simultaneous updates and update termination of the computations, respectively.
{"title":"A distributed randomized approach for the PageRank computation: Part 2","authors":"H. Ishii, R. Tempo","doi":"10.1109/CDC.2008.4739022","DOIUrl":"https://doi.org/10.1109/CDC.2008.4739022","url":null,"abstract":"In the search engine of Google, the PageRank algorithm plays a crucial role in ranking the obtained results. The algorithm determines the importance of each web page based on the link structure of the web. In this two-part paper, we propose a distributed randomized approach for the PageRank computation, where the pages locally update their values by communicating with linked pages. This paper is the second part, and we develop two enhanced distributed schemes which deal with simultaneous updates and update termination of the computations, respectively.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121971207","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 : 2007-12-01DOI: 10.1109/CDC.2007.4435034
D. Vecchio
The safety control problem for the class of block- triangular order preserving hybrid automata with imperfect state information is addressed. A dynamic feedback law is proposed, which exploits the order preserving properties of the dynamics to construct state estimation and control algorithms that have linear complexity in the number of variables. The proposed algorithms are applied to a collision avoidance problem arising in the context of intelligent transportation.
{"title":"Observer-based control for block-triangular hybrid automata","authors":"D. Vecchio","doi":"10.1109/CDC.2007.4435034","DOIUrl":"https://doi.org/10.1109/CDC.2007.4435034","url":null,"abstract":"The safety control problem for the class of block- triangular order preserving hybrid automata with imperfect state information is addressed. A dynamic feedback law is proposed, which exploits the order preserving properties of the dynamics to construct state estimation and control algorithms that have linear complexity in the number of variables. The proposed algorithms are applied to a collision avoidance problem arising in the context of intelligent transportation.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127388327","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 : 2007-12-01DOI: 10.1109/CDC.2007.4434256
Christof Röhrig, Frank Künemund
In this paper, a method to estimate position and orientation of a mobile system in an indoor scenario is described. The proposed method for localizing the mobile system is based on the use of signal strength values of WLAN access points in range. A radio map based method and Euclidean distance in combination with Delaunay triangulation and interpolation is proposed. The radio map method is divided in two phases. In the initial calibration phase, the radio map is built by moving around and storing signal strength values of an omnidirectional antenna and a beam antenna at various predefined points of the indoor environment. In the localization phase the mobile system moves in the same environment and the localization engine estimates position and orientation of the system. The main disadvantage of radio map based methods is the high manual effort to build the map in the calibration phase. The use of Delaunay triangulation and interpolation allows a radio map with a low density of calibration points and reduces the time for manual generation of the map. The paper presents the experimental results of measurements in an office building.
{"title":"Estimation of position and orientation of mobile systems in a wireless LAN","authors":"Christof Röhrig, Frank Künemund","doi":"10.1109/CDC.2007.4434256","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434256","url":null,"abstract":"In this paper, a method to estimate position and orientation of a mobile system in an indoor scenario is described. The proposed method for localizing the mobile system is based on the use of signal strength values of WLAN access points in range. A radio map based method and Euclidean distance in combination with Delaunay triangulation and interpolation is proposed. The radio map method is divided in two phases. In the initial calibration phase, the radio map is built by moving around and storing signal strength values of an omnidirectional antenna and a beam antenna at various predefined points of the indoor environment. In the localization phase the mobile system moves in the same environment and the localization engine estimates position and orientation of the system. The main disadvantage of radio map based methods is the high manual effort to build the map in the calibration phase. The use of Delaunay triangulation and interpolation allows a radio map with a low density of calibration points and reduces the time for manual generation of the map. The paper presents the experimental results of measurements in an office building.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114281949","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}
Fixed-final time constrained input optimal control laws using neural networks to solve Hamilton-Jacobi-Bellman (HJB) equations for general affine in the input nonlinear systems are proposed. A neural network is used to approximate the time-varying cost function using the method of least-squares on a pre-defined region and hence solve the HJB. The result is a neural network nearly optimal constrained feedback controller that has time-varying coefficients found by a priori offline tuning. The results of this paper are demonstrated on an example.
{"title":"Fixed-Final Time Constrained Optimal Control of Nonlinear Systems Using Neural Network HJB Approach","authors":"Tao Cheng, F. Lewis","doi":"10.1109/CDC.2006.377523","DOIUrl":"https://doi.org/10.1109/CDC.2006.377523","url":null,"abstract":"Fixed-final time constrained input optimal control laws using neural networks to solve Hamilton-Jacobi-Bellman (HJB) equations for general affine in the input nonlinear systems are proposed. A neural network is used to approximate the time-varying cost function using the method of least-squares on a pre-defined region and hence solve the HJB. The result is a neural network nearly optimal constrained feedback controller that has time-varying coefficients found by a priori offline tuning. The results of this paper are demonstrated on an example.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"196 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115436857","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}
In this paper, the normal Luenberger function observer design for second-order linear systems is considered. It is shown that the main procedure of the design is to solve a so-called second-order generalized Sylvester-observer matrix equation. Based on an explicit parametric solution to this equation, a parametric solution to the normal Luenberger function observer design problem is given. The design degrees of freedom presented by explicit parameters can be further utilized to achieve some additional design requirements.
{"title":"Parametric Approach for the Normal Luenberger Function Observer Design in Second-order Linear Systems","authors":"Bin Zhou, G. Duan","doi":"10.1109/cdc.2006.377465","DOIUrl":"https://doi.org/10.1109/cdc.2006.377465","url":null,"abstract":"In this paper, the normal Luenberger function observer design for second-order linear systems is considered. It is shown that the main procedure of the design is to solve a so-called second-order generalized Sylvester-observer matrix equation. Based on an explicit parametric solution to this equation, a parametric solution to the normal Luenberger function observer design problem is given. The design degrees of freedom presented by explicit parameters can be further utilized to achieve some additional design requirements.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129523454","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}
Sinusoidal commutation of phase currents leads to force ripple, if the motor back-EMFs differ from ideal case. Force ripple reduces the tracking performance significantly, if no compensation methods are applied. This paper presents a method to optimize the commutation in order to prevent force ripple. No assumptions of periodicity, symmetry, shape or balance of the motor back-EMFs are made. The proposed commutation law considers nonidealities of motor and amplifier. It is based on non-parametric force functions, which are identified in a proposed procedure. The optimal commutated currents produce minimal winding losses and therefore maximize imize motor efficiency. The commutation law is valid for any velocity and any desired thrust force. In this research, three-phase synchronous motors with surface-mounted magnets are considered. Experiments are performed with a linear motor, but the results are also valid for rotating motors.
{"title":"Optimal Commutation Law for Three-Phase Surface-Mounted Permanent Magnet Linear Synchronous Motors","authors":"Christof Röhrig","doi":"10.1109/CDC.2006.377678","DOIUrl":"https://doi.org/10.1109/CDC.2006.377678","url":null,"abstract":"Sinusoidal commutation of phase currents leads to force ripple, if the motor back-EMFs differ from ideal case. Force ripple reduces the tracking performance significantly, if no compensation methods are applied. This paper presents a method to optimize the commutation in order to prevent force ripple. No assumptions of periodicity, symmetry, shape or balance of the motor back-EMFs are made. The proposed commutation law considers nonidealities of motor and amplifier. It is based on non-parametric force functions, which are identified in a proposed procedure. The optimal commutated currents produce minimal winding losses and therefore maximize imize motor efficiency. The commutation law is valid for any velocity and any desired thrust force. In this research, three-phase synchronous motors with surface-mounted magnets are considered. Experiments are performed with a linear motor, but the results are also valid for rotating motors.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"184 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114849308","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 presents two approximation laws of sliding mode for discrete-time variable structure control systems against defects existing in the exponential approximation law and the variable rate approximation law. By applying the proposed approximation laws of sliding mode to discrete-time variable structure control systems, the switching between approximation laws does not exist, the stability of origin can be ensured and the chattering along the switching surface caused by discrete-time variable structure control can be restrained effectively. In designing of approximation law proposed, the problem of system control input being restricted is also considered, which is very important in practical system. Finally one simulation example is given to show the effectiveness of the two approximation laws proposed
{"title":"Design of Approximation Law for Discrete-time Variable Structure Control Systems","authors":"Yan Zheng, Yuanwei Jing, Guanghong Yang","doi":"10.1109/CDC.2006.377116","DOIUrl":"https://doi.org/10.1109/CDC.2006.377116","url":null,"abstract":"This paper presents two approximation laws of sliding mode for discrete-time variable structure control systems against defects existing in the exponential approximation law and the variable rate approximation law. By applying the proposed approximation laws of sliding mode to discrete-time variable structure control systems, the switching between approximation laws does not exist, the stability of origin can be ensured and the chattering along the switching surface caused by discrete-time variable structure control can be restrained effectively. In designing of approximation law proposed, the problem of system control input being restricted is also considered, which is very important in practical system. Finally one simulation example is given to show the effectiveness of the two approximation laws proposed","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125097485","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}
In this paper we discuss the derivation and numerical implementation of the equations of motion for mechanical systems with rods. These equations of motion find application in the analysis and simulation of class 1 tensegrity structures. In the first part of the paper we present detailed derivations of two distinct sets of differential equations, both using non-minimal sets of coordinates. In the second part of the paper we present the result of some numerical experiments, comparing the performance of these equations in the context of numerical integration algorithms
{"title":"Dynamics of Systems with Rods","authors":"M. D. Oliveira","doi":"10.1109/CDC.2006.377507","DOIUrl":"https://doi.org/10.1109/CDC.2006.377507","url":null,"abstract":"In this paper we discuss the derivation and numerical implementation of the equations of motion for mechanical systems with rods. These equations of motion find application in the analysis and simulation of class 1 tensegrity structures. In the first part of the paper we present detailed derivations of two distinct sets of differential equations, both using non-minimal sets of coordinates. In the second part of the paper we present the result of some numerical experiments, comparing the performance of these equations in the context of numerical integration algorithms","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123922044","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}
Conventional internal combustion engines use mechanical camshafts to command the opening and closing phases of the intake and exhaust valves. The lift valve profile is designed to reach a good compromise among various requirements of the engine operating conditions. In principle, optimality in every engine condition can be attained by camless valve trains. In this context, electromagnetic valves offer an interesting solution, although there are still some relevant open problems to be solved before they can be introduced in production. In fact, to eliminate acoustic noises and avoid damages to mechanical components, the control specifications require sufficiently low impact velocities between the valve and the constraints (typically the valve seat), so that "soft-landing" is obtained. In this paper, the soft-landing problem is translated into a regulation problem for the lift valve profile, by imposing that the valve position tracks a desired reference, while the modeled disturbances are rejected. Both reference and disturbance are generated by an autonomous system, usually called exosystem. The submanifold characterized by the zeroing of the tracking error and the rejection of the disturbance, is determined. Finally, the stabilization problem of the system trajectory on this manifold is solved using state feedback
{"title":"Nonlinear Regulation of Electromagnetic Valves for Camless Engines","authors":"S. Gennaro, B. Castillo-Toledo, M. D. Benedetto","doi":"10.1109/CDC.2006.376793","DOIUrl":"https://doi.org/10.1109/CDC.2006.376793","url":null,"abstract":"Conventional internal combustion engines use mechanical camshafts to command the opening and closing phases of the intake and exhaust valves. The lift valve profile is designed to reach a good compromise among various requirements of the engine operating conditions. In principle, optimality in every engine condition can be attained by camless valve trains. In this context, electromagnetic valves offer an interesting solution, although there are still some relevant open problems to be solved before they can be introduced in production. In fact, to eliminate acoustic noises and avoid damages to mechanical components, the control specifications require sufficiently low impact velocities between the valve and the constraints (typically the valve seat), so that \"soft-landing\" is obtained. In this paper, the soft-landing problem is translated into a regulation problem for the lift valve profile, by imposing that the valve position tracks a desired reference, while the modeled disturbances are rejected. Both reference and disturbance are generated by an autonomous system, usually called exosystem. The submanifold characterized by the zeroing of the tracking error and the rejection of the disturbance, is determined. Finally, the stabilization problem of the system trajectory on this manifold is solved using state feedback","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122083353","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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