Pub Date : 2013-12-10DOI: 10.1109/CDC.2013.6761072
J. D. Miras, C. Join, M. Fliess, S. Riachy, S. Bonnet
The newly introduced model-free control is applied to the stabilization of an active magnetic bearing, which is a most important industrial device. Experimental results are compared to those obtained via other control techniques, showing at least on-par performance with this very straightforward approach, which is moreover quite easy to implement.
{"title":"Active magnetic bearing: A new step for model-free control","authors":"J. D. Miras, C. Join, M. Fliess, S. Riachy, S. Bonnet","doi":"10.1109/CDC.2013.6761072","DOIUrl":"https://doi.org/10.1109/CDC.2013.6761072","url":null,"abstract":"The newly introduced model-free control is applied to the stabilization of an active magnetic bearing, which is a most important industrial device. Experimental results are compared to those obtained via other control techniques, showing at least on-par performance with this very straightforward approach, which is moreover quite easy to implement.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129657194","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760313
L. Menhour, B. d'Andréa-Novel, M. Fliess, H. Mounier
The newly introduced model-free control is applied to a multivariable decoupled longitudinal and lateral vehicle control. It combines two outputs (lateral and longitudinal motions) via two inputs (braking/traction wheel torques and steering angle). It yields driving maneuvers requiring a control coordination of steering angle, braking and traction torques, in order to ensure an accurate tracking in straight or curved trajectories. It is also robust with respect to modeling errors and parametric uncertainties, even during critical driving situations, where such a control is required. Convincing computer simulations are displayed with noisy real data from a laboratory vehicle, which were used as reference trajectories and acquired under high lateral accelerations.
{"title":"Multivariable decoupled longitudinal and lateral vehicle control: A model-free design","authors":"L. Menhour, B. d'Andréa-Novel, M. Fliess, H. Mounier","doi":"10.1109/CDC.2013.6760313","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760313","url":null,"abstract":"The newly introduced model-free control is applied to a multivariable decoupled longitudinal and lateral vehicle control. It combines two outputs (lateral and longitudinal motions) via two inputs (braking/traction wheel torques and steering angle). It yields driving maneuvers requiring a control coordination of steering angle, braking and traction torques, in order to ensure an accurate tracking in straight or curved trajectories. It is also robust with respect to modeling errors and parametric uncertainties, even during critical driving situations, where such a control is required. Convincing computer simulations are displayed with noisy real data from a laboratory vehicle, which were used as reference trajectories and acquired under high lateral accelerations.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114667003","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 : 2013-12-10DOI: 10.1109/CDC.2013.6759862
K. Motchon, K. Pékpé, J. Cassar, S. Bievre, V. Cocquempot
In this paper, we consider a switching system with several operating modes which represent normal or faulty behavior. The objective is to find a necessary and sufficient condition to distinguish these modes through the input/output data. If faulty operation modes are considered the distinguishability condition corresponds to a fault detectability condition. As in [1], we define in this paper two notions of distinguishability: the distinguishability through the input/output data of the system and the distinguishability through the parity residuals of each mode. The Necessary and Sufficient Condition (NSC) of distinguishability through parity-space residuals in [1] was obtained in the case where the parity-space orders are identical in all modes. Here a more generalized NSC of distinguishability is provided for systems which could have different parity-space orders. We show in this context two main results: a NSC of distinguishability through parity residuals which generalizes the NSC in [1] and the equivalence between the two notions of distinguishability. We also demonstrate that the distinguishability definition in [1] is linked to the notion of equivalent representations used in the theory of realization.
{"title":"Operating modes distinguishability condition in switching systems","authors":"K. Motchon, K. Pékpé, J. Cassar, S. Bievre, V. Cocquempot","doi":"10.1109/CDC.2013.6759862","DOIUrl":"https://doi.org/10.1109/CDC.2013.6759862","url":null,"abstract":"In this paper, we consider a switching system with several operating modes which represent normal or faulty behavior. The objective is to find a necessary and sufficient condition to distinguish these modes through the input/output data. If faulty operation modes are considered the distinguishability condition corresponds to a fault detectability condition. As in [1], we define in this paper two notions of distinguishability: the distinguishability through the input/output data of the system and the distinguishability through the parity residuals of each mode. The Necessary and Sufficient Condition (NSC) of distinguishability through parity-space residuals in [1] was obtained in the case where the parity-space orders are identical in all modes. Here a more generalized NSC of distinguishability is provided for systems which could have different parity-space orders. We show in this context two main results: a NSC of distinguishability through parity residuals which generalizes the NSC in [1] and the equivalence between the two notions of distinguishability. We also demonstrate that the distinguishability definition in [1] is linked to the notion of equivalent representations used in the theory of realization.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"14 11 Pt 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123721683","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760723
C. D. Persis, R. Sailer, F. Wirth
We consider the problem of stabilizing large-scale linear systems by distributed controllers, where the controllers exchange information via a shared limited communication medium. A small-gain approach for the design of stabilizing event-triggering schemes is discussed in this context. Using the line of thought that was recently used in the definition of parsimonious triggering, we derive lower bounds on the inter-sampling times associated to such event-triggering schemes.
{"title":"On inter-sampling times for event-triggered large-scale linear systems","authors":"C. D. Persis, R. Sailer, F. Wirth","doi":"10.1109/CDC.2013.6760723","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760723","url":null,"abstract":"We consider the problem of stabilizing large-scale linear systems by distributed controllers, where the controllers exchange information via a shared limited communication medium. A small-gain approach for the design of stabilizing event-triggering schemes is discussed in this context. Using the line of thought that was recently used in the definition of parsimonious triggering, we derive lower bounds on the inter-sampling times associated to such event-triggering schemes.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126455082","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760467
M. Fiacchini, C. Prieur, S. Tarbouriech
A convex analysis-based characterization of invariance and contractivity of compact convex sets for discretetime saturated systems is presented. Necessary and sufficient conditions for the existence of convex set-induced Lyapunov functions is provided. The results generalize the quadratic Lyapunov theory for saturated systems, apply also to asymmetric saturations and can be extended to affine nonlinearity maps. A numerical example illustrates the improvements of our method with respect to other classical ones.
{"title":"Necessary and sufficient conditions for invariance of convex sets for discrete-time saturated systems","authors":"M. Fiacchini, C. Prieur, S. Tarbouriech","doi":"10.1109/CDC.2013.6760467","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760467","url":null,"abstract":"A convex analysis-based characterization of invariance and contractivity of compact convex sets for discretetime saturated systems is presented. Necessary and sufficient conditions for the existence of convex set-induced Lyapunov functions is provided. The results generalize the quadratic Lyapunov theory for saturated systems, apply also to asymmetric saturations and can be extended to affine nonlinearity maps. A numerical example illustrates the improvements of our method with respect to other classical ones.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126739830","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760149
M. Akian, Jean Cochet-Terrasson, S. Detournay, S. Gaubert
Zero-sum stochastic games with finite state and action spaces, perfect information, and mean payoff criteria arise in particular from the monotone discretization of mean-payoff pursuit-evasion deterministic differential games. In that case no irreducibility assumption on the Markov chains associated to strategies are satisfied (multichain games). The value of such a game can be characterized by a system of nonlinear equations, involving the mean payoff vector and an auxiliary vector (relative value or bias). Cochet-Terrasson and Gaubert proposed in (C. R. Math. Acad. Sci. Paris, 2006) a policy iteration algorithm relying on a notion of nonlinear spectral projection (Akian and Gaubert, Nonlinear Analysis TMA, 2003), which allows one to avoid cycling in degenerate iterations. We give here a complete presentation of the algorithm, with details of implementation in particular of the nonlinear projection. This has led to the software PIGAMES and allowed us to present numerical results on pursuit-evasion games.
{"title":"Solving multichain stochastic games with mean payoff by policy iteration","authors":"M. Akian, Jean Cochet-Terrasson, S. Detournay, S. Gaubert","doi":"10.1109/CDC.2013.6760149","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760149","url":null,"abstract":"Zero-sum stochastic games with finite state and action spaces, perfect information, and mean payoff criteria arise in particular from the monotone discretization of mean-payoff pursuit-evasion deterministic differential games. In that case no irreducibility assumption on the Markov chains associated to strategies are satisfied (multichain games). The value of such a game can be characterized by a system of nonlinear equations, involving the mean payoff vector and an auxiliary vector (relative value or bias). Cochet-Terrasson and Gaubert proposed in (C. R. Math. Acad. Sci. Paris, 2006) a policy iteration algorithm relying on a notion of nonlinear spectral projection (Akian and Gaubert, Nonlinear Analysis TMA, 2003), which allows one to avoid cycling in degenerate iterations. We give here a complete presentation of the algorithm, with details of implementation in particular of the nonlinear projection. This has led to the software PIGAMES and allowed us to present numerical results on pursuit-evasion games.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124402452","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760480
L. Giraldi, P. Martinon, M. Zoppello
In this paper we focus on the N-link swimmer [1], a generalization of the classical 3-link Purcell swimmer [18]. We use the Resistive Force Theory to express the equation of motion in a fluid with a low Reynolds number, see for instance [12]. We prove that the swimmer is controllable in the whole plane for N ≥ 3 and for almost every set of stick lengths. As a direct result, there exists an optimal swimming strategy to reach a desired configuration in minimum time. Numerical experiments for N = 3 (Purcell swimmer) suggest that the optimal strategy is periodic, namely a sequence of identical strokes. Our results indicate that this candidate for an optimal stroke indeed gives a better displacement speed than the classical Purcell stroke.
{"title":"Controllability and optimal strokes for N-link microswimmer","authors":"L. Giraldi, P. Martinon, M. Zoppello","doi":"10.1109/CDC.2013.6760480","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760480","url":null,"abstract":"In this paper we focus on the N-link swimmer [1], a generalization of the classical 3-link Purcell swimmer [18]. We use the Resistive Force Theory to express the equation of motion in a fluid with a low Reynolds number, see for instance [12]. We prove that the swimmer is controllable in the whole plane for N ≥ 3 and for almost every set of stick lengths. As a direct result, there exists an optimal swimming strategy to reach a desired configuration in minimum time. Numerical experiments for N = 3 (Purcell swimmer) suggest that the optimal strategy is periodic, namely a sequence of identical strokes. Our results indicate that this candidate for an optimal stroke indeed gives a better displacement speed than the classical Purcell stroke.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130618843","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760366
Saïd Aoues, D. Eberard, Wilfrid Marquis-Favre
This paper deals with the canonical interconnection of discrete-time linear port-Hamiltonian systems. A conservative discrete linear port-Hamiltonian dynamics involving a modified conjugate port-output is introduced. It is shown that the projection yielding the discrete dynamics and the composition by canonical interconnection commute. As a by-product, symplecticity of the numerical flow is preserved by interconnection whenever input vector fields are Hamiltonian vector fields, which is analogous to the continuous case. The negative feedback interconnection of two circuits illustrates the results.
{"title":"Canonical interconnection of discrete linear port-Hamiltonian systems","authors":"Saïd Aoues, D. Eberard, Wilfrid Marquis-Favre","doi":"10.1109/CDC.2013.6760366","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760366","url":null,"abstract":"This paper deals with the canonical interconnection of discrete-time linear port-Hamiltonian systems. A conservative discrete linear port-Hamiltonian dynamics involving a modified conjugate port-output is introduced. It is shown that the projection yielding the discrete dynamics and the composition by canonical interconnection commute. As a by-product, symplecticity of the numerical flow is preserved by interconnection whenever input vector fields are Hamiltonian vector fields, which is analogous to the continuous case. The negative feedback interconnection of two circuits illustrates the results.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127578302","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760393
A. Tanwani, B. Brogliato, C. Prieur
This paper addresses the problem of estimating the velocity variables, using the position measurement as output, in nonlinear Lagrangian dynamical systems with perfect unilateral constraints. The dynamics of such systems are formulated as a measure differential inclusion (MDI) at velocity level which naturally encodes the relations for prescribing the post-impact velocity. Under the assumption that the velocity of the system is uniformly bounded, an observer is designed which is also a measure differential inclusion. It is proved that there exists a unique solution to the proposed observer and that solution converges asymptotically to the actual velocity.
{"title":"Passivity-based observer design for a class of Lagrangian systems with perfect unilateral constraints","authors":"A. Tanwani, B. Brogliato, C. Prieur","doi":"10.1109/CDC.2013.6760393","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760393","url":null,"abstract":"This paper addresses the problem of estimating the velocity variables, using the position measurement as output, in nonlinear Lagrangian dynamical systems with perfect unilateral constraints. The dynamics of such systems are formulated as a measure differential inclusion (MDI) at velocity level which naturally encodes the relations for prescribing the post-impact velocity. Under the assumption that the velocity of the system is uniformly bounded, an observer is designed which is also a measure differential inclusion. It is proved that there exists a unique solution to the proposed observer and that solution converges asymptotically to the actual velocity.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124497017","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760073
Fouad El Hachemi, M. Sigalotti, J. Daafouz
We consider several time-discretization algorithms for singularly perturbed switched systems. The algorithms correspond to different sampling times and the discretization procedure respects the splitting of each mode in fast and slow dynamics. We study whether such algorithms preserve the asymptotic or quadratic stability of the original continuous-time singularly perturbed switched system.
{"title":"Sampling of singularly perturbed switched linear systems","authors":"Fouad El Hachemi, M. Sigalotti, J. Daafouz","doi":"10.1109/CDC.2013.6760073","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760073","url":null,"abstract":"We consider several time-discretization algorithms for singularly perturbed switched systems. The algorithms correspond to different sampling times and the discretization procedure respects the splitting of each mode in fast and slow dynamics. We study whether such algorithms preserve the asymptotic or quadratic stability of the original continuous-time singularly perturbed switched system.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127474102","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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