Pub Date : 2013-12-01DOI: 10.1109/CDC.2013.6760547
M. Gevers, A. Bazanella, D. Coutinho, S. Dasgupta
This paper establishes identifiability and informativity conditions for a class of deterministic linearly parametrized polynomial systems. The class considered is polynomial in the states and in the inputs. The standard definitions of identifiability and informativity for linear systems are expanded to account for the situation where the identification is achieved either through the application of informative inputs or via the response to informative initial conditions. We provide necessary and sufficient conditions for identifiability from the initial state, respectively from the input, as well as necessary and sufficient conditions on the initial state, respectively on the input, to produce an informative experiment.
{"title":"Identifiability and excitation of polynomial systems","authors":"M. Gevers, A. Bazanella, D. Coutinho, S. Dasgupta","doi":"10.1109/CDC.2013.6760547","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760547","url":null,"abstract":"This paper establishes identifiability and informativity conditions for a class of deterministic linearly parametrized polynomial systems. The class considered is polynomial in the states and in the inputs. The standard definitions of identifiability and informativity for linear systems are expanded to account for the situation where the identification is achieved either through the application of informative inputs or via the response to informative initial conditions. We provide necessary and sufficient conditions for identifiability from the initial state, respectively from the input, as well as necessary and sufficient conditions on the initial state, respectively on the input, to produce an informative experiment.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128321894","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760356
Jianhui Huang, Minyi Huang
This paper considers a class of mean field linear-quadratic-Gaussian (MFLQG) games. The system consists of a large number of negligible agents coupled through their cost functionals. Different to previous mean field game modeling, the stochastic differential equations of agents in our setup are subject to deterministic drift uncertainty satisfying an integral quadratic constraint. We deal with the model uncertainty by a robust optimization approach and formulate a minimax control problem in the infinite population limit. The state aggregation technique is applied where the mean field changes with the drift uncertainty which acts as an adversarial player. Based on the variational and Lagrange multiplier methods, a set of decentralized strategies is derived. The associated Hamiltonian system is represented by a system of coupled mean-field forward backward stochastic differential equations (FBSDEs) and some decoupling methods by Riccati equations are also presented.
{"title":"Mean field LQG games with model uncertainty","authors":"Jianhui Huang, Minyi Huang","doi":"10.1109/CDC.2013.6760356","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760356","url":null,"abstract":"This paper considers a class of mean field linear-quadratic-Gaussian (MFLQG) games. The system consists of a large number of negligible agents coupled through their cost functionals. Different to previous mean field game modeling, the stochastic differential equations of agents in our setup are subject to deterministic drift uncertainty satisfying an integral quadratic constraint. We deal with the model uncertainty by a robust optimization approach and formulate a minimax control problem in the infinite population limit. The state aggregation technique is applied where the mean field changes with the drift uncertainty which acts as an adversarial player. Based on the variational and Lagrange multiplier methods, a set of decentralized strategies is derived. The associated Hamiltonian system is represented by a system of coupled mean-field forward backward stochastic differential equations (FBSDEs) and some decoupling methods by Riccati equations are also presented.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128285875","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760317
E. Cruz‐Zavala, J. Moreno, L. Fridman
We design a new kind of fast terminal sliding mode controller for second-order uncertain systems with a single control input. In contrast to the reported techniques, which are based on the Terminal Sliding Mode Control, the proposed controller design is based on Lyapunov methods. Sufficient conditions are given to ensure the finite-time stability of the close-loop system with the proposed discontinuous controller. The performance is compared with others Fast Terminal Sliding Mode controllers by means of a simulation example.
{"title":"Fast second-order Sliding Mode Control design based on Lyapunov function","authors":"E. Cruz‐Zavala, J. Moreno, L. Fridman","doi":"10.1109/CDC.2013.6760317","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760317","url":null,"abstract":"We design a new kind of fast terminal sliding mode controller for second-order uncertain systems with a single control input. In contrast to the reported techniques, which are based on the Terminal Sliding Mode Control, the proposed controller design is based on Lyapunov methods. Sufficient conditions are given to ensure the finite-time stability of the close-loop system with the proposed discontinuous controller. The performance is compared with others Fast Terminal Sliding Mode controllers by means of a simulation example.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128365460","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 : 2013-12-01DOI: 10.1109/CDC.2013.6761101
T. Hatanaka, Yasuaki Wasa, M. Fujita
In this paper, we investigate cooperative environmental monitoring for Pan-Tilt-Zoom(PTZ) visual sensor networks based on game theoretic cooperative control. In particular, we focus on one of the key goals of the monitoring task, i.e. monitoring environmental changes from a normal state. For this purpose, this paper first presents a novel formulation of the optimal environmental monitoring problem reflecting the above objective and characteristics of vision sensors. Then, the optimization problem is reduced to a potential game with potential function equal to the formulated objective function through an existing utility design technique, where the designed utility is shown to be computable through local computation and communication. We finally present a payoff-based learning algorithm, which refines [18] so that the sensors eventually take the potential function maximizes with high probability and local action constraints are dealt with. Finally, we run experiments on a testbed in order to demonstrate the effectiveness of the presented approach.
{"title":"Game theoretic cooperative control of PTZ visual sensor networks for environmental change monitoring","authors":"T. Hatanaka, Yasuaki Wasa, M. Fujita","doi":"10.1109/CDC.2013.6761101","DOIUrl":"https://doi.org/10.1109/CDC.2013.6761101","url":null,"abstract":"In this paper, we investigate cooperative environmental monitoring for Pan-Tilt-Zoom(PTZ) visual sensor networks based on game theoretic cooperative control. In particular, we focus on one of the key goals of the monitoring task, i.e. monitoring environmental changes from a normal state. For this purpose, this paper first presents a novel formulation of the optimal environmental monitoring problem reflecting the above objective and characteristics of vision sensors. Then, the optimization problem is reduced to a potential game with potential function equal to the formulated objective function through an existing utility design technique, where the designed utility is shown to be computable through local computation and communication. We finally present a payoff-based learning algorithm, which refines [18] so that the sensors eventually take the potential function maximizes with high probability and local action constraints are dealt with. Finally, we run experiments on a testbed in order to demonstrate the effectiveness of the presented approach.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128492828","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760623
Daichi Kato, K. Sekiguchi, M. Sampei
This paper proposes a controllability measure for nonlinear systems which evaluates a degree of controllability. There are many researches on controllability measure for linear systems. However there exists no measure for nonlinear systems. This paper introduces a theorem about a property of systems which are not strongly accessible and proposes controllability measure based on the theorem. Furthermore this paper demonstrates that the measure relates to a distance to a system which is not strongly accessible which is one of measures of evaluating a degree of controllability. Finally this paper applies the measure to an example system and calculates the controllability measure and the distance of the system.
{"title":"Controllability measure for nonlinear systems in complex region","authors":"Daichi Kato, K. Sekiguchi, M. Sampei","doi":"10.1109/CDC.2013.6760623","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760623","url":null,"abstract":"This paper proposes a controllability measure for nonlinear systems which evaluates a degree of controllability. There are many researches on controllability measure for linear systems. However there exists no measure for nonlinear systems. This paper introduces a theorem about a property of systems which are not strongly accessible and proposes controllability measure based on the theorem. Furthermore this paper demonstrates that the measure relates to a distance to a system which is not strongly accessible which is one of measures of evaluating a degree of controllability. Finally this paper applies the measure to an example system and calculates the controllability measure and the distance of the system.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128588122","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 : 2013-12-01DOI: 10.1109/CDC.2013.6761002
Farshad Harirchi, T. Vincent, A. Subramanian, K. Poolla, B. Stirton
Run to run control is a major tool used in semiconductor manufacturing to keep the unit processes within the required manufacturing constraints. Typically, the difference, or bias, between the desired and actual result of processing a particular wafer is affected by not only the particular product being produced, but the prior processing path, which can complicate the control. Previously, several authors have discussed a method of describing the bias for a particular wafer as a linear combination of fundamental bias causes and then using a Kalman Filter to estimate these biases. One known complication of this method is a system structure that can cause the bias states to be unobservable. In this paper we address a second form of unobservability that can be caused by the production process, (i.e. which products are sent to which tools.) We then analyze two methods for adjusting the estimation process to mitigate this unobservability, one of which is new. The performance of this novel method then will be shown using the simulations.
{"title":"Characterizing and resolving unobservability in run-to-run control of high mix semiconductor manufacturing","authors":"Farshad Harirchi, T. Vincent, A. Subramanian, K. Poolla, B. Stirton","doi":"10.1109/CDC.2013.6761002","DOIUrl":"https://doi.org/10.1109/CDC.2013.6761002","url":null,"abstract":"Run to run control is a major tool used in semiconductor manufacturing to keep the unit processes within the required manufacturing constraints. Typically, the difference, or bias, between the desired and actual result of processing a particular wafer is affected by not only the particular product being produced, but the prior processing path, which can complicate the control. Previously, several authors have discussed a method of describing the bias for a particular wafer as a linear combination of fundamental bias causes and then using a Kalman Filter to estimate these biases. One known complication of this method is a system structure that can cause the bias states to be unobservable. In this paper we address a second form of unobservability that can be caused by the production process, (i.e. which products are sent to which tools.) We then analyze two methods for adjusting the estimation process to mitigate this unobservability, one of which is new. The performance of this novel method then will be shown using the simulations.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124641203","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760814
S. Knorn, R. Middleton
Stability of nonlinear 2D continuous-discrete systems is shown using Lyapunov stability theory and iISS. The proposed stability conditions are applicable with non-positive divergence of the Lyapunov function. The results are used to rigorously prove string stability of a nonlinear vehicle string with variable time headway.
{"title":"Two-dimensional analysis of string stability of nonlinear vehicle strings","authors":"S. Knorn, R. Middleton","doi":"10.1109/CDC.2013.6760814","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760814","url":null,"abstract":"Stability of nonlinear 2D continuous-discrete systems is shown using Lyapunov stability theory and iISS. The proposed stability conditions are applicable with non-positive divergence of the Lyapunov function. The results are used to rigorously prove string stability of a nonlinear vehicle string with variable time headway.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124644075","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 : 2013-12-01DOI: 10.1109/CDC.2013.6759894
Jeff Yoo, S. Devasia
This article presents a Conflict Resolution Procedure (CRP) for intersecting routes in en-route Air Traffic Control (ATC). Recent works have developed provably-safe CRP, which solve the conflict resolution in a decoupled manner for perpendicular en-route intersections. The current article removes two limitations in this approach by: (i) developing procedures for non-perpendicular intersections; and (ii) removing the requirement that aircraft on each intersecting route have the same speed. Conditions are developed to guarantee safety, and the CRP is illustrated through an example en-route intersection.
{"title":"Decoupled Conflict Resolution Procedures for non-perpendicular Air Traffic intersections with different speeds","authors":"Jeff Yoo, S. Devasia","doi":"10.1109/CDC.2013.6759894","DOIUrl":"https://doi.org/10.1109/CDC.2013.6759894","url":null,"abstract":"This article presents a Conflict Resolution Procedure (CRP) for intersecting routes in en-route Air Traffic Control (ATC). Recent works have developed provably-safe CRP, which solve the conflict resolution in a decoupled manner for perpendicular en-route intersections. The current article removes two limitations in this approach by: (i) developing procedures for non-perpendicular intersections; and (ii) removing the requirement that aircraft on each intersecting route have the same speed. Conditions are developed to guarantee safety, and the CRP is illustrated through an example en-route intersection.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129753369","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760631
Matheus Souza, J. Geromel
This paper addresses the problem of dynamic output feedback control design for networked and sampled-data dynamical systems, in the so-called local sensor - remote actuator setting. As a first approach, a sub-optimal solution to the periodic sampled-data control problem is developed and it is shown that this solution presents a sort of separation property. Based on this result, a self-triggered controller is designed in order to relax the periodical sampling constraint and to improve closed-loop performance. Two academical examples validate the developed theory as well as its potentialities for practical applications.
{"title":"ℌ2 self-triggered dynamic output feedback for networked control","authors":"Matheus Souza, J. Geromel","doi":"10.1109/CDC.2013.6760631","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760631","url":null,"abstract":"This paper addresses the problem of dynamic output feedback control design for networked and sampled-data dynamical systems, in the so-called local sensor - remote actuator setting. As a first approach, a sub-optimal solution to the periodic sampled-data control problem is developed and it is shown that this solution presents a sort of separation property. Based on this result, a self-triggered controller is designed in order to relax the periodical sampling constraint and to improve closed-loop performance. Two academical examples validate the developed theory as well as its potentialities for practical applications.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130373033","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760564
Feng Xu, V. Puig, C. Ocampo‐Martinez, F. Stoican, Sorin Olaru
This paper proposes an interval observer-based actuator fault detection and isolation (FDI) approach. An interval observer matching the healthy system mode is designed to monitor the system. When the system is in different modes, state or output interval vectors predicted by the interval observer manifest different dynamical behaviors. To guarantee reliable FDI, a collection of invariant set-based FDI conditions are established. Under these conditions, actuator faults can be accurately detected and isolated during the transition between different modes. At the end, the effectiveness of this proposed approach is presented by using a numerical example.
{"title":"Actuator-fault detection and isolation based on interval observers and invariant sets","authors":"Feng Xu, V. Puig, C. Ocampo‐Martinez, F. Stoican, Sorin Olaru","doi":"10.1109/CDC.2013.6760564","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760564","url":null,"abstract":"This paper proposes an interval observer-based actuator fault detection and isolation (FDI) approach. An interval observer matching the healthy system mode is designed to monitor the system. When the system is in different modes, state or output interval vectors predicted by the interval observer manifest different dynamical behaviors. To guarantee reliable FDI, a collection of invariant set-based FDI conditions are established. Under these conditions, actuator faults can be accurately detected and isolated during the transition between different modes. At the end, the effectiveness of this proposed approach is presented by using a numerical example.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130383528","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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