Pub Date : 2009-06-24DOI: 10.1109/MED.2009.5164677
Khaled E. Al-Qawasmi, A. Al-Smadi, A. Al-Hamami
This paper presents a new algorithm for the determination of the ARMA model orders based on a rounding approach which is implemented to deal with the precision of binary words. The rounding approach uses the floor and the ceiling functions. The proposed algorithm is based on selecting a sequence of pivot cells values from the well known minimum eigenvalue (MEV) method developed by Liang et. al. [6]. It uses the floor and the ceiling functions of the pivot cells values and the values of its neighbors to search for the corner that contains the estimates of the true orders. The observed sequence may be contaminated by additive Gaussian noise. Simulation examples are given to illustrate the effectiveness of the proposed technique for different signal to noise ratios.
{"title":"A new algorithm for the ARMA model order via pivot-neighbors comparisons","authors":"Khaled E. Al-Qawasmi, A. Al-Smadi, A. Al-Hamami","doi":"10.1109/MED.2009.5164677","DOIUrl":"https://doi.org/10.1109/MED.2009.5164677","url":null,"abstract":"This paper presents a new algorithm for the determination of the ARMA model orders based on a rounding approach which is implemented to deal with the precision of binary words. The rounding approach uses the floor and the ceiling functions. The proposed algorithm is based on selecting a sequence of pivot cells values from the well known minimum eigenvalue (MEV) method developed by Liang et. al. [6]. It uses the floor and the ceiling functions of the pivot cells values and the values of its neighbors to search for the corner that contains the estimates of the true orders. The observed sequence may be contaminated by additive Gaussian noise. Simulation examples are given to illustrate the effectiveness of the proposed technique for different signal to noise ratios.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114990282","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 : 2009-06-24DOI: 10.1504/IJSCC.2012.045929
L. Dritsas, A. Tzes
This paper is concerned with Networked Controlled Systems (NCS) with uncertain, varying, bounded transmission delays and asynchronous discrete-time static control laws. It is first shown that the delay variation gives rise to a discrete-time uncertain NCS model; robust stability analysis is carried out via a linear matrix inequality approach which, when combined with a directed parameter search, yields an estimate of robust stability bounds against any variations of the maximum allowable delay (constrained within one sampling period) that the closed-loop system can tolerate. The derived bounds are compared with other techniques relying on the singular values of the perturbed NCS-model. The presented simulation results prove the efficacy of the proposed control scheme.
{"title":"Robust stability bounds for networked systems with varying delays","authors":"L. Dritsas, A. Tzes","doi":"10.1504/IJSCC.2012.045929","DOIUrl":"https://doi.org/10.1504/IJSCC.2012.045929","url":null,"abstract":"This paper is concerned with Networked Controlled Systems (NCS) with uncertain, varying, bounded transmission delays and asynchronous discrete-time static control laws. It is first shown that the delay variation gives rise to a discrete-time uncertain NCS model; robust stability analysis is carried out via a linear matrix inequality approach which, when combined with a directed parameter search, yields an estimate of robust stability bounds against any variations of the maximum allowable delay (constrained within one sampling period) that the closed-loop system can tolerate. The derived bounds are compared with other techniques relying on the singular values of the perturbed NCS-model. The presented simulation results prove the efficacy of the proposed control scheme.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123065571","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 : 2009-06-24DOI: 10.1109/MED.2009.5164570
M. Kamel, M. Chadli, Mohamed Chaabane, A. Hajjaji, A. Chaari
this paper addresses the problem of fault detection and isolation (FDI) for a class of Lipschitz nonlinear systems with unknown inputs. We propose two new approaches based on unknown input observer design technique to detect, locate and estimate additional faults. The observer design problem is formulated in Linear Matrix Inequalities (LMI) terms which can be solved easily using LMI technique. An application of quadruple-tank process is presented to show the performance of the proposed approaches.
{"title":"Fault detection and isolation for a Lipschitz nonlinear system: Application to a bank of tanks","authors":"M. Kamel, M. Chadli, Mohamed Chaabane, A. Hajjaji, A. Chaari","doi":"10.1109/MED.2009.5164570","DOIUrl":"https://doi.org/10.1109/MED.2009.5164570","url":null,"abstract":"this paper addresses the problem of fault detection and isolation (FDI) for a class of Lipschitz nonlinear systems with unknown inputs. We propose two new approaches based on unknown input observer design technique to detect, locate and estimate additional faults. The observer design problem is formulated in Linear Matrix Inequalities (LMI) terms which can be solved easily using LMI technique. An application of quadruple-tank process is presented to show the performance of the proposed approaches.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116936811","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 : 2009-06-24DOI: 10.1109/MED.2009.5164530
S. Cha, Arvin Dehghani, B. Anderson
We propose a connection between the state-space realization and ‘observer-like’ property of a nonlinear feedback system, consisting of an linear time-invariant (LTI) plant and a nonlinear controller by utilizing ‘kernel representation’ of dynamical systems. This connection is advanced by noticing that the kernel representation shares many properties with and is indeed a generalization of left fractional representations for nonlinear systems.
{"title":"Implementing nonlinear controllers using observer-form via kernel representations","authors":"S. Cha, Arvin Dehghani, B. Anderson","doi":"10.1109/MED.2009.5164530","DOIUrl":"https://doi.org/10.1109/MED.2009.5164530","url":null,"abstract":"We propose a connection between the state-space realization and ‘observer-like’ property of a nonlinear feedback system, consisting of an linear time-invariant (LTI) plant and a nonlinear controller by utilizing ‘kernel representation’ of dynamical systems. This connection is advanced by noticing that the kernel representation shares many properties with and is indeed a generalization of left fractional representations for nonlinear systems.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"16 S13","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120852839","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 : 2009-06-24DOI: 10.1109/MED.2009.5164623
T. Hsiao, Huei-jyun Haung
Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) systems must be carefully designed and implemented on robots in order to guarantee safe and reliable operations. In addition, many high performance robotic controllers require full state feedback; hence it is essential to implement state estimators whenever not all state variables are measurable. Moreover, the state estimator must work properly despite the presence of faults so that the robot is fault tolerable. In this paper, we propose an algorithm for state estimation, fault detection, and fault identification of a robotic system. All faults in consideration are associated with a set of exclusive fault modes. Then a multiple-model nonlinear state estimator is applied to estimate not only the state but also the fault mode of the robot at each time step. Furthermore all fault modes are organized in a hierarchical structure to alleviate the computation load. Simulations show that state estimation is accurate even in the event of actuator faults, and that the occurrence of faults is detected immediately. The computational advantage of the proposed hierarchical structure is also demonstrated by the simulations.
{"title":"Detection and identification of actuator faults in robotic systems based on multiple-model nonlinear state estimation","authors":"T. Hsiao, Huei-jyun Haung","doi":"10.1109/MED.2009.5164623","DOIUrl":"https://doi.org/10.1109/MED.2009.5164623","url":null,"abstract":"Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) systems must be carefully designed and implemented on robots in order to guarantee safe and reliable operations. In addition, many high performance robotic controllers require full state feedback; hence it is essential to implement state estimators whenever not all state variables are measurable. Moreover, the state estimator must work properly despite the presence of faults so that the robot is fault tolerable. In this paper, we propose an algorithm for state estimation, fault detection, and fault identification of a robotic system. All faults in consideration are associated with a set of exclusive fault modes. Then a multiple-model nonlinear state estimator is applied to estimate not only the state but also the fault mode of the robot at each time step. Furthermore all fault modes are organized in a hierarchical structure to alleviate the computation load. Simulations show that state estimation is accurate even in the event of actuator faults, and that the occurrence of faults is detected immediately. The computational advantage of the proposed hierarchical structure is also demonstrated by the simulations.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127337685","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 : 2009-06-24DOI: 10.1109/MED.2009.5164673
O. Wailly, N. Héraud, O. Malasse
The authors investigate the problem of the structural observability. This work is based on a Groëbner basis algorithm. The applicability of the algorithm is illustred by applying it on an example used by Bagajewicz. The first part gives an overview on Groëbner bases. The second part develops the concept of observability bases and in the third part we show how to use these bases to make optimal the disponibility of the system by studying the reliability. Strategies for optimally locating sensors based on reliability and cost-minimization are developed.
{"title":"Instrumentation design of n-linear sensor network","authors":"O. Wailly, N. Héraud, O. Malasse","doi":"10.1109/MED.2009.5164673","DOIUrl":"https://doi.org/10.1109/MED.2009.5164673","url":null,"abstract":"The authors investigate the problem of the structural observability. This work is based on a Groëbner basis algorithm. The applicability of the algorithm is illustred by applying it on an example used by Bagajewicz. The first part gives an overview on Groëbner bases. The second part develops the concept of observability bases and in the third part we show how to use these bases to make optimal the disponibility of the system by studying the reliability. Strategies for optimally locating sensors based on reliability and cost-minimization are developed.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"13 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125887653","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 : 2009-06-24DOI: 10.1109/MED.2009.5164601
D. Theodoridis, M. Christodoulou, Y. Boutalis
The direct adaptive regulation of affine in the control nonlinear dynamical systems with modeling error effects, is considered in this paper. The method is based on a new Neuro-Fuzzy Dynamical System definition, which uses the concept of Fuzzy Dynamical Systems (FDS) operating in conjunction with High Order Neural Network Functions (F-HONNFs). Since the actual plant is considered unknown, we first propose its approximation by a special form of a fuzzy dynamical system (FDS) and in the sequel the fuzzy rules are approximated by appropriate HONNFs. This way the unknown plant is modeled by a fuzzy-recurrent high order neural network (F-RHONN), which is of known structure considering the neglected nonlinearities. The development is combined with a sensitivity analysis of the closed loop in the presence of modeling imperfections and provides a comprehensive and rigorous analysis of the stability properties of the closed loop system. The proposed scheme does not require a-priori information from the expert on the number and type of input variable membership functions making it less vulnerable to initial design assumptions. The control signal is constructed to be valid for both square and non square systems by using a pseudoinverse, in Moore-Penrose sense. The existence of the control signal is always assured by introducing a novel method of parameter hopping and incorporating it in weight updating law. Simulations illustrate the potency of the method where it is shown that the proposed approach is superior to the case of simple RHONN's.
{"title":"Direct adaptive control of unknown multi-variable nonlinear systems with robustness analysis using a new neuro-fuzzy representation and a novel approach of parameter hopping","authors":"D. Theodoridis, M. Christodoulou, Y. Boutalis","doi":"10.1109/MED.2009.5164601","DOIUrl":"https://doi.org/10.1109/MED.2009.5164601","url":null,"abstract":"The direct adaptive regulation of affine in the control nonlinear dynamical systems with modeling error effects, is considered in this paper. The method is based on a new Neuro-Fuzzy Dynamical System definition, which uses the concept of Fuzzy Dynamical Systems (FDS) operating in conjunction with High Order Neural Network Functions (F-HONNFs). Since the actual plant is considered unknown, we first propose its approximation by a special form of a fuzzy dynamical system (FDS) and in the sequel the fuzzy rules are approximated by appropriate HONNFs. This way the unknown plant is modeled by a fuzzy-recurrent high order neural network (F-RHONN), which is of known structure considering the neglected nonlinearities. The development is combined with a sensitivity analysis of the closed loop in the presence of modeling imperfections and provides a comprehensive and rigorous analysis of the stability properties of the closed loop system. The proposed scheme does not require a-priori information from the expert on the number and type of input variable membership functions making it less vulnerable to initial design assumptions. The control signal is constructed to be valid for both square and non square systems by using a pseudoinverse, in Moore-Penrose sense. The existence of the control signal is always assured by introducing a novel method of parameter hopping and incorporating it in weight updating law. Simulations illustrate the potency of the method where it is shown that the proposed approach is superior to the case of simple RHONN's.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123770558","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 : 2009-06-24DOI: 10.1109/MED.2009.5164548
M. Cao, Changbin Yu, B. Anderson
We propose a coordination algorithm for robotic multi-agent systems with leader-follower structures so that when a leader moves with a constant velocity, its followers can compute the leader's velocity after measuring their distances to the leader for a finite number of times. One feature of the proposed algorithm is that no active communication is needed, and as a result, the algorithm becomes advantageous in the application of robotic sensor networks where energy efficient algorithms are highly desirable to maximize network lifespan. The algorithm makes use of the Cayley-Menger determinant which is a powerful tool from distance geometry. It is shown that the proposed algorithm has the potential to be applied to robotic swarms in a challenging scenario where each robot is installed with only range sensors and cannot measure the position of a target directly.
{"title":"Coordination with the leader in a robotic team without active communication","authors":"M. Cao, Changbin Yu, B. Anderson","doi":"10.1109/MED.2009.5164548","DOIUrl":"https://doi.org/10.1109/MED.2009.5164548","url":null,"abstract":"We propose a coordination algorithm for robotic multi-agent systems with leader-follower structures so that when a leader moves with a constant velocity, its followers can compute the leader's velocity after measuring their distances to the leader for a finite number of times. One feature of the proposed algorithm is that no active communication is needed, and as a result, the algorithm becomes advantageous in the application of robotic sensor networks where energy efficient algorithms are highly desirable to maximize network lifespan. The algorithm makes use of the Cayley-Menger determinant which is a powerful tool from distance geometry. It is shown that the proposed algorithm has the potential to be applied to robotic swarms in a challenging scenario where each robot is installed with only range sensors and cannot measure the position of a target directly.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"196 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125502558","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 : 2009-06-24DOI: 10.1109/MED.2009.5164651
A. Balestrino, G. Zini
In analogy with mediant fractions, mediant dynamical systems are introduced and their properties are analyzed. The Diagram Coefficient Method for assessing the stability of these systems is compared to classical root locus techniques.
{"title":"Mediant dynamical systems and Diagram Coefficient Method","authors":"A. Balestrino, G. Zini","doi":"10.1109/MED.2009.5164651","DOIUrl":"https://doi.org/10.1109/MED.2009.5164651","url":null,"abstract":"In analogy with mediant fractions, mediant dynamical systems are introduced and their properties are analyzed. The Diagram Coefficient Method for assessing the stability of these systems is compared to classical root locus techniques.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115327796","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 : 2009-06-24DOI: 10.1109/MED.2009.5164748
Milos Kolencik, K. Žáková
The paper presents two approaches that can be used for remote control of a given technological equipment. We devoted our attention to the control of the inverted pendulum plant that represents a typical nonlinear system used as a benchmark in control education at many universities. The first approach is based on building the client-server application that connects .NET technology and Macromedia Flash format. In the second case the Java client-server application was created. The application combines the created graphical user interface with the Matlab engine running on the server.
{"title":"A contribution to remote control of inverted pendulum","authors":"Milos Kolencik, K. Žáková","doi":"10.1109/MED.2009.5164748","DOIUrl":"https://doi.org/10.1109/MED.2009.5164748","url":null,"abstract":"The paper presents two approaches that can be used for remote control of a given technological equipment. We devoted our attention to the control of the inverted pendulum plant that represents a typical nonlinear system used as a benchmark in control education at many universities. The first approach is based on building the client-server application that connects .NET technology and Macromedia Flash format. In the second case the Java client-server application was created. The application combines the created graphical user interface with the Matlab engine running on the server.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122328581","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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