Pub Date : 2009-06-24DOI: 10.1109/MED.2009.5164561
I. N’Doye, M. Zasadzinski, N. Radhy, Abdelhaq Bouaziz
This paper presents a result of stabilization of nonlinear affine fractional-order systems using generalizations of Bellman-Gronwall lemma. Two case are treated : the nonlinear and the linear state feedback stabilization.
{"title":"Stabilization of a class of nonlinear affine fractional-order systems using generalizations of Bellman-Gronwall lemma","authors":"I. N’Doye, M. Zasadzinski, N. Radhy, Abdelhaq Bouaziz","doi":"10.1109/MED.2009.5164561","DOIUrl":"https://doi.org/10.1109/MED.2009.5164561","url":null,"abstract":"This paper presents a result of stabilization of nonlinear affine fractional-order systems using generalizations of Bellman-Gronwall lemma. Two case are treated : the nonlinear and the linear state feedback stabilization.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"217 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":"123026929","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.2009.5164769
Hyo-Sang Shin, A. Tsourdos, B. White, M. Tahk
This paper describes a mid-course guidance strategy based on the Earliest Intercept Geometry (EIG) Guidance. An analytical solution and performance validation will be addressed for generalized mid-course guidance problem in area air-defence to improve rechability and performance. The EIG is generated for a wide range of possible manoeuvres of the challenging missile based on the guidance algorithm using differential geometry concepts. The main idea is that a mid-course guidance law can defend the area as long as it assures that the depending area and objects are always within the defended area defined by EIG. The velocity of Intercept Point in EIG is analytically derived to control the Intercept Geometry and the defended area. The proposed method can be applied in deciding a missile launch window and launch point for the launch phase.
{"title":"Earliest Intercept Geometry Guidance to improve mid-course guidance in area air-defence","authors":"Hyo-Sang Shin, A. Tsourdos, B. White, M. Tahk","doi":"10.1109/MED.2009.5164769","DOIUrl":"https://doi.org/10.1109/MED.2009.5164769","url":null,"abstract":"This paper describes a mid-course guidance strategy based on the Earliest Intercept Geometry (EIG) Guidance. An analytical solution and performance validation will be addressed for generalized mid-course guidance problem in area air-defence to improve rechability and performance. The EIG is generated for a wide range of possible manoeuvres of the challenging missile based on the guidance algorithm using differential geometry concepts. The main idea is that a mid-course guidance law can defend the area as long as it assures that the depending area and objects are always within the defended area defined by EIG. The velocity of Intercept Point in EIG is analytically derived to control the Intercept Geometry and the defended area. The proposed method can be applied in deciding a missile launch window and launch point for the launch phase.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"153 2-3 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":"128447889","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.2009.5164741
T. Dierks, S. Jagannthan
In this paper, direct neural dynamic programming techniques are utilized to solve the Hamilton Jacobi-Bellman equation in real time for the optimal control of general affine nonlinear discrete-time systems. In the presence of partially unknown dynamics, the optimal regulation control problem is addressed while the optimal tracking control problem is addressed in the presence of known dynamics. Each design entails two portions: an action neural network (NN) that is designed to produce a nearly optimal control signal, and a critic NN which evaluates the performance of the system. Novel weight update laws for the critic and action NN's are derived, and all parameters are tuned online. Lyapunov techniques are used to show that all signals are uniformly ultimately bounded (UUB) and that the output of the action NN approaches the optimal control input with small bounded error. Simulation results are also presented to demonstrate the effectiveness of the approach.
{"title":"Optimal control of affine nonlinear discrete-time systems","authors":"T. Dierks, S. Jagannthan","doi":"10.1109/MED.2009.5164741","DOIUrl":"https://doi.org/10.1109/MED.2009.5164741","url":null,"abstract":"In this paper, direct neural dynamic programming techniques are utilized to solve the Hamilton Jacobi-Bellman equation in real time for the optimal control of general affine nonlinear discrete-time systems. In the presence of partially unknown dynamics, the optimal regulation control problem is addressed while the optimal tracking control problem is addressed in the presence of known dynamics. Each design entails two portions: an action neural network (NN) that is designed to produce a nearly optimal control signal, and a critic NN which evaluates the performance of the system. Novel weight update laws for the critic and action NN's are derived, and all parameters are tuned online. Lyapunov techniques are used to show that all signals are uniformly ultimately bounded (UUB) and that the output of the action NN approaches the optimal control input with small bounded error. Simulation results are also presented to demonstrate the effectiveness of the approach.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"89 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":"124593762","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.2009.5164693
Y. Liu, P. Bauer
This paper presents a new set of sufficient conditions on complex poles and zeros to ensure the non-negativity of the impulse response of an arbitrary-order discrete-time system. Different from previous work, this set of sufficient conditions expose an interesting geometric pole-zero pattern — poles and zeros are evenly distributed on different concentric circles centered at origin. By controlling the number of poles/zeros on each circle and using pole-zero cancellation to de-regularize the pole-zero distribution, the class of pole-zero patterns known to exhibit a non-negative impulse response (NNIR) are significantly expanded. And this set of sufficient conditions can be easily employed for designing NNIR filters.
{"title":"On pole-zero patterns of non-negative impulse response discrete-time systems with complex poles and zeros","authors":"Y. Liu, P. Bauer","doi":"10.1109/MED.2009.5164693","DOIUrl":"https://doi.org/10.1109/MED.2009.5164693","url":null,"abstract":"This paper presents a new set of sufficient conditions on complex poles and zeros to ensure the non-negativity of the impulse response of an arbitrary-order discrete-time system. Different from previous work, this set of sufficient conditions expose an interesting geometric pole-zero pattern — poles and zeros are evenly distributed on different concentric circles centered at origin. By controlling the number of poles/zeros on each circle and using pole-zero cancellation to de-regularize the pole-zero distribution, the class of pole-zero patterns known to exhibit a non-negative impulse response (NNIR) are significantly expanded. And this set of sufficient conditions can be easily employed for designing NNIR filters.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"8 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":"130552279","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.2009.5164610
Imane Dilaneh, L. Laval
This paper deals with the stabilization problem of a Networked Control System, by means of an observer-based state feedback control approach. In particular, this paper focuses on a closed-loop Master-Slave setup with a TCP network as communication media, in case of uncertain, time-varying, non-symmetric transmission delays affecting both the control input and measured output. First, we establish some asymptotic stability criteria for the closed-loop NCS, regarding to a Lyapunov-Krasovskii functional derived from a descriptor model transformation. These stability conditions are given in terms of Linear Matrix Inequalities which are used, afterwards, to design the observer and state feedback controller gains. Finally, the proposed stabilizing approach is illustrated through numerical and simulation results, related to the remote control of a “ball and beam” system.
{"title":"Stabilization of Networked Control Systems with uncertain time-varying delays","authors":"Imane Dilaneh, L. Laval","doi":"10.1109/MED.2009.5164610","DOIUrl":"https://doi.org/10.1109/MED.2009.5164610","url":null,"abstract":"This paper deals with the stabilization problem of a Networked Control System, by means of an observer-based state feedback control approach. In particular, this paper focuses on a closed-loop Master-Slave setup with a TCP network as communication media, in case of uncertain, time-varying, non-symmetric transmission delays affecting both the control input and measured output. First, we establish some asymptotic stability criteria for the closed-loop NCS, regarding to a Lyapunov-Krasovskii functional derived from a descriptor model transformation. These stability conditions are given in terms of Linear Matrix Inequalities which are used, afterwards, to design the observer and state feedback controller gains. Finally, the proposed stabilizing approach is illustrated through numerical and simulation results, related to the remote control of a “ball and beam” system.","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":"126691177","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.2009.5164739
M. Dlapa, R. Matušů
A way for treating general delayed systems with uncertain delays in both the numerator and the denominator is shown. The proposed procedure is demonstrated by an example. A simple controller is derived via algebraic theory and the structured singular value, which treats uncertain time delay in both the numerator and the denominator of an anisochronic system. The overall performance is verified by simulations and compared with standard tool for robust control design.
{"title":"Robust controllers for delayed systems","authors":"M. Dlapa, R. Matušů","doi":"10.1109/MED.2009.5164739","DOIUrl":"https://doi.org/10.1109/MED.2009.5164739","url":null,"abstract":"A way for treating general delayed systems with uncertain delays in both the numerator and the denominator is shown. The proposed procedure is demonstrated by an example. A simple controller is derived via algebraic theory and the structured singular value, which treats uncertain time delay in both the numerator and the denominator of an anisochronic system. The overall performance is verified by simulations and compared with standard tool for robust control design.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"40 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":"123918535","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.2009.5164661
A. Cesetti, E. Frontoni, A. Mancini, P. Zingaretti, S. Longhi
This paper presents the design and implementation of a vision-based navigation and landing algorithm for an autonomous helicopter. The vision system allows to define target areas from a high resolution aerial or satellite image to determine the waypoints of the navigation trajectory or the landing area. The helicopter is required to navigate from an initial position to a final position in a partially known environment using GPS and vision, to locate a landing target (a helipad of a known shape or a natural landmark) and to land on it. The vision system, using a feature-based image matching algorithm, finds the area and gives feedbacks to the control system for autonomous landing. Vision is used for accurate target detection, recognition and tracking. The helicopter updates its landing target parameters owing to vision and uses an on board behavior-based controller to follow a path to the landing site. Results show the appropriateness of the vision-based approach that does not require any artificial landmark (e.g., helipad) and is quite robust to occlusions, light variations and seasonal changes (e.g., brown or green leaves).
{"title":"Vision-based autonomous navigation and landing of an unmanned aerial vehicle using natural landmarks","authors":"A. Cesetti, E. Frontoni, A. Mancini, P. Zingaretti, S. Longhi","doi":"10.1109/MED.2009.5164661","DOIUrl":"https://doi.org/10.1109/MED.2009.5164661","url":null,"abstract":"This paper presents the design and implementation of a vision-based navigation and landing algorithm for an autonomous helicopter. The vision system allows to define target areas from a high resolution aerial or satellite image to determine the waypoints of the navigation trajectory or the landing area. The helicopter is required to navigate from an initial position to a final position in a partially known environment using GPS and vision, to locate a landing target (a helipad of a known shape or a natural landmark) and to land on it. The vision system, using a feature-based image matching algorithm, finds the area and gives feedbacks to the control system for autonomous landing. Vision is used for accurate target detection, recognition and tracking. The helicopter updates its landing target parameters owing to vision and uses an on board behavior-based controller to follow a path to the landing site. Results show the appropriateness of the vision-based approach that does not require any artificial landmark (e.g., helipad) and is quite robust to occlusions, light variations and seasonal changes (e.g., brown or green leaves).","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"12 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":"128125177","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.2009.5164737
F. Koumboulis, N. Kouvakas, P. Paraskevopoulos
The control design problem of exact model matching with simultaneous disturbance rejection (EMMDR) for left invertible general neutral multi-delay systems is solved via a dynamic realizable controller using the measurable disturbances and feeding back the measurement outputs of the system. The dynamic part of the controller connecting the measurement outputs and external commands to the inputs is considered to be realizable and proper while the dynamic part of the controller connecting the measurable disturbances to the inputs is considered to be realizable. For the controller to be implementable the transfer matrix mapping the control inputs to the measurable outputs is considered to be realizable. For this controller and open loop plant the necessary and sufficient conditions for the solvability of the EMMDR problem are resolved and the general analytical expression of the controller matrices solving the problem is presented.
{"title":"Dynamic measurement output feedback controllers for exact model matching and disturbance rejection of general linear neutral time delay systems","authors":"F. Koumboulis, N. Kouvakas, P. Paraskevopoulos","doi":"10.1109/MED.2009.5164737","DOIUrl":"https://doi.org/10.1109/MED.2009.5164737","url":null,"abstract":"The control design problem of exact model matching with simultaneous disturbance rejection (EMMDR) for left invertible general neutral multi-delay systems is solved via a dynamic realizable controller using the measurable disturbances and feeding back the measurement outputs of the system. The dynamic part of the controller connecting the measurement outputs and external commands to the inputs is considered to be realizable and proper while the dynamic part of the controller connecting the measurable disturbances to the inputs is considered to be realizable. For the controller to be implementable the transfer matrix mapping the control inputs to the measurable outputs is considered to be realizable. For this controller and open loop plant the necessary and sufficient conditions for the solvability of the EMMDR problem are resolved and the general analytical expression of the controller matrices solving the problem is presented.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"28 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":"128149359","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.2009.5164545
Zaiyue Yang, S. Yam, L.K. Li, Yiwen Wang
This paper studies the robust control problem for uncertain nonlinear systems with unknown and changing control direction. The control direction is the multiplier of the control term, and is allowed to cross zero and change its sign for unlimited number of times. Based on the analysis of system dynamics at the points where the control direction is zero, a robust controller is proposed by integrating with a Nussbaum-type gain. Under the proposed controller, the system converges to zero if zero is accessible, or to the accessible point closest to zero if zero is not accessible by any control. The control performance is illustrated by the simulated example.
{"title":"Robust control for uncertain nonlinear systems with unknown and changing control direction","authors":"Zaiyue Yang, S. Yam, L.K. Li, Yiwen Wang","doi":"10.1109/MED.2009.5164545","DOIUrl":"https://doi.org/10.1109/MED.2009.5164545","url":null,"abstract":"This paper studies the robust control problem for uncertain nonlinear systems with unknown and changing control direction. The control direction is the multiplier of the control term, and is allowed to cross zero and change its sign for unlimited number of times. Based on the analysis of system dynamics at the points where the control direction is zero, a robust controller is proposed by integrating with a Nussbaum-type gain. Under the proposed controller, the system converges to zero if zero is accessible, or to the accessible point closest to zero if zero is not accessible by any control. The control performance is illustrated by the simulated example.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"7 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":"115839618","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.2009.5164728
Z. Doulgeri, Y. Karayiannidis, O. Zoidi
This work proposes a control law for the robot joint trajectory tracking in free space that achieves a prescribed performance of the joint position error under parametric uncertainties; the control law is extended for the case of bounded disturbances. A performance function incorporating predefined performance indices is used to produce a transformed error that is injected in the controller. Furthermore, asymptotic stability of the velocity error in case of zero disturbances and uniformly ultimate boundedness in an arbitrarily small region for bounded disturbances is achieved. Simulation results confirm the theoretical findings and compare the proposed controller with a conventional one.
{"title":"Prescribed performance control for robot joint trajectory tracking under parametric and model uncertainties","authors":"Z. Doulgeri, Y. Karayiannidis, O. Zoidi","doi":"10.1109/MED.2009.5164728","DOIUrl":"https://doi.org/10.1109/MED.2009.5164728","url":null,"abstract":"This work proposes a control law for the robot joint trajectory tracking in free space that achieves a prescribed performance of the joint position error under parametric uncertainties; the control law is extended for the case of bounded disturbances. A performance function incorporating predefined performance indices is used to produce a transformed error that is injected in the controller. Furthermore, asymptotic stability of the velocity error in case of zero disturbances and uniformly ultimate boundedness in an arbitrarily small region for bounded disturbances is achieved. Simulation results confirm the theoretical findings and compare the proposed controller with a conventional one.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"24 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":"132564609","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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