Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606357
Lequn Zhang, Jun‐e Feng, Min Meng
This paper investigates controllability of higher order switched Boolean control networks (SBCNs). First, by using semi-tensor product (STP) method, two algebraic forms of higher order SBCNs are derived. And a necessary and sufficient condition of controllability for higher order SBCNs is obtained. Then based on the second algebraic form, the corresponding control and switching-law which drive a point to a given reachable point are designed. Finally, an illustrative example is given to show the validity of the main result.
{"title":"Controllability of higher order switched boolean control networks","authors":"Lequn Zhang, Jun‐e Feng, Min Meng","doi":"10.1109/ASCC.2013.6606357","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606357","url":null,"abstract":"This paper investigates controllability of higher order switched Boolean control networks (SBCNs). First, by using semi-tensor product (STP) method, two algebraic forms of higher order SBCNs are derived. And a necessary and sufficient condition of controllability for higher order SBCNs is obtained. Then based on the second algebraic form, the corresponding control and switching-law which drive a point to a given reachable point are designed. Finally, an illustrative example is given to show the validity of the main result.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"48 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80601610","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606391
M. S. Rana, H. Pota, I. Petersen, Habibullah
In this article the design and experimental implementation of an observer based model predictive control (OMPC) scheme for active damping of the first two resonant modes of a smart structure is presented. The design of this controller is based on an identified model of the plant. A Kalman filter is used to obtain full state information. The experimental results verify the efficacy of the proposed controller.
{"title":"Control of resonant modes of a smart structure using OMPC","authors":"M. S. Rana, H. Pota, I. Petersen, Habibullah","doi":"10.1109/ASCC.2013.6606391","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606391","url":null,"abstract":"In this article the design and experimental implementation of an observer based model predictive control (OMPC) scheme for active damping of the first two resonant modes of a smart structure is presented. The design of this controller is based on an identified model of the plant. A Kalman filter is used to obtain full state information. The experimental results verify the efficacy of the proposed controller.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"282 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85350717","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper focuses on the sampling rate tracking control of networked control systems (NCSs) with packet disordering. In view of the coupled relation between packet disordering and sampling rate, a novel sampling rate control algorithm, referring to the cognitive knowledge of packet disordering, is presented. Based on it, a controller that jointly controls sampling rate and the plant is proposed, and an augmented model of NCSs is constructed. A sufficient condition under which the close-loop systems are stochastically stable is derived. Moreover, the actual sampling period tracks a desired sampling period according to tracking control method. The controller design is presented for NCSs in terms of linear matrix inequalities (LMIs) technique. Finally, A numerical example is given to illustrate the effectiveness of the proposed method.
{"title":"Sampling rate tracking control of networked control systems based on cognitive knowledge of packet disordering","authors":"Jinna Li, Lifeng Wei, Daqing Zhang, Chao Liu, Haibin Yu, Qingling Zhang","doi":"10.1109/ASCC.2013.6606383","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606383","url":null,"abstract":"This paper focuses on the sampling rate tracking control of networked control systems (NCSs) with packet disordering. In view of the coupled relation between packet disordering and sampling rate, a novel sampling rate control algorithm, referring to the cognitive knowledge of packet disordering, is presented. Based on it, a controller that jointly controls sampling rate and the plant is proposed, and an augmented model of NCSs is constructed. A sufficient condition under which the close-loop systems are stochastically stable is derived. Moreover, the actual sampling period tracks a desired sampling period according to tracking control method. The controller design is presented for NCSs in terms of linear matrix inequalities (LMIs) technique. Finally, A numerical example is given to illustrate the effectiveness of the proposed method.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"38 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90735680","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6605996
M. Mahmoud
The feedback control design problem for a wide class of discrete-time systems possessing fast and slow modes is considered in this paper. The slow and fast subsystems are considered to be completely controllable and observable. Based on the H∞ optimization criteria, a two-stage design procedure is developed using separate gain matrices for the fast and slow subsystems and computed using linear matrix inequalities. A composite control is designed to yield first-order approximations to the behavior of the discrete system. Typical applications models are utilized to illustrate the design procedure and the simulation results validated the theoretical analysis.
{"title":"New results for feedback control of discrete systems with time scales","authors":"M. Mahmoud","doi":"10.1109/ASCC.2013.6605996","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6605996","url":null,"abstract":"The feedback control design problem for a wide class of discrete-time systems possessing fast and slow modes is considered in this paper. The slow and fast subsystems are considered to be completely controllable and observable. Based on the H∞ optimization criteria, a two-stage design procedure is developed using separate gain matrices for the fast and slow subsystems and computed using linear matrix inequalities. A composite control is designed to yield first-order approximations to the behavior of the discrete system. Typical applications models are utilized to illustrate the design procedure and the simulation results validated the theoretical analysis.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"60 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91082851","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606000
Ivan Buzurovic, D. Debeljkovic, A. M. Jovanovic
This paper provides sufficient conditions for the finite time stability of linear continuous time delay systems mathematically described as x'(t)=A0 x(t) + A1 x(t-τ). A novel method was used to derive new delay dependent conditions. The conditions obtained were applied in the system stability analysis. Consequently, the aggregation function does not have to be positive in the state space domain, and does not need to have the negative derivatives along the system trajectories. Finite time stability was analyzed using the novel conditions derived in the paper. The described approach was compared with some known methods. It was proved that the new results were in compliance with the previously reported results, but more convenient for numerical calculations. The numerical example was presented to support the results.
{"title":"An efficient method for finite time stability calculation of continuous time delay systems","authors":"Ivan Buzurovic, D. Debeljkovic, A. M. Jovanovic","doi":"10.1109/ASCC.2013.6606000","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606000","url":null,"abstract":"This paper provides sufficient conditions for the finite time stability of linear continuous time delay systems mathematically described as x'(t)=A0 x(t) + A1 x(t-τ). A novel method was used to derive new delay dependent conditions. The conditions obtained were applied in the system stability analysis. Consequently, the aggregation function does not have to be positive in the state space domain, and does not need to have the negative derivatives along the system trajectories. Finite time stability was analyzed using the novel conditions derived in the paper. The described approach was compared with some known methods. It was proved that the new results were in compliance with the previously reported results, but more convenient for numerical calculations. The numerical example was presented to support the results.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"26 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91097684","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6605995
Bing Liu, Zhen Chen, Xiangdong Liu, Jie Geng, Fan Yang
This paper describes a new nonlinear filter for the nonlinear system, motivated by the the deficiencies of the complexity and large calculation number in the general nonlinear filter. The new filter is performed in three stages: First, the predicted state quantities of the nonlinear system are obtained by the prediction equation of the EKF. Then, the estimation error system is represented via an uncertain polytopic linear model, on the bias of which, the rectification equations with constant coefficients for the predicted errors are designed, without the need to evaluate the Jacobian matrixes on line. Finally, the state estimates are given through updating the predictions by the rectified quantities. The main novelty of the paper is the application of the Polytopic Linear Differential Inclusion in the nonlinear system, leading to the simplified design of the nonlinear filter and the improved real time performance of the new filter than the EKF, though the accuracy is a little decline. Its effectiveness is demonstrated by using the statistics result of the calculation number for the filters and an example of application in the attitude estimation system.
针对一般非线性滤波器计算复杂、计算量大的缺点，提出了一种新的非线性滤波器。新的滤波分三个阶段进行:首先，利用EKF的预测方程得到非线性系统的预测状态量;然后，利用不确定多面体线性模型表示估计误差系统，在该模型的偏差基础上，设计了预测误差的常系数校正方程，无需在线求雅可比矩阵;最后，通过修正量对预测量进行更新，给出状态估计。本文的主要新颖之处在于将Polytopic Linear Differential Inclusion应用于非线性系统中，简化了非线性滤波器的设计，虽然精度略有下降，但其实时性比EKF有所提高。通过对滤波器计算数的统计结果和在姿态估计系统中的应用实例，验证了该方法的有效性。
{"title":"A new method based on the Polytopic Linear Differential Inclusion for the nonlinear filter","authors":"Bing Liu, Zhen Chen, Xiangdong Liu, Jie Geng, Fan Yang","doi":"10.1109/ASCC.2013.6605995","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6605995","url":null,"abstract":"This paper describes a new nonlinear filter for the nonlinear system, motivated by the the deficiencies of the complexity and large calculation number in the general nonlinear filter. The new filter is performed in three stages: First, the predicted state quantities of the nonlinear system are obtained by the prediction equation of the EKF. Then, the estimation error system is represented via an uncertain polytopic linear model, on the bias of which, the rectification equations with constant coefficients for the predicted errors are designed, without the need to evaluate the Jacobian matrixes on line. Finally, the state estimates are given through updating the predictions by the rectified quantities. The main novelty of the paper is the application of the Polytopic Linear Differential Inclusion in the nonlinear system, leading to the simplified design of the nonlinear filter and the improved real time performance of the new filter than the EKF, though the accuracy is a little decline. Its effectiveness is demonstrated by using the statistics result of the calculation number for the filters and an example of application in the attitude estimation system.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"29 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89831207","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606226
Senka Krivic, Aida Mrzic, J. Velagić, N. Osmic
This paper deals with measuring and reduction of odometry errors of a differential-drive mobile robot. For this purpose an algorithm for reducing systematic odometry errors caused by uncertainty of an effective wheelbase and unequal wheel diameters is proposed. The algorithm calculates three calibration coefficients using an optimization based on Levenberg-Marquardt algorithm. These coefficients compensate the effects of unknown values of wheel radius and unknown value of the wheelbase. The mobile robot location during a motion is determined based on visual system measurements. For evaluating the proposed algorithm three different tests are considered: straight line experiment, turn in place experiments, unidirectional square path experiment. Simulation and experimental results demonstrate the effectiveness of the proposed algorithm in reducing the systematic odometry errors.
{"title":"Optimization based algorithm for correction of systematic odometry errors of mobile robot","authors":"Senka Krivic, Aida Mrzic, J. Velagić, N. Osmic","doi":"10.1109/ASCC.2013.6606226","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606226","url":null,"abstract":"This paper deals with measuring and reduction of odometry errors of a differential-drive mobile robot. For this purpose an algorithm for reducing systematic odometry errors caused by uncertainty of an effective wheelbase and unequal wheel diameters is proposed. The algorithm calculates three calibration coefficients using an optimization based on Levenberg-Marquardt algorithm. These coefficients compensate the effects of unknown values of wheel radius and unknown value of the wheelbase. The mobile robot location during a motion is determined based on visual system measurements. For evaluating the proposed algorithm three different tests are considered: straight line experiment, turn in place experiments, unidirectional square path experiment. Simulation and experimental results demonstrate the effectiveness of the proposed algorithm in reducing the systematic odometry errors.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"3 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90872525","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606060
Jeng-Dao Lee, Jia-Qi Lu, S. Khoo
This paper investigates an estimator-based terminal sliding mode control system. An exact estimator is proposed to exactly estimate the unknown uncertainties in finite time. The output of the exact estimator is used to design a continuous chattering free terminal sliding mode control. The time taken for the closed-loop system to reach zero tracking error is proven to be finite. Experiment results are presented, using a real time digital-signal-processor (DSP) based electromagnetic-levitation system to implement the control performance.
{"title":"Exact-estimator-based terminal sliding mode control system design","authors":"Jeng-Dao Lee, Jia-Qi Lu, S. Khoo","doi":"10.1109/ASCC.2013.6606060","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606060","url":null,"abstract":"This paper investigates an estimator-based terminal sliding mode control system. An exact estimator is proposed to exactly estimate the unknown uncertainties in finite time. The output of the exact estimator is used to design a continuous chattering free terminal sliding mode control. The time taken for the closed-loop system to reach zero tracking error is proven to be finite. Experiment results are presented, using a real time digital-signal-processor (DSP) based electromagnetic-levitation system to implement the control performance.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"31 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91273087","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606198
Tao Li, Fuke Wu, Ji-feng Zhang
In this paper, we consider the distributed consensus of high-dimensional first-order agents with relative-state-dependent measurement noises. Each agent can measure or receive its neighbors' state information with random noises, whose intensity is a nonlinear matrix-valued function of agents' relative states. By the tools of stochastic differential equations and algebraic graph theory, we give sufficient conditions to ensure mean square and almost sure consensus and the convergence rate and the steady-state error for average consensus are quantified.
{"title":"Consensus conditions of continuous-time multi-agent systems with relative-state-dependent measurement noises and matrix-valued intensity functions","authors":"Tao Li, Fuke Wu, Ji-feng Zhang","doi":"10.1109/ASCC.2013.6606198","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606198","url":null,"abstract":"In this paper, we consider the distributed consensus of high-dimensional first-order agents with relative-state-dependent measurement noises. Each agent can measure or receive its neighbors' state information with random noises, whose intensity is a nonlinear matrix-valued function of agents' relative states. By the tools of stochastic differential equations and algebraic graph theory, we give sufficient conditions to ensure mean square and almost sure consensus and the convergence rate and the steady-state error for average consensus are quantified.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"24 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90118262","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606344
L. Mhamdi, H. Dhouibi, N. Liouane, Z. Simeu-Abazi
Multiple fault diagnosis is a challenging problem because the number of candidates grows exponentially in the number of faults. The multiple fault problems is important, since the single fault assumption can lead to incorrect or failed diagnoses when multiple faults occur. In this work, we present an approach for diagnosing multi faults based on model using techniques of detection and localization. We use an observer to generate residuals for a decision in a stage of monitoring and diagnostic system when disruptions or defects occur. Our contribution is the proposal of a diagnostic method when multiple faults type actuators or sensors affect the system.
{"title":"Multiple fault diagnosis using mathematical models","authors":"L. Mhamdi, H. Dhouibi, N. Liouane, Z. Simeu-Abazi","doi":"10.1109/ASCC.2013.6606344","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606344","url":null,"abstract":"Multiple fault diagnosis is a challenging problem because the number of candidates grows exponentially in the number of faults. The multiple fault problems is important, since the single fault assumption can lead to incorrect or failed diagnoses when multiple faults occur. In this work, we present an approach for diagnosing multi faults based on model using techniques of detection and localization. We use an observer to generate residuals for a decision in a stage of monitoring and diagnostic system when disruptions or defects occur. Our contribution is the proposal of a diagnostic method when multiple faults type actuators or sensors affect the system.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"123 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73457781","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：