发布求助
文献互助 智能选刊 最新文献

2019 IEEE 15th International Conference on Control and Automation (ICCA)最新文献

筛选
英文 中文
Nonlinear Optimal Generalized Predictive Functional Control Applied to Quasi-LPV Model of Automotive Electronic Throttle 非线性最优广义预测函数控制在汽车电子节气门准lpv模型中的应用
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-11-14 DOI: 10.1109/ICCA.2019.8899985
S. Alotaibi, M. Grimble
{"title":"Nonlinear Optimal Generalized Predictive Functional Control Applied to Quasi-LPV Model of Automotive Electronic Throttle","authors":"S. Alotaibi, M. Grimble","doi":"10.1109/ICCA.2019.8899985","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899985","url":null,"abstract":"A Nonlinear Optimal Generalized Predictive Functional Control algorithm is presented for the control of quasi linear parameter varying state-space systems. A scalar automotive electronic throttle body is simulated to demonstrate typical results. The controller structure is specified in a restricted structure form including a set of pre-specified linear transfer-functions and a vector of gains that are found to minimize a GPC cost-index. This approach enables a range of classical controller structures to be used in the feedback loop such as extended PI, PID or of a more general transfer-function form. The controller is introduced along with a dynamic cost-weighting tuning future. A simulation is used to validate the performance of the restricted structure controller for regulation and tracking problems assessed against automotive performance standards.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125821215","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}
引用次数: 2
Fully Probabilistic Design for Stochastic Discrete System with Multiplicative Noise 具有乘性噪声的随机离散系统的全概率设计
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-19 DOI: 10.1109/ICCA.2019.8899607
Yuyang Zhou, R. Herzallah, Ana Zafar
{"title":"Fully Probabilistic Design for Stochastic Discrete System with Multiplicative Noise","authors":"Yuyang Zhou, R. Herzallah, Ana Zafar","doi":"10.1109/ICCA.2019.8899607","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899607","url":null,"abstract":"In this paper, a novel algorithm based on fully probabilistic design (FPD) is proposed for a class of linear stochastic dynamic processes with multiplicative noise. Compared with the traditional FPD, the new procedure is presented to deal with multiplicative noise and the system parameters are estimated online using linear optimisation methods. The performance index is characterised by the Kullback-Leibler divergence (KLD) distance. The generalised probabilistic control law is obtained by solving a generalised Riccatti equation that takes the multiplicative noise into consideration. To demonstrate the effectiveness of the proposed method, a numerical example is given and the results are compared with the traditional FPD.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116230869","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}
引用次数: 7
A Fully Probabilistic Decentralised Control Design for Complex Stochastic Systems 复杂随机系统的全概率分散控制设计
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-19 DOI: 10.1109/ICCA.2019.8899646
R. Herzallah
{"title":"A Fully Probabilistic Decentralised Control Design for Complex Stochastic Systems","authors":"R. Herzallah","doi":"10.1109/ICCA.2019.8899646","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899646","url":null,"abstract":"Computational and communication complexity call for robustness of controlled systems as well as for distributed control. The proposed technical solutions in this paper are bottom up solutions where simple controllers are designed to care about individual nodes either completely independently or within various structures like cascade control. Cheap computational resources allow now the improvement of the overall behaviour of the network of such controlled loops by allowing the individual “nodes” to share information with their neighbours without aiming at hopeless global solution. The current paper inspects this proposed method on a linearised version of coupled map lattice with spatiotemporal chaos yielding close to linear quadratic design which gives insight into possible behaviours of such networks.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117185423","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}
引用次数: 2
Reinforcement Learning for Vision-Based Lateral Control of a Self-Driving Car 基于视觉的自动驾驶汽车横向控制的强化学习
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-16 DOI: 10.1109/ICCA.2019.8900002
Mengzhe Huang, Mingyu Zhao, P. Parikh, Yebin Wang, K. Ozbay, Zhong-Ping Jiang
{"title":"Reinforcement Learning for Vision-Based Lateral Control of a Self-Driving Car","authors":"Mengzhe Huang, Mingyu Zhao, P. Parikh, Yebin Wang, K. Ozbay, Zhong-Ping Jiang","doi":"10.1109/ICCA.2019.8900002","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8900002","url":null,"abstract":"Lateral control design is one of the fundamental components for self-driving cars. In this paper, we propose a learning-based control strategy that enables a mobile car equipped with a camera to perfectly perform lane keeping in a road on the ground. Using the method of adaptive dynamic programming, the proposed control algorithm exploits the structural knowledge of the car kinematics as well as the collected data (images) about the lane information. An adaptive optimal lateral controller is obtained through a data-driven learning algorithm. The effectiveness of the proposed method is demonstrated by theoretical stability proofs and experimental evaluations.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126240559","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}
引用次数: 1
Discussion on Adaptive Estimation Approach for Bounded Disturbances with Simple Structure* 简单结构有界扰动的自适应估计方法探讨
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-16 DOI: 10.1109/ICCA.2019.8899538
Zongyi Guo, Jianguo Guo, Jinlong Zhao, Jun Zhou
{"title":"Discussion on Adaptive Estimation Approach for Bounded Disturbances with Simple Structure*","authors":"Zongyi Guo, Jianguo Guo, Jinlong Zhao, Jun Zhou","doi":"10.1109/ICCA.2019.8899538","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899538","url":null,"abstract":"This paper discusses a novel adaptive disturbance observer (ADO) for systems subjected to bounded disturbances. The gains with adaptation are given, and the estimate error of the disturbance is guaranteed to be ultimately stable. The proposed ADO is capable of achieving a better dynamic per-formance compared with the standard linear DO. As a trade-off, it outperforms other DOs and reduces the control burden simultaneously. Moreover, the ADO has a simpler structure than the nonlinear DO because of its linear representation. Simulation results verifies the effectiveness and superiority of the proposed approach, and application to the attitude tracking for the hypersonic reentry vehicle (HRV) is also presented.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127591294","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}
引用次数: 0
Distributed Adaptive Full Order Sliding Mode Control for Attitude Synchronization of Rigid Spacecraft 刚性航天器姿态同步的分布式自适应全阶滑模控制
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-16 DOI: 10.1109/ICCA.2019.8899553
Hu Meng, Zhuoyue Song, Nsubuga Latifu, Kai Yan, Qinghe Wu, Xiangdong Liu
{"title":"Distributed Adaptive Full Order Sliding Mode Control for Attitude Synchronization of Rigid Spacecraft","authors":"Hu Meng, Zhuoyue Song, Nsubuga Latifu, Kai Yan, Qinghe Wu, Xiangdong Liu","doi":"10.1109/ICCA.2019.8899553","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899553","url":null,"abstract":"This paper investigates the distributed attitude tracking problem of multiple spacecraft with unknown external disturbances and inertia uncertainties when the time varying reference signal is available to only a subset of group members. Modified Rodriguez parameters are used for attitude representation. The external disturbances and inertia uncertainties are recast into the lumped uncertainties with unknown firstorder derivative upper bound. An adaptive law is proposed to estimate this upper bound. Based on this adaptive law, a distributed adaptive full order sliding mode controller is proposed to achieve attitude synchronization. Simulation results are presented to demonstrate the validity of proposed results.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127408884","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}
引用次数: 0
Rapid Initialization using Relative Pose Constraints in Stereo Visual-Inertial Odometry 基于相对姿态约束的立体视觉惯性里程测量快速初始化
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-16 DOI: 10.1109/ICCA.2019.8899485
J. Jung, J. Y. Chung, Jaehyuck Cha, Chan Gook Park
{"title":"Rapid Initialization using Relative Pose Constraints in Stereo Visual-Inertial Odometry","authors":"J. Jung, J. Y. Chung, Jaehyuck Cha, Chan Gook Park","doi":"10.1109/ICCA.2019.8899485","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899485","url":null,"abstract":"In this paper, we propose an initialization method to bootstrap a visual-inertial odometry (VIO) without any prior information using relative constraints computed by a stereo camera. Many works on VIO start their algorithm from a static state or a rough initial guess since an accurate initial velocity and attitude are not available at the early stage. Our approach estimates a relative pose of consecutive camera frames from a stereo visual odometry (VO), then formulates least-square problems from the IMU preintegration and the pose constraint. This recovers the initial velocity, attitude with respect to the gravity, and biases of an IMU. Also, we build a framework in which a tightly-coupled filtering-based VIO is booted by the proposed initialization method. We show that the initial state can be estimated with a 6-DOF motion in the simulated environment. Also, our experimental results reveal that 5 seconds with 20 fps stereo images are enough to initialize the filtering-based VIO in the public MAV dataset.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124688579","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}
引用次数: 2
High Precision Loading Control Method for Sun-Tracking Unit Semi-physical Test System 太阳跟踪装置半物理测试系统高精度加载控制方法
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-16 DOI: 10.1109/ICCA.2019.8899599
Mingyang Liu, Zhigang Xu, Zhen Zhao, Xinlin Bai, Yueling Chen
{"title":"High Precision Loading Control Method for Sun-Tracking Unit Semi-physical Test System","authors":"Mingyang Liu, Zhigang Xu, Zhen Zhao, Xinlin Bai, Yueling Chen","doi":"10.1109/ICCA.2019.8899599","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899599","url":null,"abstract":"in this paper, a semi-physical ground test technology is proposed to simulate the disturbance of flexible solar panels on sun-tracking unit. In order to improve the precision of the semi-physical test, several methods have been designed. Firstly, semi-physical test platform with ultra-high stiffness and automatically adapted to motion errors without additional force is designed to provide foundation. Secondly, solar wing dynamic model is established and discrete by Wilson 6 method to calculate torque by real-time system. Thirdly, angular acceleration estimation of sun-tracking unit is obtained by nonlinear tracking-differentiator. Finally, simulation and experiment results show that platform can provide disturbance simulation torque, the platform can test the performance of sun-tracking unit.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134641383","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}
引用次数: 0
Computational Convergence Analysis of Distributed Optimization Algorithms for Directed Graphs 有向图分布优化算法的计算收敛性分析
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-16 DOI: 10.1109/ICCA.2019.8899565
Shengjun Zhang, Xinlei Yi, Jemin George, Tao Yang
{"title":"Computational Convergence Analysis of Distributed Optimization Algorithms for Directed Graphs","authors":"Shengjun Zhang, Xinlei Yi, Jemin George, Tao Yang","doi":"10.1109/ICCA.2019.8899565","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899565","url":null,"abstract":"In this paper, we present a unified framework based on integral quadratic constraints for analyzing the convergence of distributed push-pull based optimization algorithms for directed graphs. Our framework provides numerical upper bounds on linear convergence rates of existing distributed push-pull based algorithms when local objective functions are strongly convex and smooth and directed graphs are strongly connected. Moreover, we propose a new distributed optimization algorithm for directed graphs and show that the proposed framework can also be applied to establish its linear convergence rate. The theoretical results are illustrated and validated via numerical examples.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125134946","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}
引用次数: 8
Almost Global Convergence For Distance- and Area-Constrained Hierarchical Formations Without Reflection 距离和面积约束的无反射分层结构的几乎全局收敛
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-16 DOI: 10.1109/ICCA.2019.8899927
Yue Cao, Zhiyong Sun, B. Anderson, T. Sugie
{"title":"Almost Global Convergence For Distance- and Area-Constrained Hierarchical Formations Without Reflection","authors":"Yue Cao, Zhiyong Sun, B. Anderson, T. Sugie","doi":"10.1109/ICCA.2019.8899927","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899927","url":null,"abstract":"This paper discusses formation shape control systems with both distance and signed area constraints, which aim to avoid the flipping or reflection ambiguity in a target formation shape. We prove an almost global convergence result for a triangle formation with general shape, by choosing a particular value of the control gain associated with the formation area term. This result extends the recent paper [1] on formation shape stabilization from equilateral triangles to general triangles, with an almost global convergence from almost all initial conditions. We then consider a hierarchical formation system comprised of multiple triangular shapes, and prove almost global convergence of a shape control algorithm with appropriate gains. Several simulations are provided to validate the theoretical results.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126316047","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}
引用次数: 8
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信