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
A game-theory based UKF algorithm for multi-robots cooperative localization* 基于博弈论的多机器人协同定位UKF算法*
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899680
Chao Tang, L. Dou
{"title":"A game-theory based UKF algorithm for multi-robots cooperative localization*","authors":"Chao Tang, L. Dou","doi":"10.1109/ICCA.2019.8899680","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899680","url":null,"abstract":"The precise autonomous localization of the robot is one of the fundamental challenges in multi-robots systems. For this problem, we propose a UKF algorithm, which incorporates the static game theory for the cooperative localization. The static game theory can effectively eliminate the information conflicts among robots and the UKF algorithm has better localization accuracy than the traditional EKF algorithms. Finally, a simulation example shows that the proposed algorithm has better performance than the traditional EKF algorithm.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128628195","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
A Novel RPI Set Computation Method for Discrete-time LPV Systems with Bounded Uncertainties 具有有界不确定性的离散LPV系统的RPI集计算方法
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899945
Junbo Tan, Sorin Olaru, K. Ampountolas, J. M. Molina, Feng Xu
{"title":"A Novel RPI Set Computation Method for Discrete-time LPV Systems with Bounded Uncertainties","authors":"Junbo Tan, Sorin Olaru, K. Ampountolas, J. M. Molina, Feng Xu","doi":"10.1109/ICCA.2019.8899945","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899945","url":null,"abstract":"Set invariance plays a fundamental role in the analysis and design of linear systems. This paper proposes a novel method for constructing robust positively invariant (RPI) sets for discrete-time linear parameter varying (LPV) systems. Starting from the stability assumption in the absence of disturbances, we aim to construct the RPI sets for parametric uncertain system. The existence condition of a common quadratic Lyapunov function for all vertices of the polytopic system is relaxed in the present study. Thus the proposed method enlarges the application field of RPI sets to LPV systems. A family of approximations of minimal robust positively invariant(mRPI) sets are obtained by using a shrinking procedure. Finally, the effect of scheduling variables on the size of the mRPI set is analyzed to obtain more accurate set characterization of the uncertain LPV system. A numerical example is used to illustrate the effectiveness of the proposed method.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127062939","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
Stackelberg Competition Between Merchant and Regulated Storage Investment under Locational Marginal Pricing 区位边际定价下商家与监管存储投资的Stackelberg竞争
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899942
Qisheng Huang, Yunjian Xu, C. Courcoubetis
{"title":"Stackelberg Competition Between Merchant and Regulated Storage Investment under Locational Marginal Pricing","authors":"Qisheng Huang, Yunjian Xu, C. Courcoubetis","doi":"10.1109/ICCA.2019.8899942","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899942","url":null,"abstract":"We investigate the interaction between the regulated and merchant storage investment made by a social planner and a merchant, respectively. We construct a bi-level Stackelberg competition model with a single leader (merchant storage owner) and one follower (the social planner). In the upper level, the merchant storage owner maximizes its profit through storage investment decisions. Given the merchant storage capacity, the social planner makes the regulated storage investment, storage operation, and economic dispatch decisions to minimize the overall system cost in the lower level problem. Both merchant and regulated energy storage is remunerated based on the inter-temporal difference in locational marginal prices (solved by the lower level problem). We show that the regulated storage profit (of the social planner) is always nonnegative if the storage investment cost is convex in the installed storage capacity with no fixed cost. In particular, the regulated storage profit must be zero (non-positive) if the storage investment cost is linear (affine, respectively) in the installed storage capacity. We present a counter-intuitive example to show that higher regulated capital cost may lead to lower merchant storage profit due to transmission line congestion. Numerical experiments are conducted on the IEEE 39-bus test system to validate established results.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127160624","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
Exponential synchronization of stochastic complex dynamical networks with time-varying delay and impulsive effects 具有时变时滞和脉冲效应的随机复杂动态网络的指数同步
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899749
Linna Liu, F. Deng
{"title":"Exponential synchronization of stochastic complex dynamical networks with time-varying delay and impulsive effects","authors":"Linna Liu, F. Deng","doi":"10.1109/ICCA.2019.8899749","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899749","url":null,"abstract":"This paper investigates globally exponential synchronization of stochastic nonlinear dynamical networks with time-varying delay and impulsive effects. Based on a time-dependent Lyapanov function, a sufficient condition is established under which the stochastic nonlinear dynamical networks with time-varying delay and impulsive effects are mean square exponentially synchronized to a desired state. Above all, we generalize the work of [2] into the stochastic systems. Specifically, 1) we consider the stochastic disturbance in the network model; 2) the comparison principle and Schur complement Lemma are abandoned in the process of proofing exponential synchronization; 3) we come up with a new method to deal with the time delayauxiliary monotone function method rather than proof by contradiction.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"3527 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127515455","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
Global Stabilization of Nonholonomic Mobile Robots via a Smooth Output Feedback Time-Varying Controller 基于光滑输出反馈时变控制器的非完整移动机器人全局镇定
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899640
J. G. Romero, Emmanuel Nuño
{"title":"Global Stabilization of Nonholonomic Mobile Robots via a Smooth Output Feedback Time-Varying Controller","authors":"J. G. Romero, Emmanuel Nuño","doi":"10.1109/ICCA.2019.8899640","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899640","url":null,"abstract":"In this paper we report a novel output feedback controller for a class of mobile robots that exhibit nonholonomic restrictions. The control objective is to regulate the robot position and orientation at a given desired point. The controller is a (nonautonomous) smooth certainty equivalent PD scheme and the velocity observer is designed using the Immersion & Invariance principle. Simulations are presented to corroborate our theoretical findings.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132510878","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
Smooth Feedrate Planning and Trajectory Generation for Five-axis Tool Path 五轴刀具轨迹的平滑进给速度规划与轨迹生成
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899716
Ming-Tsung Lin, Weixia Lin, Yu-Sheng Lin, Chien-Yi Lee, Jih-Chieh Lee
{"title":"Smooth Feedrate Planning and Trajectory Generation for Five-axis Tool Path","authors":"Ming-Tsung Lin, Weixia Lin, Yu-Sheng Lin, Chien-Yi Lee, Jih-Chieh Lee","doi":"10.1109/ICCA.2019.8899716","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899716","url":null,"abstract":"This paper presents a real-time feedrate planning method with time synchronization and local corner smoothing algorithms to achieve high-quality five-axis machining. Linear and angular trajectories are planned by sharing motion time rather than curve parameter to realize synchronous motion for five-axis tool path. The maximum feedrate of linear segment is evaluated by five-axis feedrate regulation formulation (FFRF) respecting tangential and axial kinematic constraints. The local corner smoothing method is used to generate smooth motion at thejunctions of adjacent blocks. It directly blends velocities and accelerations of five motion axes and generates C2 cornering trajectory with consideration of corner tolerance and kinematic limits of the drives. The proposed method can provide two-step analytical solution for feedrate scheduling problem in real-time and its efficiency is validated in five-axis cutting experiments.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132167367","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
Event-triggered Secure Estimation for Large-scale Interconnected Systems Based on Intermediate Estimator 基于中间估计量的大型互联系统事件触发安全估计
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899923
Jing Zhou, Bo Chen, Li Yu
{"title":"Event-triggered Secure Estimation for Large-scale Interconnected Systems Based on Intermediate Estimator","authors":"Jing Zhou, Bo Chen, Li Yu","doi":"10.1109/ICCA.2019.8899923","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899923","url":null,"abstract":"This paper is concerned with the event-triggered secure state and actuator attack estimation problem in the context of large-scale cyber-physical systems. An event-triggered mechanism is designed with a time-varying threshold to decide whether the newly output measurements will be transmitted to the estimator for each node. Based on local received output measurements, decentralized intermediate estimators are constructed and the uniformly ultimately boundedness of the event-triggered error estimation systems can be guaranteed. Master-slave multiple vehicles systems are used to demonstrate the effectiveness of the proposed methods.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131326382","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
An Iterative Learning Control Synthesis for Nonlinear Systems with Hard Input and Output Constraints 具有硬输入和硬输出约束的非线性系统的迭代学习控制综合
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899986
Gijo Sebastian, Y. Tan, D. Oetomo
{"title":"An Iterative Learning Control Synthesis for Nonlinear Systems with Hard Input and Output Constraints","authors":"Gijo Sebastian, Y. Tan, D. Oetomo","doi":"10.1109/ICCA.2019.8899986","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899986","url":null,"abstract":"Engineered systems are always subjected to operational constraints that limit the range of feasible control input signals and their output signals. This paper proposes an iterative learning control (ILC) structure that can satisfy hard input and output constraints simultaneously for a class of nonlinear systems. This structure enables the decoupling between the design of feed-forward ILC and the output feedback. The role of feed-forward ILC is to track the desired trajectory under repetitive environment while the output feedback is added to handle output constraints with the help of a barrier Lyapunov function. The concept of virtual output constraints is proposed to ensure that the output constraints can be satisfied within the input limits by shifting and scaling the original barrier Lyapunov function. The proposed algorithm is able to ensure the perfect tracking performance and satisfaction of both input and output hard constraints. Simulation results are presented to demonstrate the effectiveness of the proposed method.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128994819","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
Predicting Human Intent for Cooperative Physical Human-Robot Interaction Tasks 预测人机协作物理交互任务中的人类意图
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899490
Harsh Maithani, J. Corrales, Y. Mezouar
{"title":"Predicting Human Intent for Cooperative Physical Human-Robot Interaction Tasks","authors":"Harsh Maithani, J. Corrales, Y. Mezouar","doi":"10.1109/ICCA.2019.8899490","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899490","url":null,"abstract":"In this paper, a robot assistive Impedance and Admittance control methodology is proposed for a cooperative physical human-robot interaction (pHRI) task. In a pHRI task in which the human is the leader, the robot is a passive follower as the human intention of desired motion and force to be applied are unknown. It is generally difficult to predict the intention of the human leader. Recurrent Neural Networks (RNN) with Long Short-Term Memory (LSTM) units are employed to forecast the position,velocity and force anticipated to be applied by the human. The estimated parameters are integrated into the impedance and admittance controllers via a target impedance model which aids the robot in becoming a proactive partner of the human by sharing the physical load. The same methodology is also applied to the Minimum Jerk model which allows the robot to follow the Minimum Jerk trajectory without knowing the trajectory parameters in advance.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"427 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123404654","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: 4
Foreign Object Detection for Electric Energy Meters Based on Multi-feature Fusion and Random Forest 基于多特征融合和随机森林的电能表异物检测
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899694
Xiaoyong Jiang, Tao Yang
{"title":"Foreign Object Detection for Electric Energy Meters Based on Multi-feature Fusion and Random Forest","authors":"Xiaoyong Jiang, Tao Yang","doi":"10.1109/ICCA.2019.8899694","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899694","url":null,"abstract":"Foreign object detection is an important measure to guarantee accurate measurement of electric energy meters. In view of the inefficient manual detection of foreign objects for electric energy meters, an automatic detection method of foreign objects for electric energy meters based on multi-feature fusion and random forest is proposed. Firstly, wavelet de-noising is carried out for the sound signal produced by electric energy meters under detection in the presence of background noise. Then, the time and frequency feature parameters are extracted to form the mixed feature matrix, which is input into the random forest composed of decision trees for classification. By analyzing the recognition rate of different feature fusion methods, an optimal feature fusion method was obtained. Experimental results show that the fusion mode of short-time energy, spectral entropy, LPC and MFCC exhibits the best performance, and its foreign object detection accuracy is higher than 93%.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121039019","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
首页 上一页 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