IFAC Proceedings Volumes最新文献_第8页

Parametric Reduced Order Models Using Adaptive Sampling and Interpolation 使用自适应采样和插值的参数化降阶模型

IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02664

J. Borggaard, Kevin R. Pond, L. Zietsman

引用次数: 9

A Virtual Actuator Approach for Fault Tolerant Control of Switching LPV Systems 切换LPV系统容错控制的虚拟致动器方法

IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00697

D. Rotondo, V. Puig, F. Nejjari

引用次数: 5

Hybrid Guidance Algorithm using Flatness and Dynamic Inversion for RLV 基于平面度和动态反演的RLV混合制导算法

IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140313-3-IN-3024.00014

Reshma Susan Babu , Dr. U.P. Rajeev , R. Lethakumari

引用次数: 1

Distributed Monte Carlo information fusion and distributed particle filtering 分布式蒙特卡罗信息融合与分布式粒子滤波

IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00929

I. Manuel, A. Bishop

引用次数: 7

Switching Hybrid Control of Blood Glucose in Diabetic Göttingen Minipigs 糖尿病迷你猪血糖开关杂交控制Göttingen

IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02156

K. Lunze, B. Misgeld, S. Leonhardt

引用次数: 0

Mixed-Criticality Systems based on a CAN Router with Support for Fault Isolation and Selective Fault-Tolerance 基于CAN路由器的支持故障隔离和选择性容错的混合临界系统

IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02126

R. Kammerer, R. Obermaisser, Mino Sharkhawy

{"title":"Mixed-Criticality Systems based on a CAN Router with Support for Fault Isolation and Selective Fault-Tolerance","authors":"R. Kammerer, R. Obermaisser, Mino Sharkhawy","doi":"10.3182/20140824-6-ZA-1003.02126","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02126","url":null,"abstract":"Abstract In many application domains there is an increasing trend for mixed-criticality systems with functions of different assurance levels on shared computing platforms. Today's CAN-based platforms do not support the requirements of mixed-criticality systems. A single CAN bus provides low cost, real-time support and flexibility for applications where the communication service is not safety-relevant. Fault-tolerance extensions for CAN impose incompatibility to legacy applications, high cost and overhead for the entire CAN communication. This paper introduces a CAN infrastructure for fault isolation and selective fault-tolerance, which permits a balanced trade-off between cost and fault-tolerance for each subsystem of a mixed-criticality system. We introduce replicated CAN routers that perform fault isolation based on a priori knowledge of the permitted behavior of CAN nodes. Fault masking is supported selectively through the redundant transmission of messages from safety-critical subsystems. The CAN routers perform input agreement on pending messages for replica deterministic behavior, as well as output agreement on the delivery status of messages. Software layers hide the fault-tolerance mechanisms to establish compatibility to legacy software. The benefits of the proposed communication infrastructure are demonstrated in a simulation of an example system.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"142 1","pages":"12284-12292"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75045238","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

Data-Based Characteristics Analysis for Linear Discrete-Time Systems 基于数据的线性离散系统特性分析

IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00248

Zhuo Wang, Derong Liu

引用次数: 1

Multicore partitioned systems based on hypervisor 基于管理程序的多核分区系统

IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02410

A. Crespo, M. Masmano, J. Coronel, S. Peiró, P. Balbastre, J. Simó

{"title":"Multicore partitioned systems based on hypervisor","authors":"A. Crespo, M. Masmano, J. Coronel, S. Peiró, P. Balbastre, J. Simó","doi":"10.3182/20140824-6-ZA-1003.02410","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02410","url":null,"abstract":"Abstract Multi-core processors are increasingly being considered to provide the performance required by future safety critical systems. In some domains like space, it is specially significant due to the processor technology frequency is limited by the presence of radiation. In that case, the way to increase computing power can be achieved by the use of multi-core systems. There is a number of challenges involved in the migration to multi-core processor architectures in safety-critical embedded systems domain which are still unresolved and which contribute to increase the complexity of the design. Even if multi-core processors may offer several benefits to embedded systems, their use is not straightforward. Virtualization techniques maturity have reach the level to offer guarantees in critical systems. In this paper, we present a multi-core hypervisor for mixed-criticality applications as one of the results of the MultiPARTES project. The paper analyse the design and implementation of XtratuM for multi-core and details a performance analysis to determine the overheads incurred by the virtualization layer and presents some results when shared resources are considered.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"281 1","pages":"12293-12298"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72696152","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: 12

Nonlinear Disturbance Compensation and Reference Tracking via Reinforcement Learning with Fuzzy Approximators

IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02511

Y. Bayiz, Robert Babuška

{"title":"Nonlinear Disturbance Compensation and Reference Tracking via Reinforcement Learning with Fuzzy Approximators","authors":"Y. Bayiz, Robert Babuška","doi":"10.3182/20140824-6-ZA-1003.02511","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02511","url":null,"abstract":"Abstract Reinforcement Learning (RL) algorithms can learn optimal control laws for nonlinear dynamic systems without relying on a mathematical model of the system to be controlled. While RL can in principle discover control laws from scratch, by solely interacting with the process, in practice this does not yield any significant advantages. Learning control laws from scratch is lengthy and may lead to system damage due to the trial and error nature of the learning process. In this paper, we adopt a different and largely unexplored approach: a nominal control law is used to achieve reasonable, yet suboptimal, performance and a RL agent is trained to act as a nonlinear compensator whose task is to improve upon the performance of the nominal controller. The RL agent learns by means of an actor-critic algorithm using a plant model acquired on-line, alongside the critic and actor. Fuzzy approximators are employed to represent all the adjustable components of the learning scheme. One advantage of fuzzy approximators is the straightforward way in which they allow for the inclusion of prior knowledge. The proposed control scheme is applied to a reference tracking problem of 1-DOF robot arm influenced by an unknown payload disturbance due to gravity. The nominal controller is a PD controller, which is unable to properly compensate the effect of the disturbance considered. Simulation results indicate that the novel method is able to learn to compensate the disturbance for any reference angle varying throughout the experiment.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"32 1","pages":"5393-5398"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72698979","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: 10

Output Control of Nonlinear Systems with Unmodelled Dynamics1 非建模非线性系统的输出控制[j]

IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00125

A. Bobtsov, S. Kolyubin, A. Pyrkin, A. Kapitonov, N. Nikolaev

引用次数: 0