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Convergence rates for direct transcription of optimal control problems using Second Derivative Methods 二阶导数法直接转录最优控制问题的收敛速率
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7524918
D. Sonawane, M. Pathak, V. Subramanian
{"title":"Convergence rates for direct transcription of optimal control problems using Second Derivative Methods","authors":"D. Sonawane, M. Pathak, V. Subramanian","doi":"10.1109/ACC.2016.7524918","DOIUrl":"https://doi.org/10.1109/ACC.2016.7524918","url":null,"abstract":"In this paper, Second Derivative Method (SDM) of numerical discretization is applied to optimal control problems. Convergence rates for the error between the discretized solution of SDM and the corresponding analytical solution of optimal control problems are analyzed. Illustrative examples are included to demonstrate the applicability and benefits of SDM. The comparison of the convergence rates of SDM with implicit Runge-Kutta methods (third order, 2-stage RadauIIA and fourth order, 3-stage LobattoIIIA) is also presented. Using SDM, for optimal control problems with non-stiff type of state equations, the fourth order convergence for states and second order convergence for controls is observed, while for certain stiff/oscillatory equations, it results in reduced order of convergence as observed in other approaches. Depending on the choice of optimization algorithms/platforms used, the proposed method is found to be comparable to other approaches and for certain cases, more efficient.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125700586","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
Extremum Seeking for RF cavity resonance control 射频腔谐振控制的极值求法
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7526624
A. Scheinker
{"title":"Extremum Seeking for RF cavity resonance control","authors":"A. Scheinker","doi":"10.1109/ACC.2016.7526624","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526624","url":null,"abstract":"We present an Extremum Seeking approach for resonance control of radio frequency (RF) resonant cavities without phase measurements. The controller minimizes reflected power from an RF cavity by utilizing model-independent ES. Unlike phase measurement-based resonance controllers, this approach does not require cable length-based calibration. Furthermore, this adaptive approach automatically tracks temperature-induced cable length changes which could otherwise require re-calibration or uncompensated would introduce time-varying offsets. We give a theoretical overview of the problem, a general overview of the controller, and present experimental results.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125719281","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
Repetitive process based higher-order iterative learning control law design 基于重复过程的高阶迭代学习控制律设计
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7524944
Xuan Wang, B. Chu, E. Rogers
{"title":"Repetitive process based higher-order iterative learning control law design","authors":"Xuan Wang, B. Chu, E. Rogers","doi":"10.1109/ACC.2016.7524944","DOIUrl":"https://doi.org/10.1109/ACC.2016.7524944","url":null,"abstract":"Iterative learning control(ILC) has been developed for processes or systems that complete the same finite duration task over and over again. The exact mode of operation is that after each execution is complete the system resets to the starting location ready for the start of the next one. Each execution is known as a trial and the duration the trial length. Once each trial is complete the information generated is available for use in computing the control input for the next trial. This paper uses the repetitive process setting to develop new results on the design of higher-order ILC control laws for discrete dynamics. The results include the relation between the speed of error convergence and the number of previous trials included in the control law.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126025090","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: 3
SOC and SOH estimation for Li-ion batteries based on an equivalent hydraulic model. Part I: SOC and surface concentration estimation 基于等效水力模型的锂离子电池SOC和SOH估算。第一部分:SOC和表面浓度估计
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7525553
Luis D. Couto, Julien Schorsch, M. Nicotra, M. Kinnaert
{"title":"SOC and SOH estimation for Li-ion batteries based on an equivalent hydraulic model. Part I: SOC and surface concentration estimation","authors":"Luis D. Couto, Julien Schorsch, M. Nicotra, M. Kinnaert","doi":"10.1109/ACC.2016.7525553","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525553","url":null,"abstract":"Accurate state-of-charge (SOC) and state-of-health (SOH) estimation is critical to ensure a reliable battery-management system (BMS). This problem is addressed here by resorting to a grey box battery model based on the so-called equivalent hydraulic model (EHM). It allows taking into account in a simple way the difference between bulk concentration and critical surface concentration (CSC) at the anode, which turns out to be significant. The dynamic model is coupled with an output equation based on the Butler-Volmer equation, and the state and parameter of the resulting nonlinear dynamic system are estimated through an extended Kalman filter (EKF). Sufficient conditions for the stability of the EKF are analysed. Finally, the results show that the method provides accurate SOC and CSC. It is shown to outperform two recently proposed approaches for CSC estimation in the considered simulation study. The CSC estimate is used in the companion paper in order to estimate the diffusion coefficient of lithium through the electrode and hence deduce a SOH indicator.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121835442","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: 18
Robust control of undirected rigid formations with constant measurement bias in relative positions 具有恒定相对位置测量偏差的无向刚性地层鲁棒控制
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7524906
Fengjiao Liu, A. Morse, B. Anderson
{"title":"Robust control of undirected rigid formations with constant measurement bias in relative positions","authors":"Fengjiao Liu, A. Morse, B. Anderson","doi":"10.1109/ACC.2016.7524906","DOIUrl":"https://doi.org/10.1109/ACC.2016.7524906","url":null,"abstract":"This paper investigates the robust control of a class of minimally infinitesimally rigid formations in the face of constant bias in the measurements of relative positions between neighboring agents. It is shown that by appropriately modifying standard gradient controls, desired formation shape can be achieved up to small errors in relative positions.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121862851","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: 5
Vehicle lateral motion control considering network-induced delay and tire force saturation 考虑网络延迟和轮胎力饱和的车辆横向运动控制
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7526756
Hui Jing, Rongrong Wang, Chuan Hu, Jinxiang Wang, Fengjun Yan, N. Chen
{"title":"Vehicle lateral motion control considering network-induced delay and tire force saturation","authors":"Hui Jing, Rongrong Wang, Chuan Hu, Jinxiang Wang, Fengjun Yan, N. Chen","doi":"10.1109/ACC.2016.7526756","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526756","url":null,"abstract":"This paper presents a robust H∞ output-feedback based control strategy for the vehicle lateral motion control considering network-induced delay and tire force saturation. The unavoidable time delay in the in-vehicle networks degrades the control performance, and even deteriorates the system stability. In addition, due to the friction limit of the tire force, the tire lateral force is suffering saturation phenomenon, which also deteriorates the control effect in extreme driving conditions. To handle the network-induced delay and tire force saturation, a robust H∞ controller is presented to regulate the vehicle lateral motion. An output-feedback control schema, which does not need the vehicle lateral velocity, is designed to reduce the cost of the control system. The tire cornering stiffness uncertainty and external disturbances are also considered in the controller design to improve the robustness of the proposed controller. The comparative simulation results based on Carsim and Simulink verify the effectiveness and robustness of the proposed control strategy.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121951521","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: 66
The impact of traffic flow on the look-ahead cruise control 交通流量对前视巡航控制的影响
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7526609
B. Németh, P. Gáspár
{"title":"The impact of traffic flow on the look-ahead cruise control","authors":"B. Németh, P. Gáspár","doi":"10.1109/ACC.2016.7526609","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526609","url":null,"abstract":"The paper presents a design method in which the traffic flow is taken into consideration in the design of the look-ahead control. The paper presents the interaction between the look-ahead control and the traffic flow through simulation examples. An optimization method is also developed in order to calculate the optimum speed, which handles the individual vehicle energy optimization and its impact on the traffic flow. A sensitivity analysis of the parameter variation in the look-ahead control is also performed. The method is illustrated through a complex simulation example based on the CarSim software.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122265532","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
Dynamic Network Models 动态网络模型
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7525384
M. Lahroodi
{"title":"Dynamic Network Models","authors":"M. Lahroodi","doi":"10.1109/ACC.2016.7525384","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525384","url":null,"abstract":"The Dynamic Network Model (DNM) approach represents the physical model of dynamic systems in a network framework. The DNM approach has two main roots, namely, bond graph and Artificial Neural Networks (ANNs). This method employs the concepts of effort and flow to create the building blocks of network structure. The proposed DNM approach can be used in different applications, such as direct simulation, system identification, and design control systems. Other applications include analyzing interacting systems and modeling linear and nonlinear systems. The main advantages of DNM method include obtaining approximated difference equations, revealing possible drawbacks of backpropagation algorithm, and respecting Occam's razor principle.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127974513","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
Allowing vanishing stability margins in preservation of (i)ISS dissipation inequalities by scaling 允许消失的稳定性边际在保存(i)ISS耗散不等式缩放
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7525067
H. Ito
{"title":"Allowing vanishing stability margins in preservation of (i)ISS dissipation inequalities by scaling","authors":"H. Ito","doi":"10.1109/ACC.2016.7525067","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525067","url":null,"abstract":"Scaling of Lyapunov functions is one of effective tools in analyzing and designing dynamical systems from components. Integral input-to-state stability and input-to-state stability are notions which allow one to make use of dissipation inequalities in such modular-based analysis with the help of nonlinear gain which may not be globally defined. Effectively selecting nonlinear scalings is crucial for coping with nonlinearities in components without causing degradation of dissipative properties and their estimates. This paper focuses on scalings for systems which do not admit uniform stability margins and proposes new tools applicable to cases which have not been addressed in the literature. In addition to demonstrating preservation of (i)ISS dissipation inequalities by scaling, this paper illustrates the usefulness of the proposed scaling formulas in analyzing stability of cascaded systems through examples.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121726428","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
An efficient approach to the radar ghost elimination problem 一种有效的雷达伪影消除方法
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7525458
Korkut Bekiroglu, Mustafa Ayazoglu, C. Lagoa, M. Sznaier
{"title":"An efficient approach to the radar ghost elimination problem","authors":"Korkut Bekiroglu, Mustafa Ayazoglu, C. Lagoa, M. Sznaier","doi":"10.1109/ACC.2016.7525458","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525458","url":null,"abstract":"Passive sensors or radars in a jammed environment can only measure the targets' bearing or direction information and their location then can be calculated by using well known triangulation methods. However triangulation produces ghosts which act and operate like real targets. Although there are methods in the literature for ghost elimination the procedures proposed are usually very complex especially if the measurements are noisy. Moreover, the resulting false alarm rate might be unacceptable. As a way of addressing this problem, in this paper, a new efficient ghost elimination algorithm is provided. The proposed approach uses the fact that a ghost trajectory is a function of the trajectories of two targets and, hence, its complexity is “higher.” The algorithm estimates the complexity of the observed trajectories (order of systems that approximately generate them) by using fast algorithms based on the concept of atomic norm and classifies observed objects as targets/ghosts if their trajectory complexity is low/high. Finally the proposed approach is illustrated by using an academic example.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115899002","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
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