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2016 American Control Conference (ACC)最新文献

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Aircraft sensor fault detection using state and input estimation 基于状态估计和输入估计的飞机传感器故障检测
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7526603
Ahmad Ansari, D. Bernstein
{"title":"Aircraft sensor fault detection using state and input estimation","authors":"Ahmad Ansari, D. Bernstein","doi":"10.1109/ACC.2016.7526603","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526603","url":null,"abstract":"This paper presents a method for detecting aircraft sensor faults using state and input estimation. We formulate the kinematics as a nonlinear state space system, which requires no modeling information, and thus is applicable to all aircraft. To illustrate the method, we investigate three fault-detection scenarios, namely, faulty pitot tube, angle-of-attack sensor, and accelerometers. We use the extended Kalman filter for pitot-tube and angle-of-attack sensor fault detection, and retrospective cost input estimation for accelerometer fault detection. For numerical illustration, we use the NASA Generic Transport Model to detect stuck, bias, drift, and deadzone sensor faults.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"59 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":"122551632","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: 21
Normal form and adaptive control of mimo non-canonical neural network systems mimo非正则神经网络系统的范式与自适应控制
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7525385
Yanjun Zhang, G. Tao, Mou Chen, Zehui Mao
{"title":"Normal form and adaptive control of mimo non-canonical neural network systems","authors":"Yanjun Zhang, G. Tao, Mou Chen, Zehui Mao","doi":"10.1109/ACC.2016.7525385","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525385","url":null,"abstract":"This paper presents a new study on adaptive control of multi-input multi-output (MIMO) neural network system models in a non-canonical form. Different from canonical-form nonlinear systems whose neural network approximation models have explicit relative degrees, non-canonical form nonlinear systems usually do not have such a feature, nor do their approximation models which are also in non-canonical forms. For adaptive control of non-canonical form neural network system models with uncertain parameters, this paper develops a new adaptive feedback linearization based control scheme, by specifying relative degrees and establishing a normal form of such systems, deriving a new system re-parametrization needed for adaptive control design, and constructing a stable controller for which an uncertain control gain matrix is handled using a matrix decomposition technique. System stability and tracking performance is analyzed. A detailed example with simulation results is presented to show the control design procedure and desired system performance.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"29 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":"122775087","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
Real-time model predictive control for keeping a quadrotor visible on the camera field-of-view of a ground robot 实时模型预测控制保持四旋翼可见的相机视野的地面机器人
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7525254
Wei Ding, M. Ganesh, Robert N. Severinghaus, Jason J. Corso, Dimitra Panagou
{"title":"Real-time model predictive control for keeping a quadrotor visible on the camera field-of-view of a ground robot","authors":"Wei Ding, M. Ganesh, Robert N. Severinghaus, Jason J. Corso, Dimitra Panagou","doi":"10.1109/ACC.2016.7525254","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525254","url":null,"abstract":"This paper considers a cooperative control design for an aerial/ground robot system, and addresses the problem of maintaining visibility of a quadrotor within the camera field-of-view of a ground robot in the presence of external disturbances. The quadrotor needs to be tracked by the ground robot with a monocular camera, and hence its motion should facilitate the ground vision-based tracking process by remaining in the effective camera sensing area. We design a model predictive controller (MPC) strategy where the visibility constraints of the camera and the control input constraints of the quadrotor are encoded into the cost function via barrier functions, and we adopt a fast MPC solver that is able to solve the optimization problem in real time. We also propose a method to enhance the robustness of the algorithm by suitably defining a restart method for the MPC solver. The applicability of the proposed algorithm is demonstrated through simulations and experimental results on real setups.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"88 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":"122493935","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
Analysis of slow convergence regions in adaptive systems 自适应系统慢收敛区域分析
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7526775
Oscar Nouwens, A. Annaswamy, E. Lavretsky
{"title":"Analysis of slow convergence regions in adaptive systems","authors":"Oscar Nouwens, A. Annaswamy, E. Lavretsky","doi":"10.1109/ACC.2016.7526775","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526775","url":null,"abstract":"We examine convergence properties of errors in a class of adaptive systems that corresponds to adaptive control of linear time-invariant plants with state variables accessible. We demonstrate the existence of a sticking region in the error space where the state errors move with a finite velocity independent of their magnitude. We show that these properties are also exhibited by adaptive systems with closed-loop reference models which have been demonstrated to exhibit improved transient performance as well as those that include an integral control in the inner-loop. A simulation study is included to illustrate the size of this sticking region and its dependence on various system parameters.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"86 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":"122531652","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
Ergodic exploration with stochastic sensor dynamics 随机传感器动力学遍历勘探
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7525371
G. D. L. Torre, K. Flaßkamp, A. Prabhakar, T. Murphey
{"title":"Ergodic exploration with stochastic sensor dynamics","authors":"G. D. L. Torre, K. Flaßkamp, A. Prabhakar, T. Murphey","doi":"10.1109/ACC.2016.7525371","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525371","url":null,"abstract":"Ergodic exploration has been shown to be an effective framework for autonomous sensing and exploration. The objective of ergodic control is to minimize the difference between the distribution of the time-averaged sensor trajectory and a spatial probability distribution function representing information density. Therefore, the time a sensor spends sampling a particular region is manipulated to correspond to the anticipated information density of that region. This paper introduces a trajectory optimization approach for ergodic exploration in the presence of stochastic sensor dynamics. The stochastic differential dynamic programming algorithm is formulated in the context of ergodic exploration. Numerical studies demonstrate the proposed framework's ability to mitigate stochastic effects.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"57 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114050389","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: 11
Analysis of synchronization of n metronomes on a cart via describing function method: New results beyond two metronomes 用描述函数法分析车上n个节拍器的同步:超越两个节拍器的新结果
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7526710
X. Xin, Yoshinori Muraoka, S. Hara
{"title":"Analysis of synchronization of n metronomes on a cart via describing function method: New results beyond two metronomes","authors":"X. Xin, Yoshinori Muraoka, S. Hara","doi":"10.1109/ACC.2016.7526710","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526710","url":null,"abstract":"This paper aims to analyze the synchronization phenomena in the system consisting of n identical metronomes hanging from an elastically fixed cart by using describing function (DF) method, which deals the driving torque as a discontinuous function of the angle and angular velocity of each metronome. This paper presents a unified DF solution of the system which shows that there exist two types of synchronization with the first harmonic of the angle of each metronome having the same amplitude. One is the out-of-phase synchronization; that is, there exist at least two of all metronomes having a nonzero phase shift. The other is the in-phase synchronization; that is, the phases of all metronomes are the same. Regarding the out-of-phase synchronization, this paper shows that the frequency and amplitude of its first harmonic of the angle of each metronome, are independent of n and the mechanical parameters related to the cart, and are exactly the same as those of the single metronome hanging from a fixed base. This paper shows that the out-of-phase synchronization is stable and presents a new result of the phase shifts of n ?? 1 metronomes with respect to a referenced metronome. The analytical results are validated by numerical simulation for three metronomes.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"29 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":"114471741","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: 6
Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking 混合周期轨道指数稳定的分散反馈控制器:在机器人行走中的应用
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7526112
K. Hamed, R. Gregg
{"title":"Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking","authors":"K. Hamed, R. Gregg","doi":"10.1109/ACC.2016.7526112","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526112","url":null,"abstract":"This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"1 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":"122061374","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
Active disturbance rejection control for automated steering in vehicles and controller tuning 车辆自动转向的自抗扰控制及控制器整定
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7526868
Z. Chu, C. Wu
{"title":"Active disturbance rejection control for automated steering in vehicles and controller tuning","authors":"Z. Chu, C. Wu","doi":"10.1109/ACC.2016.7526868","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526868","url":null,"abstract":"This paper applies active disturbance rejection control (ADRC) to automated steering in vehicles. The controller is designed on a linear vehicle model and its performance is evaluated on a nonlinear vehicle model. A tuning method is proposed to obtain the acceptable values of the controller parameters by making the control system satisfy the requirements on stability and system performance. The stability analysis is realized through determining the eigenvalues of the control system. The ADRC controller is compared with two well-tuned PID controllers. Comparison and simulation results indicate that the ADRC controller performs better and is more robust against the parameter variations and the external disturbance.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"13 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":"117255324","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
Stabilization of floating offshore wind turbines by artificial muscle based active mooring line force control 基于人工肌肉主动系泊绳力控制的海上浮式风力发电机稳定
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7525257
Yaoyu Li, Zhongyou Wu
{"title":"Stabilization of floating offshore wind turbines by artificial muscle based active mooring line force control","authors":"Yaoyu Li, Zhongyou Wu","doi":"10.1109/ACC.2016.7525257","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525257","url":null,"abstract":"The floating offshore wind turbine (FOWT) promises the future penetration of wind power generation into deep water, while FOWT presents significant challenge for controls in terms of platform stability, power regulation and increased structural loads. With floating foundations, wind turbine control faces dramatic increase of degrees-of-freedom (DOF) to be controlled, thus resulting in under-actuation reality. It is thus critical to develop actuation schemes that are of low cost, low power consumption, high bandwidth and low design complexity. In this paper, an active mooring line force control scheme is investigated using linear actuators based a novel thermally-actuated sewing thread artificial muscle (STAM). The STAM actuator is proposed to consist of multiple bundles of twisted nylon fishing line or sewing thread. The proposed actuator is added to the junction between the mooring lines and platform bars of FOWT with tensioned-leg platform (TLP). Simulation models of STAM actuator is integrated to the mooring line model of NREL's FAST, and control simulations are performed on the 5MW WindPACT model. Simulation results of two load cases validate the effectiveness of this novel actuation scheme in stabilizing the platform motion and reducing the wind turbine loads.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"1 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":"129725526","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: 23
Verification and prediction of structural balance: A data-driven perspective 结构平衡的验证与预测:数据驱动的视角
2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI: 10.1109/ACC.2016.7525352
Lulu Pan, Haibin Shao, M. Mesbahi
{"title":"Verification and prediction of structural balance: A data-driven perspective","authors":"Lulu Pan, Haibin Shao, M. Mesbahi","doi":"10.1109/ACC.2016.7525352","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525352","url":null,"abstract":"The structural balance plays a fundamental role in networked systems with both attractive and repulsive interactions, which can be characterized by a signed network. In this paper, we show that the ensemble of type of interaction in a signed network can be inferred from the eigenvector of the signed Laplacian matrix. Also, it has been shown that a graph, derived from the graph Cartesian product of factor graphs, is structurally balanced if and only if its factors are structurally balanced. According to the theoretical results, the verification and prediction of the structural balance of the signed network is presented from a data-driven perspective by utilizing the dynamic mode decomposition.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"1 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":"129760524","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: 6
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