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Conjugate Unscented Transform rules for uniform probability density functions 均匀概率密度函数的共轭Unscented变换规则
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580202
Nagavenkat Adurthi, P. Singla, T. Singh
{"title":"Conjugate Unscented Transform rules for uniform probability density functions","authors":"Nagavenkat Adurthi, P. Singla, T. Singh","doi":"10.1109/ACC.2013.6580202","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580202","url":null,"abstract":"This paper presents a few novel quadrature rules to evaluate expectation integrals with respect to a uniform probability density function. In 1-dimensional expectation integrals the most widely used numerical method is the Gauss-Legendre quadratures as they are exact for polynomials. As for a generic N-dimensional integral, the tensor product of 1-dimensional Gauss-Legendre quadratures results in an undesirable exponential growth of the number of points. The cubature rules proposed in this paper can be used as a direct alternative to the Gauss-Legendre quadrature rules as they are also designed to exactly evaluate the integrals of polynomials but use only a small fraction of the number of points. In addition, they also have all positive weights.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132014901","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: 17
Direct data-driven design of sparse controllers 稀疏控制器的直接数据驱动设计
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580307
S. Formentin, A. Karimi
{"title":"Direct data-driven design of sparse controllers","authors":"S. Formentin, A. Karimi","doi":"10.1109/ACC.2013.6580307","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580307","url":null,"abstract":"This paper deals with direct data-driven design of model-reference controllers whose number of parameters is constrained. Input-output (I/O) sparse controllers are introduced and proposed as an alternative to low-order controller tuning. The optimal I/O sparse controller is shown to be never worse than the optimal low-order controller with the same number of parameters and a suited design procedure based on convex optimization is derived. The theoretical concepts are illustrated by means of a benchmark simulation example.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132330958","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
Lyapunov-based controller using singular perturbation theory: An application on a mini-UAV 基于奇异摄动理论的lyapunov控制器在微型无人机上的应用
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580063
G. Flores, R. Lozano
{"title":"Lyapunov-based controller using singular perturbation theory: An application on a mini-UAV","authors":"G. Flores, R. Lozano","doi":"10.1109/ACC.2013.6580063","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580063","url":null,"abstract":"In this paper, a Lyapunov-based control using singular perturbation theory is proposed and applied on dynamics of a miniature unmanned aerial vehicle (MAV). Such controller is designed taking into account the presence of the small parameter ∈ on vehicle dynamics, causing a time-scale separation between the attitude and translational dynamics of the MAV. The stability analysis is demonstrated by presenting a scenario in which the time-scale property arises on the the MAV dynamics. In addition, the values of the parameter ∈ for which the control law is validated, are given. Simulations are derived an presented to demonstrate the effectiveness of the control law. The proposed controller has been applied to a Quad-plane MAV experimental platform, in order to validate the performance and to show the time-scale property.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"36 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132467046","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: 29
The δ - sensitivity and its application to stochastic optimal control of nonlinear diffusions δ灵敏度及其在非线性扩散随机最优控制中的应用
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580486
Evangelos A. Theodorou, E. Todorov
{"title":"The δ - sensitivity and its application to stochastic optimal control of nonlinear diffusions","authors":"Evangelos A. Theodorou, E. Todorov","doi":"10.1109/ACC.2013.6580486","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580486","url":null,"abstract":"We provide optimal control laws by using tools from stochastic calculus of variations and the mathematical concept of δ-sensitivity. The analysis relies on logarithmic transformations of the value functions and the use of linearly solvable Partial Differential Equations(PDEs). We derive the corresponding optimal control as a function of the δ-sensitivity of the logarithmic transformation of the value function for the case of nonlinear diffusion processes affine in control and noise.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132521701","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
Fault tolerant control of an octorotor using LPV based sliding mode control allocation 基于LPV滑模控制分配的转子容错控制
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580859
H. Alwi, C. Edwards
{"title":"Fault tolerant control of an octorotor using LPV based sliding mode control allocation","authors":"H. Alwi, C. Edwards","doi":"10.1109/ACC.2013.6580859","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580859","url":null,"abstract":"This paper presents an LPV based sliding mode fault tolerant controller for an octorotor. The scheme utilizes a combination of sliding mode methods and control allocation in order to deal with rotor faults/failures. An LPV scheme has been used to design the baseline sliding mode controller and a stability analysis has been provided for a wide coverage of operating conditions. The proposed scheme uses control allocation to take full advantage of the `redundant' rotors to redistribute the control signals to the healthy rotors when faults/failures occur. Simulation results on the nonlinear model for various fault/failure scenarios show no visible difference in comparison to the nominal fault free performance.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132559021","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: 44
Stabilization of asymmetric bilateral teleoperation systems for haptic devices with time-varying delays 时变延迟触觉装置非对称双侧遥操作系统的镇定
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580538
Trent Hilliard, Yaodong Pan
{"title":"Stabilization of asymmetric bilateral teleoperation systems for haptic devices with time-varying delays","authors":"Trent Hilliard, Yaodong Pan","doi":"10.1109/ACC.2013.6580538","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580538","url":null,"abstract":"This paper invetigates the stabilization issue for a bilateral teleoperation system with time-varying delays. The master and slave manipulators were modeled as linear single degree of freedom systems. The human user force was modeled based on the band limited availability of human motion, and the environmental force was modeled as a spring and damper combination based on the slave position. An impedance matching approach was applied to the master side dynamics, while a static error feedback gain is used to stabilize the slave side dynamics. A Lyapunov functional based on the error dynamics of the system is proposed with consideration for the minimum and maximum level of delays existing in the system. LMI (Linear Matrix Inequality) techniques are used with Jensen's inequality to determine the static feedback control gain. The cone complementarity algorithm is used to deal with non-linear terms within the LMI. The algorithms, hardware applications to haptic devices are described thoroughly and experimental results with comparisons to simulation results are demonstrated to show the effectiveness of the proposed approach.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130243858","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
Multiple-model based sensor fault diagnosis using hybrid kalman filter approach for nonlinear gas turbine engines 基于混合卡尔曼滤波的非线性燃气轮机多模型传感器故障诊断
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580567
B. Pourbabaee, N. Meskin, K. Khorasani
{"title":"Multiple-model based sensor fault diagnosis using hybrid kalman filter approach for nonlinear gas turbine engines","authors":"B. Pourbabaee, N. Meskin, K. Khorasani","doi":"10.1109/ACC.2013.6580567","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580567","url":null,"abstract":"In this paper, an efficient sensor fault detection and isolation (FDI) strategy is proposed based on multiple-model (MM) approach. The scheme is composed of hybrid kalman filters (HKF) by integrating a nonlinear gas turbine engine model that represents the operational engine model with a number of piecewise linear (PWL) models to estimate sensor outputs. The proposed FDI scheme is capable of detecting and isolating permanent sensor bias faults during the entire operational regime of the engine by interpolating the PWL models using a Bayesian approach. Another important aspect of our proposed FDI strategy is its effectiveness within the engine life cycle by periodically updating the model to the degraded health parameters, that one estimated by means of an off-line trend monitoring system that is based on post flight data. The simulation results demonstrate the effectiveness of our proposed online sensor fault diagnosis scheme as well as the robustness of our technique with respect to the engine health parameters degradations.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133875477","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: 27
State dependent sliding sectors for nonlinear systems with nonlinear sliding surfaces 具有非线性滑动曲面的非线性系统的状态相关滑动扇区
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580739
Sinan Ozcan, M. U. Salamci, B. E. Birinci
{"title":"State dependent sliding sectors for nonlinear systems with nonlinear sliding surfaces","authors":"Sinan Ozcan, M. U. Salamci, B. E. Birinci","doi":"10.1109/ACC.2013.6580739","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580739","url":null,"abstract":"The paper suggests a method to design sliding sector control for a class of nonlinear systems in which the system trajectories are kept around a nonlinear sliding surface. The sliding surface is designed by using State Dependent Riccati Equations where Algebraic Riccati Equations are solved for frozen system states. The solutions are used to create the nonlinear (or state dependent) sliding surface around which state dependent sliding sectors are formed. The nonlinear system trajectories are forced inside the sliding sector by using the so-called sliding sector control. The method is illustrated by applying it to a nonlinear inverted pendulum model.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134044821","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
Determination of all stabilizing fractional-order PID controllers that satisfy a robust performance constraint 确定满足鲁棒性能约束的所有稳定分数阶PID控制器
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580095
Yung K. Lee, J. Watkins
{"title":"Determination of all stabilizing fractional-order PID controllers that satisfy a robust performance constraint","authors":"Yung K. Lee, J. Watkins","doi":"10.1109/ACC.2013.6580095","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580095","url":null,"abstract":"This paper presents a method for finding all stabilizing fractional-order (FO) proportional-integral-derivative (PID) controllers that satisfy a robust performance constraint for a system of integer or non-integer order with a time delay. All the solutions to such FO PID controllers are calculated in the frequency domain and are given in terms of the proportional gain Kp, integral gain Ki, and derivative gain Kd. In this paper, they will be plotted on the (Kp, Ki), (Kp, Kd), and (Ki, Kd) planes. For a robust performance constraint, a weight is selected to bound all multiplicative errors resulting from parametric uncertainty and a sensitivity function weight is selected to set performance specifications. This approach provides all the possible gain parameter values of FO PID controllers that satisfy a robust performance condition. An example is given to illustrate the usefulness and effectiveness of the method.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134538784","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
Lean and steering motorcycle dynamics reconstruction: An unknown-input HOSMO approach 精益转向摩托车动力学重构:一种未知输入HOSMO方法
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580262
L. Nehaoua, D. Ichalal, Hichem Arioui, S. Mammar, L. Fridman
{"title":"Lean and steering motorcycle dynamics reconstruction: An unknown-input HOSMO approach","authors":"L. Nehaoua, D. Ichalal, Hichem Arioui, S. Mammar, L. Fridman","doi":"10.1109/ACC.2013.6580262","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580262","url":null,"abstract":"This paper deals with state estimation of Powered Two Wheeled vehicle (PTWV) and robust reconstruction of related unknown inputs. For this purpose, we consider a unknown-input high order Sliding-mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using Jourdain's principle. In a second time, we consider both the observation of the PTWV dynamic states, the reconstruction of the lean dynamics (roll angle φ(t)) and the rider's torque applied on the handlebar. Finlay, several simulation cases are provided to illustrate the efficiency of the proposed observer.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"206 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133904322","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: 9
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