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A convergent solution to the multi-vehicle coverage problem 多车辆覆盖问题的收敛解
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580554
A. Tahirovic, A. Astolfi
{"title":"A convergent solution to the multi-vehicle coverage problem","authors":"A. Tahirovic, A. Astolfi","doi":"10.1109/ACC.2013.6580554","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580554","url":null,"abstract":"The paper presents a new solution to the multi-vehicle coverage problem. The proposed algorithm guarantees complete coverage and provides collaborative behaviors of vehicles, despite the fact that it does not explicitly exploit any computationally intensive optimization technique. The algorithm can deal with any mission domain, including regions with irregular shapes, multi-connected and disjoint regions. It gives reasonably good solutions even for partially connected multi-vehicle systems. The coverage problem for regions the shape of which change in time regardless the vehicle movement is also solved by the proposed algorithm.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"131 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":"127379897","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
Multi-input shaping control for multi-hoist cranes 多起重起重机多输入成形控制
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580364
J. Vaughan, Jieun Yoo, Nathan Knight, W. Singhose
{"title":"Multi-input shaping control for multi-hoist cranes","authors":"J. Vaughan, Jieun Yoo, Nathan Knight, W. Singhose","doi":"10.1109/ACC.2013.6580364","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580364","url":null,"abstract":"Multiple cranes are often used in coordination to manipulate very large payloads. These type of lifts are common in the aerospace industry, when large aircraft components are moved and when satellites are placed into testing fixtures. Such lifts also occur frequently in the construction industry to move large prefabricated components into place. These multi-hoist lifts suffer from the same fundamental limitation as simpler, single-hoist cranes: payload oscillation. However, the increased complexity of the payload dynamics make multi-hoist lifts more difficult to control. This paper presents two methods to limit payload oscillation during multi-hoist lifts. The two techniques utilize input shaping to design inputs for each of the hoists involved. One method uses the local suspension cable length at each hoist for control design, while the other concurrently designs the inputs based on the payload configuration. Experimental results from a two-hoist system verify some of the theoretical findings.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"112 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":"124893396","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
H∞ gearshift control of a dual clutch based on uncertain TS models 基于不确定TS模型的双离合器H∞换档控制
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580596
Van-Nhu Tran, J. Lauber, M. Dambrine
{"title":"H∞ gearshift control of a dual clutch based on uncertain TS models","authors":"Van-Nhu Tran, J. Lauber, M. Dambrine","doi":"10.1109/ACC.2013.6580596","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580596","url":null,"abstract":"The dual clutch transmission was introduced in vehicles to improve driving comfort compared with manual transmissions, and performances, fuel efficiency compared with automatic transmissions. The dual clutch transmission allows to shift gears quickly, comfortably and without interruption in traction. In the dual clutch transmission, the management of the dual clutch in the gearshift phase is a key point especially when considering driving comfort. In this paper, we propose a dual clutch control law for gearshift based on a Takagi-Sugeno model. The goal is to ensure a smooth gearshift while limiting shift time. The approach used is the tracking of the dual clutch sliding speed and engine speed reference. In addition, parametric variations of the model and disturbances are also considered.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"28 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":"125081470","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
Decentralized guidance and control for spacecraft formation flying using virtual leader configuration 基于虚拟先导结构的航天器编队飞行分散制导与控制
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580585
Daero Lee, V. S. Prabhakaran, L. Holguin, A. Sanyal, E. Butcher
{"title":"Decentralized guidance and control for spacecraft formation flying using virtual leader configuration","authors":"Daero Lee, V. S. Prabhakaran, L. Holguin, A. Sanyal, E. Butcher","doi":"10.1109/ACC.2013.6580585","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580585","url":null,"abstract":"This paper proposes a novel guidance and control scheme for decentralized spacecraft formation flying on SE(3) via virtual leader configuration. The configuration space for a spacecraft modeled as a rigid body is the Lie group SE(3), which is the set of positions and orientations of the spacecraft moving in three-dimensional Euclidean space. A combined guidance and feedback control law in continuous time for the full (translational and rotational) motion of a rigid body under the influence of external disturbance is designed. The guidance scheme aims to reach a final relative configuration according to the desired formation where the relative configuration is described in terms of the exponential coordinates on SE(3). The control law then obtains the desired trajectory leading to the desired formation. The stability of the feedback control system is analyzed. Numerical simulation results demonstrates that the control law can effectively perform a decentralized formation flying for a selected rigid spacecraft formation between three spacecraft.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"13 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":"125164391","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
Applications of feedback control in online advertising 反馈控制在网络广告中的应用
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580779
N. Karlsson, Jianlong Zhang
{"title":"Applications of feedback control in online advertising","authors":"N. Karlsson, Jianlong Zhang","doi":"10.1109/ACC.2013.6580779","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580779","url":null,"abstract":"Internet advertising is a new and exciting area where feedback control has proven tremendously valuable and is expected to play an increasingly important role as the industry continues its rapid growth. The objective of algorithms in a display advertising network is to create value for advertisers, publishers, and the network owner, via optimal decisions on where, when, how, and to whom to show ads. Feedback controllers provide a system that learns from its mistakes and takes proper reactive and proactive actions to meet goals set by advertisers. This paper is a brief tutorial to the field with control engineers as the intended audience.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"92 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":"126162183","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: 32
Stability control in aerial manipulation 空中操纵中的稳定控制
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580711
M. Orsag, C. Korpela, M. Pekala, P. Oh
{"title":"Stability control in aerial manipulation","authors":"M. Orsag, C. Korpela, M. Pekala, P. Oh","doi":"10.1109/ACC.2013.6580711","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580711","url":null,"abstract":"Aerial manipulation, grasping, and perching in small unmanned aerial vehicles (UAVs) require specific control systems to compensate for changing inertial properties. Grasped objects, external forces from terrain objects, or manipulator movements themselves may destabilize or otherwise alter the flight characteristics of small UAVs during operation resulting in undesirable outcomes. Traditional control methods that assume static mass and inertial properties must be modified to produce stable control of a quadrotor system. This paper presents work towards a control scheme to achieve dynamic stability of an aerial vehicle while under the influence of manipulators and grasped objects. A quadrotor with attached multi-degree of freedom manipulators is implemented in simulation and constructed for testing. Compensation of the inertial changes due to in-flight manipulator movements is investigated. A control scheme is developed and results are presented.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"150 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":"123261743","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: 48
Nonlinear observer for GNSS-aided inertial navigation with quaternion-based attitude estimation 基于四元数姿态估计的gnss辅助惯性导航非线性观测器
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6579849
H. F. Grip, T. Fossen, T. Johansen, A. Saberi
{"title":"Nonlinear observer for GNSS-aided inertial navigation with quaternion-based attitude estimation","authors":"H. F. Grip, T. Fossen, T. Johansen, A. Saberi","doi":"10.1109/ACC.2013.6579849","DOIUrl":"https://doi.org/10.1109/ACC.2013.6579849","url":null,"abstract":"For applications with limited computational capacity, observers designed based on nonlinear stability theory offer an alternative to computationally demanding extended Kalman filters. In this paper, we present a semiglobally stable nonlinear observer for estimating position, velocity, attitude, and gyro bias by combining a GNSS receiver with an inertial measurement unit including a magnetometer. Previous work by the authors on this topic was based on local navigation equations that ignored the Earth's rotation and curvature. Moreover, the attitude was represented by an over-parameterized 9-degrees-of-freedom matrix. The current paper improves on these aspects by using navigation equations that take the Earth's rotation and curvature into account, and by representing the attitude estimate as a unit quaternion. Furthermore, the observer is tested experimentally on data from a light fixed-wing aircraft.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"13 5 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":"123691768","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: 69
Multiagent allocation of Markov decision process tasks 马尔可夫决策过程任务的多智能体分配
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6580186
Trevor Campbell, Luke B. Johnson, J. How
{"title":"Multiagent allocation of Markov decision process tasks","authors":"Trevor Campbell, Luke B. Johnson, J. How","doi":"10.1109/ACC.2013.6580186","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580186","url":null,"abstract":"Producing task assignments for multiagent teams often leads to an exponential growth in the decision space as the number of agents and objectives increases. One approach to finding a task assignment is to model the agents and the environment as a single Markov decision process, and solve the planning problem using standard MDP techniques. However, both exact and approximate MDP solvers in this environment struggle to produce assignments even for problems involving few agents and objectives. Conversely, problem formulations based upon mathematical programming typically scale well with the problem size at the expense of requiring comparatively simple agent and task models. This paper combines these two formulations by modeling task and agent dynamics using MDPs, and then using optimization techniques to solve the combinatorial problem of assigning tasks to agents. The computational complexity of the resulting algorithm is polynomial in the number of tasks and is constant in the number of agents. Simulation results are provided which highlight the performance of the algorithm in a grid world mobile target surveillance scenario, while demonstrating that these techniques can be extended to even larger tasking domains.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"17 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":"126738967","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: 13
Variation of the balanced POD algorithm for model reduction of linear systems 线性系统模型约简中平衡POD算法的变化
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6579886
J. Singler
{"title":"Variation of the balanced POD algorithm for model reduction of linear systems","authors":"J. Singler","doi":"10.1109/ACC.2013.6579886","DOIUrl":"https://doi.org/10.1109/ACC.2013.6579886","url":null,"abstract":"We present a variation on an existing model reduction algorithm for linear systems based on balanced proper orthogonal decomposition (POD). In contrast to many computational approaches to balanced truncation, the algorithm variation approximates the reduced order model directly without first transforming the linear system. The algorithm is applicable to large-scale finite dimensional systems and a class of infinite dimensional systems. The algorithm variation is compared to the original balanced POD algorithm on example partial differential equation systems.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"79 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":"115044552","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
Sleep scheduling of wireless sensor networks using hard-core point processes 基于硬核点进程的无线传感器网络睡眠调度
2013 American Control Conference Pub Date : 2013-06-17 DOI: 10.1109/ACC.2013.6579932
H. Jaleel, M. Egerstedt
{"title":"Sleep scheduling of wireless sensor networks using hard-core point processes","authors":"H. Jaleel, M. Egerstedt","doi":"10.1109/ACC.2013.6579932","DOIUrl":"https://doi.org/10.1109/ACC.2013.6579932","url":null,"abstract":"In this paper, we examine a randomly deployed sensor network and propose a probabilistic sleep-scheduling scheme to conserve energy while maintaining a desired level of coverage by using coordination among sensors. To introduce coordination among neighboring sensors, we use a hard-core point process from stochastic geometry, which is an inhibition process and does not allow more than one sensor to be on in a given circular region. As compared to existing schemes, the hard-core point process allows coordination between sensors with little communication overhead. We analyze the proposed scheme and derive an expression for the event detection probability. We also perform Monte Carlo simulations and compare the event detection probability to a random switching scheme for a Poisson process of same intensity in order to confirm that the proposed scheme improves the detection probability.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"211 3 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":"115583244","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
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