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Robust repeated pole placement 稳健的重复极点布置
2013 Australian Control Conference Pub Date : 2013-11-01 DOI: 10.1109/AUCC.2013.6697316
Robert Schmid, L. Ntogramatzidis, T. Nguyen, Amit P. Pandey
{"title":"Robust repeated pole placement","authors":"Robert Schmid, L. Ntogramatzidis, T. Nguyen, Amit P. Pandey","doi":"10.1109/AUCC.2013.6697316","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697316","url":null,"abstract":"We consider the classic problem of pole placement by state feedback. Recently [1] offered an eigenstructure assignment algorithm to obtain a novel parametric form for the pole-placing gain matrix to deliver any set of desired closed-loop eigenvalues, with any desired multiplicities. In this paper we employ this parametric formula to introduce an unconstrained nonlinear optimisation algorithm to obtain a gain matrix that delivers any desired pole placement with optimal robustness.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124428228","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
Evolutionary algorithms for self-tuning Active Vibration Control of flexible beam 柔性梁自调谐振动主动控制的进化算法
2013 Australian Control Conference Pub Date : 2013-11-01 DOI: 10.1109/AUCC.2013.6697256
M. Fadil, I. Darus
{"title":"Evolutionary algorithms for self-tuning Active Vibration Control of flexible beam","authors":"M. Fadil, I. Darus","doi":"10.1109/AUCC.2013.6697256","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697256","url":null,"abstract":"This paper presents the development of self tuning Active Vibration Control (AVC) strategy for flexible beam structure. An experimental procedure was conducted on a flexible beam structure with clamped-free boundary condition. The beam was forced to vibrate using an external force and a set of input-output vibration data was acquired. Using the input-output data, the flexible beam model was developed using Least Squares (LS) algorithm that incorporated the Auto Regressive (ARX) model structure. The AVC controllers developed are proportional-derivative (PD) and proportionalintegral-derivative (PID). The parameters of PD and PID controllers were tuned using iterative learning algorithm (ILA) and evolutionary Particle Swarm Optimization (PSO) techniques. Mean squared errors (MSE) were used to compare PSO tuned PD (PD-PSO), PSO tuned PID (PID-PSO) and PID with ILA (PID-ILA) controllers. It was found that the PID-ILA controller tuned using ILA had performed better than PID-PSO but PD-PSO is the best among the three controllers.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128384860","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
Application of stochastic control to analysis and optimization of TCP 随机控制在TCP分析与优化中的应用
2013 Australian Control Conference Pub Date : 2013-11-01 DOI: 10.1109/AUCC.2013.6697279
A. Miller, B. Miller
{"title":"Application of stochastic control to analysis and optimization of TCP","authors":"A. Miller, B. Miller","doi":"10.1109/AUCC.2013.6697279","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697279","url":null,"abstract":"The article considers the optimal stochastic control approach to the analysis of TCP. Generally the analysis of TCP schemes is based on so-called fluid models which provide the asymptotic behavior of the queuing system where the number of jobs is huge. At this level of consideration only the asymptotic results could be obtained and the real performance of existing protocols is still unclear particularly if there are the seasonal changes and congestions. Meanwhile, the models of controllable Markov chains (CMC) are more appropriate to the analysis of control of flows in the Internet that has been observed by many authors long ago. The principal difficulty of the CMC application is the high dimension particularly for connected controllable Markov chains (CCMC). But nowadays this problem is less important due to the development of multiprocessor supercomputers that make the numerical solution of the optimal control problems for CMC more achievable. Models of CCMC arise in queuing systems with many service lines where some idle lines may be used to avoid the congestion if the principal lines have been subjected the huge workload. Here we suggest the tensor form of such CMC description and give the dynamic programming equation in corresponding tensor form. As examples we consider the results of CMC approach to control the system with one service line, system with two service lines, namely the main and reserve ones, having different service rates and the cost of service, and to the system with incomplete information about the router state.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114118327","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
Automated aerial inspection guidance with improved turn planning 改进转弯规划的自动空中检查引导
2013 Australian Control Conference Pub Date : 2013-11-01 DOI: 10.1109/AUCC.2013.6697286
T. Bruggemann, J. Ford
{"title":"Automated aerial inspection guidance with improved turn planning","authors":"T. Bruggemann, J. Ford","doi":"10.1109/AUCC.2013.6697286","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697286","url":null,"abstract":"Aerial inspection of pipelines, powerlines, and other large linear infrastructure networks has emerged in a number of civilian remote sensing applications. Challenges relate to automating inspection flight for under-actuated aircraft with LiDAR/camera sensor constraints whilst subjected to wind disturbances. This paper presents new improved turn planning strategies with guidance suitable for automation of linear infrastructure inspection able to reduce inspection flight distance by including wind information. Simulation and experimental flight tests confirmed the flight distance saving, and the proposed guidance strategies exhibited good tracking performance in a range of wind conditions.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127708672","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
Computation time analysis of centralized and distributed optimization algorithms applied to automated irrigation networks 集中式和分布式优化算法在自动化灌溉网络中的计算时间分析
2013 Australian Control Conference Pub Date : 2013-11-01 DOI: 10.1109/AUCC.2013.6697283
A. Farhadi, P. Dower, M. Cantoni
{"title":"Computation time analysis of centralized and distributed optimization algorithms applied to automated irrigation networks","authors":"A. Farhadi, P. Dower, M. Cantoni","doi":"10.1109/AUCC.2013.6697283","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697283","url":null,"abstract":"This paper compares the computation time of two algorithms for solving a structured constrained linear optimal control problem with finite horizon quadratic cost within the context of automated irrigation networks. The first is a standard centralized algorithm based on the active set method that does not exploit problem structure. The second is distributed and is based on a consensus algorithm, not specifically tailored to account for system structure. It is shown that there is a significant advantage in terms of computation overhead (the time spent computing the optimal solution) in using the second algorithm in large-scale networks. Specifically, for a fixed horizon length the computation overhead of the centralized algorithm grows as O(n5) with the number n of sub-systems. By contrast, it is observed via a combination of analysis and experiment that given n times resources for computation the computation overhead of the distributed algorithm grows as O(n) with the number n of sub-systems.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"689 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122703794","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
Control of infrastructure inspection aircraft vertical dynamics in the presence of thermal disturbances 存在热扰动的基础设施检查机垂直动力学控制
2013 Australian Control Conference Pub Date : 2013-11-01 DOI: 10.1109/AUCC.2013.6697244
O. Techakesari, T. Bruggemann, J. Ford
{"title":"Control of infrastructure inspection aircraft vertical dynamics in the presence of thermal disturbances","authors":"O. Techakesari, T. Bruggemann, J. Ford","doi":"10.1109/AUCC.2013.6697244","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697244","url":null,"abstract":"The low-altitude aircraft inspection of powerlines, or other linear infrastructure networks, is emerging as an important application requiring specialised control technologies. Despite some recent advances in automated control related to this application, control of the underactuated aircraft vertical dynamics has not been completely achieved, especially in the presence of thermal disturbances. Rejection of thermal disturbances represents a key challenge to the control of inspection aircraft due to the underactuated nature of the dynamics and specified speed, altitude, and pitch constraints. This paper proposes a new vertical controller consisting of a backstepping elevator controller with feedforward-feedback throttle controller. The performance of our proposed approach is evaluated against two existing candidate controllers.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128637736","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
Sampling-based learning control of quantum systems with bounded inputs and uncertainties via path planning 基于路径规划的有界输入和不确定性量子系统的采样学习控制
2013 Australian Control Conference Pub Date : 2013-11-01 DOI: 10.1109/AUCC.2013.6697259
Chunlin Chen, Ruixing Long, B. Qi, D. Dong
{"title":"Sampling-based learning control of quantum systems with bounded inputs and uncertainties via path planning","authors":"Chunlin Chen, Ruixing Long, B. Qi, D. Dong","doi":"10.1109/AUCC.2013.6697259","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697259","url":null,"abstract":"Robust control design is a central problem for quantum systems in practical implementation and applications. In this paper, we formulate the control problem of a quantum system with bounded uncertainties as the problem of steering this system to a target state with bounded controls via an optimized evolution path to achieve a satisfactory level of fidelity. To find the optimized path (controls), we present a combined design method of sampling-based learning control and path planning. The numerical results on an example of a four-level quantum system show the effectiveness of the proposed learning control design method.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"62 2-3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126966537","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
Characterization of sign controllability for linear systems with real eigenvalues 具有实特征值的线性系统符号可控性的表征
2013 Australian Control Conference Pub Date : 2013-11-01 DOI: 10.1109/AUCC.2013.6697315
C. Hartung, G. Reissig, F. Svaricek
{"title":"Characterization of sign controllability for linear systems with real eigenvalues","authors":"C. Hartung, G. Reissig, F. Svaricek","doi":"10.1109/AUCC.2013.6697315","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697315","url":null,"abstract":"A linear time-invariant system of the form ẋ(t) = Ax(t) + Bu{t), or x(t + 1) = Ax(t) + Bu(t) is sign controllable if all linear time-invariant systems whose matrices A and B have the same sign pattern as A and B are controllable. This work characterizes the sign controllability for systems, whose sign pattern of A allows only real eigenvalues. Moreover, we present a combinatorial condition which is necessary for sign controllability and we show that if this condition is satisfied, then in all linear time-invariant systems with that sign pattern, all real eigenvalues of A are controllable. In addition, it is proven that the decision whether a linear time-invariant systems is not sign controllable is NP-complete. We want to emphasize, that our results cover the single and the multi-input case.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121886649","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
Active piezoelectric shunt control of an Atomic Force Microscope micro-cantilever 原子力显微镜微悬臂梁的主动压电分流控制
2013 Australian Control Conference Pub Date : 2013-11-01 DOI: 10.1109/AUCC.2013.6697282
M. Fairbairn, Philipp Muller, S. Moheimani
{"title":"Active piezoelectric shunt control of an Atomic Force Microscope micro-cantilever","authors":"M. Fairbairn, Philipp Muller, S. Moheimani","doi":"10.1109/AUCC.2013.6697282","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697282","url":null,"abstract":"The benefits of decreasing the quality (Q) factor of an Atomic Force Microscope (AFM) micro-cantilever, when operating in tapping mode, using passive piezoelectric shunt control have been previously demonstrated. A passive electrical impedance is placed in series with the cantilever oscillation voltage to control the Q factor of the cantilever. The amount of Q factor reduction obtainable using this method is limited due to the passive nature of the shunt impedance. This work demonstrates that further decreases in the cantilever Q factor may be obtained through the use of an active impedance. The active impedance is designed in such a way that the piezoelectric shunt controller emulates a PPF controller in a displacement feedback loop. The damping obtained with this controller is compared with the maximum damping obtainable with a passive impedance.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"2008 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113966653","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
Design of adaptive I-PD control system with variable reference model 可变参考模型自适应I-PD控制系统的设计
2013 Australian Control Conference Pub Date : 2013-11-01 DOI: 10.1109/AUCC.2013.6697258
T. Shiota, H. Ohmori
{"title":"Design of adaptive I-PD control system with variable reference model","authors":"T. Shiota, H. Ohmori","doi":"10.1109/AUCC.2013.6697258","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697258","url":null,"abstract":"As one of the control schemes which overcome model uncertainty, there is a model reference adaptive control. In the conventional adaptive control method, the reference model is designed in advance. However, this reference model should also be essentially re-designed according to characteristic change of a controlled object. Therefore, in this paper, we propose an adaptive I-PD control scheme with variable reference model and show the validity by the numeric simulation.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114230730","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
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