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Safe Navigation of a Non-Holonomic Robot with Low Computational-power in a 2D Dynamic Environment 二维动态环境下低计算力非完整机器人的安全导航
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966963
S. Verma
{"title":"Safe Navigation of a Non-Holonomic Robot with Low Computational-power in a 2D Dynamic Environment","authors":"S. Verma","doi":"10.1109/ANZCC56036.2022.9966963","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966963","url":null,"abstract":"This paper proposes a navigation strategy for a low-computational power robot in a 2D complex environment with dynamic obstacles. In this work, a non-holonomic robot is considered. The Hybrid A* algorithm is fused with a reactive control algorithm to provide safe navigation. The Hybrid A* is a graph search-based algorithm implemented to give a near-optimal path. The reactive control is based on sliding mode control and uses the information from the onboard sensors to avoid static and dynamic obstacles. Computer simulations are performed to validate the proposed navigation algorithm.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122718029","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
Finite-frequency static output feedback H∞ control for Diesel engine air path system with turbocharger 带涡轮增压器的柴油机风道系统的有限频率静态输出反馈H∞控制
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966960
A. El‐Amrani, A. Hajjaji, J. Bosche, Oussama Djadane
{"title":"Finite-frequency static output feedback H∞ control for Diesel engine air path system with turbocharger","authors":"A. El‐Amrani, A. Hajjaji, J. Bosche, Oussama Djadane","doi":"10.1109/ANZCC56036.2022.9966960","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966960","url":null,"abstract":"This paper, we concentrate on the problem of finite-frequency (FF) static output feedback (SOF) H∞ control design for a four-cylinder diesel engine air path. The state space model of Diesel engine, firstly, is linearized around average an operating point of the diesel engine. Then, the robust integrator-based control strategy is developed to track the desired reference signals despite the presence of disturbances. The objective is to regulate the intake and exhaust manifold pressures to desired reference pressures by controlling the Geometry Turbine (VGT) and Exhaust Gas Recirculation (EGR) valves. For this, the considered average value model based descriptor approach is used to design a SOF controller to ensure a good tracking of the reference pressures. Sufficient conditions are established to ensure both the asymptotic stability of the resulting closed loop descriptor system and the prescribed H∞ performance. Simulation results, using nonlinear model of Diesel engine air path is provided to illustrate the performance of developed method.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123620683","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
Development of A Robust Privacy Enhancing Data-Sharing Framework for Healthcare System Based on Decentralized Control 基于分散控制的医疗保健系统健壮隐私增强数据共享框架的开发
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966959
Muhammad Saeed Javed, Syeda Fizza Hamdani, Asif Masood, Muhammad Imran
{"title":"Development of A Robust Privacy Enhancing Data-Sharing Framework for Healthcare System Based on Decentralized Control","authors":"Muhammad Saeed Javed, Syeda Fizza Hamdani, Asif Masood, Muhammad Imran","doi":"10.1109/ANZCC56036.2022.9966959","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966959","url":null,"abstract":"Blockchain technology enables decentralized, immutable, verifiable digital asset transaction records. Any interested party can access these documents. Affected industries include healthcare. The use of Electronic health records raises security concerns. Blockchain technology could secure this sensitive data. Transaction relatability, crypto-key control, and on-chain data privacy are security and scalability challenges for blockchains. Blockchains confront scalability and security issues (e.g., adhering to privacy legislation). Many researchers have developed different frameworks to preserve their privacy and control their ledger data. Moreover, existing work based on blockchain addresses the crypto-privacy issues. In this article, the proposed design and a thorough discussion are provided on the current state of blockchain-based healthcare systems.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133598356","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
Optimization of Surrogate function using Extremum Seeking Control 基于极值寻求控制的代理函数优化
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966972
Mariya Raphel, Revati Gunjal, S. Wagh, N. Singh
{"title":"Optimization of Surrogate function using Extremum Seeking Control","authors":"Mariya Raphel, Revati Gunjal, S. Wagh, N. Singh","doi":"10.1109/ANZCC56036.2022.9966972","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966972","url":null,"abstract":"Real-time robust optimization of unknown expensive functions has been a challenging problem for data-driven based control applications. Most of the model-free control applications use function approximation technique based on measurements which makes it independent of the mathematical model. In surrogate optimization, the function is approximated using Gaussian Process Regression (GPR) which is a non-parametric approach. GPR based surrogate function makes the system robust by incorporating variance around the mean value, making the system tolerant against disturbances and noise. To make the optimization problem completely model-free, a zeroth-order gradient estimator is used to optimize the objective function. Extremum Seeking Control (ESC) is gradient-free technique that estimates the gradient by incorporating perturbation signals that drive the optimizer towards the optimal value. Using extremum seeking control, this paper provides a model-free, real-time, and robust optimization technique for optimising the surrogate function.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128543992","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
Cascade LPV Control for Automated Vehicle Trajectory Tracking Considering Parametric Uncertainty and Varying Velocity 考虑参数不确定性和速度变化的车辆自动轨迹跟踪串级LPV控制
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966954
Dan Shen, Lingxi Li, Yaobin Chen, Feiyue Wang
{"title":"Cascade LPV Control for Automated Vehicle Trajectory Tracking Considering Parametric Uncertainty and Varying Velocity","authors":"Dan Shen, Lingxi Li, Yaobin Chen, Feiyue Wang","doi":"10.1109/ANZCC56036.2022.9966954","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966954","url":null,"abstract":"Trajectory tracking control is very crucial for autonomous vehicles (AVs). However, its performance can be degraded due to the time-varying velocities of AVs and their parametric uncertainties. To provide an accurate and smooth trajectory tracking effect under different driving conditions with varying velocities, a cascade Linear Parameter Varying (LPV) vehicle integrated control method by considering environmental uncertainties is proposed. Firstly, both kinematic and dynamic models are established using the polytopic uncertainty method with finite vertices to represent the variations of vehicle dynamics and the uncertain tire stiffness. The selected variables in each model are defined as the scheduling variables to describe the non-linearity of the vehicle model. Then, the LPV-based Model Predictive Control (MPC) and a Linear Matrix Inequality (LMI)-based Linear Quadratic Regulator (LQR) are designed to track the desired path in terms of kinematic variables and dynamic variables, respectively. Finally, the simulation results demonstrate that the proposed cascade LPV integrated control can accurately adn effectively track the planned trajectory.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130821607","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
Generalising the capture the flag scenario to active target defence 将捕获标志场景推广到主动目标防御
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966950
Kamal Mammadov, C. Lim, P. Shi
{"title":"Generalising the capture the flag scenario to active target defence","authors":"Kamal Mammadov, C. Lim, P. Shi","doi":"10.1109/ANZCC56036.2022.9966950","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966950","url":null,"abstract":"This manuscript examines the TAD differential game. Here there are three drones, the Drone A, Drone T and Drone D, all obeying simple-motion. This game doesn’t terminate at some predefined time tf, rather tf is the first time in which Drone A collides with either of the other two drones. The objective of Drone A is to minimise the distance between itself and Drone T at termination time; Drone T and D on the other-hand work together as a team to maximise the aforementioned distance. The present manuscript expands upon the analysis previously given in the work of [1], here we study the game in the general case where VT < VA < VD (denoting the speeds of Drone T, Drone A and Drone D respectively), and the drones move in n-dimensional space. The previous work identified and rigorously proved the SFNE. Most of the proofs given in that work held for any VT < VA < VD, however the proof of the non-decreasing property of the value function made the restrictive assumption of VT = 0, as the machinery required to prove it for the general case VT ≥ 0 was not known at the time. VT = 0 corresponds with the capture the flag scenario since Drone T cannot move. The present manuscript brings to light new symmetries in the value function, which are used to complete the missing proof so that the results now hold generally for any VT < VA < VD.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116084450","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
Consensus Control of Multi-agent Systems Based on Fault Estimation 基于故障估计的多智能体系统共识控制
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966953
Yamei Ju, D. Pan, Derui Ding
{"title":"Consensus Control of Multi-agent Systems Based on Fault Estimation","authors":"Yamei Ju, D. Pan, Derui Ding","doi":"10.1109/ANZCC56036.2022.9966953","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966953","url":null,"abstract":"This paper provides a consensus control scheme with a novel fault compensation for multi-agent systems with respect to occurred faults. To this end, a novel estimator is first developed via injecting the noise bias to satisfy the unbiasedness requirement. Benefiting from the estimated fault, a consensus controller with fault compensation is constructed to realize the desired l2-l∞ performance while guaranteing fundamental consensus. According to the technology of variance analysis combined with the method of Lyapunov stability, sufficient conditions are strictly derived to ensure the predetermined performance and the applicable gains of both the estimator and the controller are attained via a recursive formula and linear matrix inequalities. Finally, the applicability is tested by a simulation example.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"221 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133171613","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
Robust Nonlinear Control for Automotive Active Suspension Systems 汽车主动悬架系统的鲁棒非线性控制
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966973
M. Salah, Malek Ali, Sarah Nabhan
{"title":"Robust Nonlinear Control for Automotive Active Suspension Systems","authors":"M. Salah, Malek Ali, Sarah Nabhan","doi":"10.1109/ANZCC56036.2022.9966973","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966973","url":null,"abstract":"To ensure a comfort ride and safe transportation for people and cargos, active suspension systems are used. An active suspension system is mainly operated according to the road conditions via controlling a hydraulic or pneumatic actuator to guarantee zero vertical acceleration and velocity at the passenger or cargo cabinet. In order to explore new control methods for comfort transportation, a robust nonlinear control scheme is proposed. In this paper, the proposed controller is designed to overcome the road disturbances and ensure a comfort ride with vehicle stability while driving. A robust feature is utilized in the proposed controller design to improve the driving performance under the unknown and uncertain parameters of the active suspension system. Preliminary simulation results are introduced to verify the proposed controller and to demonstrate the effectiveness of the design.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125340945","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
Neural Network Predictive Control of Explorer Class Autonomous Underwater Vehicle 探索者级自主水下航行器的神经网络预测控制
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966967
Chuong H. Nguyen, Minh Tran, Neetha Saji, H.D. Nguyen
{"title":"Neural Network Predictive Control of Explorer Class Autonomous Underwater Vehicle","authors":"Chuong H. Nguyen, Minh Tran, Neetha Saji, H.D. Nguyen","doi":"10.1109/ANZCC56036.2022.9966967","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966967","url":null,"abstract":"This paper investigates neural network predictive control (NNPC) of Explorer Class Autonomous Underwater Vehicle (AUV) in path following missions. A non-linear dynamic model for the Explorer class AUV at the Australian Maritime College, University of Tasmania is developed based on analytical approach and it is approximated by a neural network via a training process before implemented in a predictive control approach. The fundamental control objectives are to maintain the AUV at desired forward velocity known as surge velocity as well as the position and heading angle in the horizontal plane, which then will be integrated into the cascade control to guide the AUV following a desired path. The effectiveness of the developed NNPC is validated by comparison with conventional Proportional Integral Derivative (PID) controller through numerical simulations.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126953390","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
Functional Observer Design for Li-Ion Battery State of Charge Estimation via Descriptor Systems Theory 基于广义系统理论的锂离子电池充电状态估计的功能观测器设计
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966968
Jaffar Ali Lone, N. K. Tomar, S. Bhaumik
{"title":"Functional Observer Design for Li-Ion Battery State of Charge Estimation via Descriptor Systems Theory","authors":"Jaffar Ali Lone, N. K. Tomar, S. Bhaumik","doi":"10.1109/ANZCC56036.2022.9966968","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966968","url":null,"abstract":"This paper addresses the problem of Li-ion battery state of charge (SOC) estimation by proposing a novel functional observer for linear descriptor systems. The battery is modeled as a discrete-time linear descriptor system represented by simultaneous difference and algebraic equations (DAEs). The model is achieved by employing a linear approximation of the battery’s open-circuit voltage (OCV). A first-order equivalent circuit model (ECM) of battery is used because of its simplicity, reliability, and balance of accuracy. A new set of sufficient conditions for the existence of the functional observer is directly provided in terms of system coefficient matrices. Besides the purely algebraic approach, the observer design is also formulated in terms of a feasible linear matrix inequality (LMI) problem. A constant current charge and discharge are employed to evaluate the performance of the proposed observer. The results demonstrate the effectiveness of both the battery modeling and the observer design approach in estimating the SOC.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124026595","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
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