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53rd IEEE Conference on Decision and Control最新文献

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Cooperative bicircular target tracking using multiple unmanned aerial vehicles 多架无人机协同循环目标跟踪
53rd IEEE Conference on Decision and Control Pub Date : 2014-12-01 DOI: 10.1109/CDC.2014.7039509
Yueqian Liang, Y. Jia, Junping Du, F. Matsuno
{"title":"Cooperative bicircular target tracking using multiple unmanned aerial vehicles","authors":"Yueqian Liang, Y. Jia, Junping Du, F. Matsuno","doi":"10.1109/CDC.2014.7039509","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039509","url":null,"abstract":"This paper investigates the problem of tracking a moving target using multiple fixed-wing unmanned aerial vehicles (UAVs) under a new bicircular formation. This new formation for cooperative standoff target tracking is first developed by maximizing the amount of Fisher information. Guidance vector fields are designed, and based on them, a cooperation approach is proposed to adapt the unknown target velocity and achieve the cooperative bicircular tracking. Speed and heading rate are firstly controlled to track the guidance vector fields separately for each UAV, then the speed is further adjusted to maintain the desired angular separation between the UAVs. Simulation experiments are given to verify the effectiveness of the proposed approach.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123556993","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
Distributed control subject to delays satisfying an ℋ1 norm bound 时滞满足h 1范数界的分布式控制
53rd IEEE Conference on Decision and Control Pub Date : 2014-12-01 DOI: 10.1109/CDC.2014.7040012
N. Matni
{"title":"Distributed control subject to delays satisfying an ℋ1 norm bound","authors":"N. Matni","doi":"10.1109/CDC.2014.7040012","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040012","url":null,"abstract":"This paper presents a characterization of distributed controllers subject to delay constraints induced by a strongly connected communication graph that achieve a prescribed closed loop ℋ1 norm. Inspired by the solution to the ℋ2 problem subject to delays, we exploit the fact that the communication graph is strongly connected to decompose the controller into a local finite impulse response component and a global but delayed infinite impulse response component. This allows us to reduce the control synthesis problem to a linear matrix inequality feasibility test.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123696373","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: 24
Output-transition optimization through a multi-objective least square procedure 通过多目标最小二乘法优化输出转移
53rd IEEE Conference on Decision and Control Pub Date : 2014-12-01 DOI: 10.1109/CDC.2014.7039879
L. Jetto, V. Orsini, R. Romagnoli
{"title":"Output-transition optimization through a multi-objective least square procedure","authors":"L. Jetto, V. Orsini, R. Romagnoli","doi":"10.1109/CDC.2014.7039879","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039879","url":null,"abstract":"The purpose of this paper is to propose a new method for the optimization of the transient step response of a linear continuous-time system. The approach situates in the framework of model pseudo-inversion [1]-[3] because the input reference is computed starting from some desired features of the transient output. A significant feature of the new method is that the transition trajectory is not “ad hoc” exactly pre-specified by the designer. Rather, it is implicitly defined by the procedure for the minimization of a suitably multi-objective quadratic cost functional.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125317632","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
Stochastic approximation for consensus over general digraphs with Markovian switches 带马尔可夫开关的一般有向图一致性的随机逼近
53rd IEEE Conference on Decision and Control Pub Date : 2014-12-01 DOI: 10.1109/CDC.2014.7039727
Minyi Huang, Tao Li, Ji-feng Zhang
{"title":"Stochastic approximation for consensus over general digraphs with Markovian switches","authors":"Minyi Huang, Tao Li, Ji-feng Zhang","doi":"10.1109/CDC.2014.7039727","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039727","url":null,"abstract":"This paper considers consensus problems with Markovian switching networks and noisy measurements, and stochastic approximation is used to achieve mean square consensus. The main contribution of this paper is to obtain ergodicity results for backward products of degenerating stochastic matrices with Markovian switches, and subsequently prove mean square consensus for the stochastic approximation algorithm. Our ergodicity proof is to build a higher dimensional dynamical system and exploit its two-scale feature.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115243629","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
Gaussian-Laplacian mixture model for electricity market 电力市场的高斯-拉普拉斯混合模型
53rd IEEE Conference on Decision and Control Pub Date : 2014-12-01 DOI: 10.1109/CDC.2014.7039647
Saahil Shenoy, D. Gorinevsky
{"title":"Gaussian-Laplacian mixture model for electricity market","authors":"Saahil Shenoy, D. Gorinevsky","doi":"10.1109/CDC.2014.7039647","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039647","url":null,"abstract":"This paper develops a statistical modeling and estimation approach combining robust regression and long tail estimation. The approach can be considered as a generalization of Huber regression in robust statistics. A mixture of asymmetric Laplace and Gaussian distributions is estimated using an EM algorithm. The approach estimates the regression model, distribution body, distribution tails, and boundaries between the body and the tails. As an application example, the model is estimated for historical power load data from an electrical utility. Practical usefulness of the model is illustrated by stochastic optimization of electricity order in day-ahead market. The computed optimal policy improves the cost compared to the baseline approach that relies on a normal distribution model.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"413 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115998808","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
A path defense approach to the multiplayer reach-avoid game 多人到达-避免游戏的路径防御方法
53rd IEEE Conference on Decision and Control Pub Date : 2014-12-01 DOI: 10.1109/CDC.2014.7039758
Mo Chen, Zhengyuan Zhou, C. Tomlin
{"title":"A path defense approach to the multiplayer reach-avoid game","authors":"Mo Chen, Zhengyuan Zhou, C. Tomlin","doi":"10.1109/CDC.2014.7039758","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039758","url":null,"abstract":"We consider a multiplayer reach-avoid game played between N attackers and N defenders moving with simple dynamics on a general two-dimensional domain. The attackers attempt to win the game by sending at least M of them (1 ≤ M ≤ N) to a target location while the defenders try to prevent the attackers from doing so by capturing them. The analysis of this game plays an important role in collision avoidance, motion planning, and aircraft control, among other applications involving cooperative agents. The high dimensionality of the game makes computing an optimal solution for either side intractable when N > 1. The solution is difficult even when N = 1. To address this issue, we present an efficient, approximate solution to the 1 vs. 1 problem. We call the approximate solution the “path defense solution”, which is conservative towards the defenders. This serves as a building block for an approximate solution of the multiplayer game. Compared to the classical Hamilton-Jacobi-Isaacs approach for solving the 1 vs. 1 game, our new method is orders of magnitude faster, and scales much better with the number of players.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116035035","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: 52
Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers 控制格子上的随机生长过程:机器人灭火器的野火管理
53rd IEEE Conference on Decision and Control Pub Date : 2014-12-01 DOI: 10.1109/CDC.2014.7039602
Amith Somanath, S. Karaman, K. Youcef-Toumi
{"title":"Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers","authors":"Amith Somanath, S. Karaman, K. Youcef-Toumi","doi":"10.1109/CDC.2014.7039602","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039602","url":null,"abstract":"Forest fires continue to cause considerable social and economic damage. Fortunately, the emergence of new robotics technologies, including capable autonomous unmanned aerial vehicles, may help improve wildfire management in the near future. In this paper, we characterize the number of vehicles required to combat wildfires, using a percolation-theoretic analysis that originated in the mathematical physics community. We model the wildfire as a stochastic growth process on a square lattice, where the local growth probabilities depend on the presence of robotic fire-extinguishing vehicles. We develop two control policies: First treats only a fraction of burning nodes at a given time, and the second treats burning nodes only at finite time intervals. We characterize the conditions under which these policies can stabilize a wildfire, i.e., ensure the fire stops eventually almost surely. We also provide computational results which demonstrate our theoretical analysis.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116109007","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
Distributed estimation for spatial rigid motion based on dual quaternions 基于对偶四元数的空间刚性运动分布估计
53rd IEEE Conference on Decision and Control Pub Date : 2014-12-01 DOI: 10.1002/oca.2416
Yue Zu, Chuangchuang Sun, R. Dai
{"title":"Distributed estimation for spatial rigid motion based on dual quaternions","authors":"Yue Zu, Chuangchuang Sun, R. Dai","doi":"10.1002/oca.2416","DOIUrl":"https://doi.org/10.1002/oca.2416","url":null,"abstract":"This paper proposes a distributed optimization algorithm for estimation of spatial rigid motion using multiple image sensors in a connected network. The objective is to increase the estimation precision of translational and rotational motion based on dual quaternion models and cooperation between connected sensors. The distributed Newton optimization method is applied to decompose the filtering task into a series of suboptimal problems and then solve them individually to achieve the global optimality. Our approach assumes that each sensor can communicate with its neighboring sensors to update the individual estimates. Simulation examples are demonstrated to compare the proposed algorithm with other methods in terms of estimation accuracy and converging rate.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116131069","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
Optimization-based Lyapunov function construction for continuous-time Markov chains with affine transition rates 具有仿射跃迁速率的连续马尔可夫链基于优化的Lyapunov函数构造
53rd IEEE Conference on Decision and Control Pub Date : 2014-12-01 DOI: 10.1109/CDC.2014.7040110
A. Milias-Argeitis, M. Khammash
{"title":"Optimization-based Lyapunov function construction for continuous-time Markov chains with affine transition rates","authors":"A. Milias-Argeitis, M. Khammash","doi":"10.1109/CDC.2014.7040110","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040110","url":null,"abstract":"We address the problem of Lyapunov function construction for a class of continuous-time Markov chains with affine transition rates, typically encountered in stochastic chemical kinetics. Following an optimization approach, we take advantage of existing bounds from the Foster-Lyapunov stability theory to obtain functions that enable us to estimate the region of high stationary probability, as well as provide upper bounds on moments of the chain. Our method can be used to study the stationary behavior of a given chain without resorting to stochastic simulation, in a fast and efficient manner.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116174691","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
A new controller structure for robust output regulation 一种新的鲁棒输出调节控制器结构
53rd IEEE Conference on Decision and Control Pub Date : 2014-12-01 DOI: 10.1109/CDC.2014.7040125
L. Paunonen, S. Pohjolainen
{"title":"A new controller structure for robust output regulation","authors":"L. Paunonen, S. Pohjolainen","doi":"10.1109/CDC.2014.7040125","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040125","url":null,"abstract":"In this paper we employ a new controller structure in solving the robust output regulation problem for a linear distributed parameter system with finite or infinite-dimensional exosystems. In the case of an infinite-dimensional exosystem we also present additional conditions for achieving polynomial or logarithmic nonuniform decay rates for the closed-loop semigroup.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122336679","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
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