2018 European Control Conference (ECC)最新文献

Designing Communication Topologies for Optimal Synchronization Trajectories of HomogeneousLinear Multi-Agent Systems 同质线性多智能体系统最优同步轨迹的通信拓扑设计

2018 European Control Conference (ECC) Pub Date : 2018-06-14 DOI: 10.23919/ECC.2018.8550396

Jonathan Hermann, Sebastian Bernhard, U. Konigorski, J. Adamy

{"title":"Designing Communication Topologies for Optimal Synchronization Trajectories of HomogeneousLinear Multi-Agent Systems","authors":"Jonathan Hermann, Sebastian Bernhard, U. Konigorski, J. Adamy","doi":"10.23919/ECC.2018.8550396","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550396","url":null,"abstract":"In this paper the synchronization of homogeneous linear multi-agent systems is considered. In this process, all agents are required to converge to a common trajectory called synchronization trajectory. Without synchronization every sin- gle agent would have followed its own autonomous trajectory determined by its initial state. Hence, we interpret the initial states of the agents as their respective preferences. We define a cost function that penalizes the compromise each agent has to make when the synchronization trajectory differs from the agent's preferred trajectory. Using classical synchronization controllers, the synchronization trajectory essentially depends on the communication topology and the initial states of the agents. Therefore, we pose optimization problems concerned with finding the communication topology yielding minimal cost, i.e. the synchronization trajectory that constitutes an optimal compromise forall agents. In this respect, we minimize the cost for a given initial state, for the worst-case as well as for the average over all admissible initial states of the agents. The introduced minimization problems are reformulated as semidefinite programs so that they can be efficiently solved. A numerical example illustrates the results.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130246610","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

Quadcopter-performed cinematographic flight plans using minimum jerk trajectories and predictive camera control 四轴飞行器执行电影飞行计划使用最小的震动轨迹和预测相机控制

2018 European Control Conference (ECC) Pub Date : 2018-06-12 DOI: 10.23919/ECC.2018.8550309

G. Rousseau, C. Stoica, S. Tebbani, M. Babel, Nicolas Martin

引用次数: 8

Model Predictive Direct Switching Control for Multi-Phase Permanent-Magnet Synchronous Motors 多相永磁同步电动机的模型预测直接开关控制

2018 European Control Conference (ECC) Pub Date : 2018-06-12 DOI: 10.23919/ECC.2018.8550596

Michael Ringkowski, Stefan Gering, M. Manderla, E. Arnold, O. Sawodny

引用次数: 0

Inner-Loop Reference Governor Design with an Application to Human-in-the-Loop Control 内环参考调速器设计及其在人在环控制中的应用

2018 European Control Conference (ECC) Pub Date : 2018-06-12 DOI: 10.23919/ECC.2018.8550423

Uros Kalabic, S. D. Cairano

引用次数: 2

On the Link Between Multi-Coloring Problems for Graphs and Distributed Supervision of Interconnected Systems 图的多重着色问题与互联系统分布式监督之间的联系

2018 European Control Conference (ECC) Pub Date : 2018-06-01 DOI: 10.23919/ECC.2018.8550497

A. Casavola, E. Garone, Francesco Saverio Tedesco

引用次数: 0

Bayesian strategies for calibrating heteroskedastic static sensors with unknown model structures 具有未知模型结构的异方差静态传感器的贝叶斯校正策略

2018 European Control Conference (ECC) Pub Date : 2018-06-01 DOI: 10.23919/ECC.2018.8550201

Anas W. Alhashimi, S. D. Favero, Damiano Varagnolo, T. Gustafsson, G. Pillonetto

引用次数: 2

Gain-Scheduling Composite Nonlinear Feedback Control for a Set of 2nd Order Linear Parameter-Varying Systems 一类二阶线性变参数系统的增益-调度复合非线性反馈控制

2018 European Control Conference (ECC) Pub Date : 2018-06-01 DOI: 10.23919/ECC.2018.8550244

Veli-Pekka Pyrhonen, H. Koivisto, M. Vilkko

{"title":"Gain-Scheduling Composite Nonlinear Feedback Control for a Set of 2nd Order Linear Parameter-Varying Systems","authors":"Veli-Pekka Pyrhonen, H. Koivisto, M. Vilkko","doi":"10.23919/ECC.2018.8550244","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550244","url":null,"abstract":"We present in this paper gain-scheduling composite nonlinear feedback (CNF) control for a set of second-order linear parameter-varying (LPV) systems that capture commonly used plant models in automatic control. The selected three parameter-varying plant models are double integrator with a gain, a series connection of an integrator and a first order system, and a second-order system without integration. We assume that the parameters of the plant models depend on an exogenous scheduling signal, which is unknown a priori, but it is measurable online and available for feedback control. The resulting model-based parameter-varying CNF controller assigns certain predefined properties for the closed-loop control system, which can be explained using linear time invariant (LTI) control theory. We demonstrate the proposed control structure with a simulation-based design example, in which a plant model is updated through a slowly varying scheduling signal, and, at the same time, the closed-loop system is commanded towards desired reference values. Our simulation results indicate that the closed-loop control system yields satisfactory tracking performance under parameter-varying conditions.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116946645","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

Surrounding formation of star frameworks using bearing-only measurements 仅使用方位测量的恒星框架周围形成

2018 European Control Conference (ECC) Pub Date : 2018-06-01 DOI: 10.23919/ECC.2018.8550111

Quoc Van Tran, M. Trinh, H. Ahn

引用次数: 4

Fast and smooth surface B-spline interpolation for regularly spaced data used in system modeling to make MPC real-time feasible* 快速和光滑的表面b样条插值规则间隔的数据用于系统建模，使MPC实时可行*

2018 European Control Conference (ECC) Pub Date : 2018-06-01 DOI: 10.23919/ECC.2018.8550413

R. Mitze, David Dillkötter, S. Gros, A. Schild, M. Mönnigmann

{"title":"Fast and smooth surface B-spline interpolation for regularly spaced data used in system modeling to make MPC real-time feasible*","authors":"R. Mitze, David Dillkötter, S. Gros, A. Schild, M. Mönnigmann","doi":"10.23919/ECC.2018.8550413","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550413","url":null,"abstract":"Advanced control applications require accurate system models. Obviously, these models must be evaluated sufficiently fast in order for a model-based controller to be real-time feasible. This holds for methods that are based on online optimizations, such as model predictive control (MPC), in particular. It is common to describe nonlinear static parts of system models with interpolated look-up tables, because they are computationally efficient and they can be designed to provide the required accuracy. Since the underlying data are often determined with measurements or simulations, the location of data points can be chosen by the user to some extent. We use data on regular grids and B-splines with uniform knotvectors located at the data grid points, because this results in smooth interpolated look-up tables that can be evaluated very fast. The algorithm for the online evaluation and interpolation can be extended to efficiently provide first and second order derivatives, which are, for example, needed in MPC. We illustrate the use of the implemented methods with the look-up table of the aerodynamic power coefficient of a wind turbine generator and compare computation times for an implementation on a CPU and on an FPGA.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121377263","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 an iterative learning control with a selective learning strategy for swinging up a pendulum 基于选择性学习策略的摆锤迭代学习控制设计

2018 European Control Conference (ECC) Pub Date : 2018-06-01 DOI: 10.23919/ECC.2018.8550250

J. Beuchert, Jnrg Raischl, T. Seel

{"title":"Design of an iterative learning control with a selective learning strategy for swinging up a pendulum","authors":"J. Beuchert, Jnrg Raischl, T. Seel","doi":"10.23919/ECC.2018.8550250","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550250","url":null,"abstract":"Swinging up a pendulum on a cart is a well-known demonstration example for trajectory tracking in a nonlinear system. The standard realtime feedback control approach fails if the plant output is not available in real time, e.g. due to large or variable measurement delays. However, the task can be solved in multiple trials by applying feedforward inputs that are improved from trial to trial by Iterative Learning Control (ILC). Our examination demonstrates that an ILC can be used for trajectory tracking close to the singularities and the unstable equilibrium of a non-linear system. Specifically, we present an ILC algorithm for pendulum swing-up by angle trajectory tracking. The controller design is based on a modified plant inversion approach that restricts the learning process to trajectory segments with small tracking errors and sufficient input sensitivity. We show that these restrictions lead to improved learning progress in contrast to conventional learning from the complete trajectory. Controller performance is evaluated in an experimental testbed. The ILC starts from a zero-input trajectory and learns to swing up the pendulum within six iterations. Robustness is analyzed experimentally, and the performance is compared to literature results. The convergence is at least two orders of magnitude faster than the one achieved by other methods that avoid feedback and do not rely on a suitable initial input trajectory.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127458851","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