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2015 American Control Conference (ACC)最新文献

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Necessary and sufficient conditions for input-output finite-time stability of impulsive dynamical systems 脉冲动力系统输入-输出有限时间稳定性的充分必要条件
2015 American Control Conference (ACC) Pub Date : 2015-07-30 DOI: 10.1109/ACC.2015.7172281
F. Amato, G. Tommasi, A. Pironti
{"title":"Necessary and sufficient conditions for input-output finite-time stability of impulsive dynamical systems","authors":"F. Amato, G. Tommasi, A. Pironti","doi":"10.1109/ACC.2015.7172281","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172281","url":null,"abstract":"In [6] a sufficient condition for the input-output finite-time stability (IO-FTS) of time-dependent impulsive dynamical linear systems has been provided in terms of a feasibility problem involving a coupled difference/differential LMI (D/DLMI). In this paper we show that such condition is also necessary; moreover an alternative necessary and sufficient condition for IO-FTS is proved. The latter condition requires the solution of a coupled difference/differential Lyapunov equation (D/DLE) and is shown to be more efficient, from the computational point of view, than the D/DLMI based condition. In order to prove the main result, we exploit the definition of controllability Gramian extended to impulsive systems. An example illustrates the benefits of the proposed technique.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126360365","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
Stochastic control for Itô system with state transmission delay 具有状态传输延迟的Itô系统的随机控制
2015 American Control Conference (ACC) Pub Date : 2015-07-30 DOI: 10.1109/ACC.2015.7172164
Huanshui Zhang, Juanjuan Xu
{"title":"Stochastic control for Itô system with state transmission delay","authors":"Huanshui Zhang, Juanjuan Xu","doi":"10.1109/ACC.2015.7172164","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172164","url":null,"abstract":"This paper is concerned with the fundamental problem of stochastic control for Itô system with state transmission delay. The optimal controller is firstly given based on the Maximum Principle and the relationship between the state and costate. A sufficient and necessary stabilizing condition is presented for the stochastic system with delayed state. The analytical controller is given in terms of the conditional expectation of the state and the solution to a coupled nonlinear equation developed in this paper.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131643762","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
Adaptive radial rule based cubature Kalman filter 基于自适应径向规则的培养卡尔曼滤波
2015 American Control Conference (ACC) Pub Date : 2015-07-30 DOI: 10.1109/ACC.2015.7171818
Bin Jia, M. Xin
{"title":"Adaptive radial rule based cubature Kalman filter","authors":"Bin Jia, M. Xin","doi":"10.1109/ACC.2015.7171818","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171818","url":null,"abstract":"In this paper, a new adaptive cubature Kalman filter (ACKF) is proposed to improve the performance of the conventional cubature Kalman filter. The ACKF uses a new cubature rule that combines the third-degree spherical rule with the higher degree radial rule along the directions of larger uncertainty. More accurate and robust results can be achieved with slightly more points than the conventional third-degree cubature Kalman filter (CKF). Compared with the fifth-degree CKF, ACKF uses much fewer points but maintains very close performance. A target tracking benchmark problem is used to demonstrate the enhanced performance of the proposed filter.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132123127","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: 6
Power system stabilization by direct load control based on strategy-proofness and individual rationality 基于策略验证性和个体合理性的负荷直接控制稳定电力系统
2015 American Control Conference (ACC) Pub Date : 2015-07-30 DOI: 10.1109/ACC.2015.7172267
Ryutaro Sato, T. Namerikawa
{"title":"Power system stabilization by direct load control based on strategy-proofness and individual rationality","authors":"Ryutaro Sato, T. Namerikawa","doi":"10.1109/ACC.2015.7172267","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172267","url":null,"abstract":"This paper proposes a novel direct load control method to stabilize the system frequency. The proposed method utilizes the consumers' controllable loads for load frequency control. By solving an optimization problem to maximize the social welfare function, the input required for the frequency control is allocated among the controllable loads and the load frequency control generator in an economically rational manner. To introduce the direct control program for smooth operation of the power system, preventing consumers from cheating and guaranteeing their benefits are required. Thus, strategy-proofness and individual rationality based on the Groves and Clarke mechanism were used to design the electricity charge. Each consumer bids on the utility functions truthfully to the independent system operator and gains from participating in the proposed direct load control program. The effectiveness of the proposed method was demonstrated through numerical simulations.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125269121","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
Adaptive distributed dynamic surface formation controller design for multi-robot systems 多机器人系统的自适应分布式动态地表地层控制器设计
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7170708
Yeong-Hwa Chang, Chun-I Wu, Cheng-Yuan Yang, Tsung-Hsun Yang
{"title":"Adaptive distributed dynamic surface formation controller design for multi-robot systems","authors":"Yeong-Hwa Chang, Chun-I Wu, Cheng-Yuan Yang, Tsung-Hsun Yang","doi":"10.1109/ACC.2015.7170708","DOIUrl":"https://doi.org/10.1109/ACC.2015.7170708","url":null,"abstract":"This paper presents a distributed formation control scheme for multi-robot systems, where a set of dynamic equations of differential wheeled robots can be obtained from kinematics and dynamics analyses. Based on dynamic surface design techniques, the desired leader-follower formation control laws can be derived. It can be shown that all closed-loop signals are uniformly ultimately bounded using Lyapunov stability analysis. Finally, results of simulations and experiments verify that the desired formation pattern can be preserved for wheeled mobile robots with the presence of unknown uncertainties.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"278 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123065732","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
On control design and tuning for first order plus time delay plants with significant uncertainties 具有显著不确定性的一阶加时滞对象的控制设计与整定
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7172163
Lijun Wang, Qing Li, Chao-nan Tong, Yixin Yin, Zhiqiang Gao, Qinling Zheng, Weicun Zhang
{"title":"On control design and tuning for first order plus time delay plants with significant uncertainties","authors":"Lijun Wang, Qing Li, Chao-nan Tong, Yixin Yin, Zhiqiang Gao, Qinling Zheng, Weicun Zhang","doi":"10.1109/ACC.2015.7172163","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172163","url":null,"abstract":"A novel active disturbance rejection control (ADRC) solution and a particular tuning method are presented for a class of time delay system (TDS) with uncertainty. First, the complicated process dynamics is modeled as a simple first order plus large time delay (FOPTD) plant, with the difference between the actual dynamics and its model treated as disturbances to be rejected. Then the reduced order linear extended state observer (RLESO) with input delay is proposed to estimate the time delay state and disturbance. It is shown how the time delay could be eliminated from the characteristic equation of the closed-loop system by manipulations of controller parameters. Secondly, the one parameter tuning (OPT) technique is developed where all controller parameters are made function of a single coefficient. In comparison with optimal proportional-integral-derivative (PID) controller and twice optimum controller (TOC), the simulation results show that the proposed method not only has better accuracy and faster response, but also ensures better robustness and adaptability against uncertain model parameters and external disturbances, especially for the plant with very large time delays.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123111511","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: 20
Integrability by quadratures in optimal control of a unicycle on hyperbolic plane 双曲平面上独轮车最优控制的正交可积性
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7171997
Y. Butt, A. I. Bhatti, Y. Sachkov
{"title":"Integrability by quadratures in optimal control of a unicycle on hyperbolic plane","authors":"Y. Butt, A. I. Bhatti, Y. Sachkov","doi":"10.1109/ACC.2015.7171997","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171997","url":null,"abstract":"We consider the problem of integrability by quadratures of normal Hamiltonian system in sub-Riemannian problem on the groups of motions of hyperbolic plane or pseudo Euclidean plane which form the Lie group SH(2). The first step towards proof of integrability is to calculate the local representation of the Lie group SH(2) in canonical coordinates of second kind. Wei-Norman transformation is applied to obtain this local representation. The Wei-Norman representation shows that the left invariant control system defined on the Lie group SH(2) is equivalent to the motion of a unicycle on hyperbolic plane. Three integrals of motion satisfying the Liouville's integrability conditions are then calculated to prove that the normal Hamiltonian system is integrable by quadratures.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116678491","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
Stochastic model predictive control design for load management system of aircraft electrical power distribution 飞机配电负荷管理系统的随机模型预测控制设计
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7171897
B. Shahsavari, Mehdi Maasoumy, A. Sangiovanni-Vincentelli, R. Horowitz
{"title":"Stochastic model predictive control design for load management system of aircraft electrical power distribution","authors":"B. Shahsavari, Mehdi Maasoumy, A. Sangiovanni-Vincentelli, R. Horowitz","doi":"10.1109/ACC.2015.7171897","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171897","url":null,"abstract":"Aircraft Electric Power Systems (EPS) route power from generators to vital avionics loads by configuring a set of electronic control switches denoted as contactors. The external loads applied to an EPS, power requirement of the system, electrical component failure events, and the dynamics of the system are inherently uncertain. In this paper, we address the problem of designing a stochastic optimal control strategy for the EPS contactors. We first represent mathematical models of different components of an EPS, and formalize the performance metrics of the system as well as the constraints that should be satisfied in a stochastic modeling framework. We then formulate the optimization of the system performance as a stochastic model predictive control (SMPC) problem, and present two special cases of the proposed SMPC analysis to approximate the problem with linear mixed-integer optimization problems. Finally, we report simulation results to confirm the effectiveness of the proposed approach.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127463950","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: 14
Optimization of a feed-forward controller using a CW-lidar system on the CART3 CART3上CW-lidar系统前馈控制器的优化
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7171907
Florian Haizmann, D. Schlipf, Steffen Raach, A. Scholbrock, A. Wright, C. Slinger, J. Medley, M. Harris, E. Bossanyi, P. Cheng
{"title":"Optimization of a feed-forward controller using a CW-lidar system on the CART3","authors":"Florian Haizmann, D. Schlipf, Steffen Raach, A. Scholbrock, A. Wright, C. Slinger, J. Medley, M. Harris, E. Bossanyi, P. Cheng","doi":"10.1109/ACC.2015.7171907","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171907","url":null,"abstract":"This work presents results from a new field-testing campaign conducted on the three-bladed Controls Advanced Research Turbine (CART3) at the National Renewable Energy Laboratory in 2014. Tests were conducted using a commercially available, nacelle-mounted continuous-wave lidar system from ZephIR Lidar for the implementation of a lidar-based collective pitch feed-forward controller. During the campaign, the data processing of the lidar system was optimized for higher availability. Furthermore, the optimal scan distance was investigated for the CART3 by means of a spectra-based analytical model and found to match the lidar's capabilities well. Throughout the campaign the predicted correlation between the lidar measurements and the turbine's reaction was confirmed from the measured data. Additionally, the baseline feedback controller's gains were tuned based on a simulation study that included the lidar system to achieve further load reductions. This led to some promising first results, which are presented at the end of this paper.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125166021","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
Dominating neighbourhood observers for fault reconstruction 主导邻域观测断层重建
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7170845
P. Menon, C. Edwards
{"title":"Dominating neighbourhood observers for fault reconstruction","authors":"P. Menon, C. Edwards","doi":"10.1109/ACC.2015.7170845","DOIUrl":"https://doi.org/10.1109/ACC.2015.7170845","url":null,"abstract":"In this paper, semi-decentralized sliding mode observers are designed for a network of homogeneous linear time invariant dynamical systems, represented in terms of a graph based on relative information. The proposed sliding mode observers reconstruct actuator faults occurring at the node itself as well as in the closed neighbourhood node set. Two distinct observer frameworks are proposed. In the first one, observers are deployed at every node, whereas in the second framework, the observers are placed only on nodes which define the dominating node set. Minimizing the number of observers required, while providing complete monitoring coverage across the network, is the key advantage of the latter framework. The methodology is demonstrated using a formation flying scenario involving a network of ten satellites. Semi-decentralized super-twisting sliding mode observers have been designed to circumvent issues associated with fault reconstruction when only the relative positions of the satellites are assumed to be available for monitoring purposes.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125872238","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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