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2015 American Control Conference (ACC)最新文献

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On the real-time receding horizon control in harbor defense 港口防御中地平线后退的实时控制
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7171889
Seungho Lee, G. Dullerud, E. Polak
{"title":"On the real-time receding horizon control in harbor defense","authors":"Seungho Lee, G. Dullerud, E. Polak","doi":"10.1109/ACC.2015.7171889","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171889","url":null,"abstract":"In this paper, we develop an receding horizon control (RHC) law for controlling the pursuers in a pursuit-evasion problem arising in a harbor defense scenario and describe its real-time implementation that we apply experimentally to a robotic testbed. Our implementation of the RHC law makes use of a min-max formulation of the underlying optimal problem that must be solved at each sample time, which is solved using the method of outer approximations in conjunction with a phase I-phase II method of feasible directions, in conjunction with a network layer that abstracts each agent. We demonstrate the effectiveness of our implementation using real-time human-computer simulations, and human-robot interaction using a physical testbed comprised of model-sized hovercraft.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"22 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":"122544384","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
Invariant sets in finite-time stability of multi-mobile robots 多移动机器人有限时间稳定性中的不变量集
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7170873
L. Beji, R. Mlayeh, N. Zoghlami
{"title":"Invariant sets in finite-time stability of multi-mobile robots","authors":"L. Beji, R. Mlayeh, N. Zoghlami","doi":"10.1109/ACC.2015.7170873","DOIUrl":"https://doi.org/10.1109/ACC.2015.7170873","url":null,"abstract":"The focus of the paper is to solve the finite-time stabilizing problem for multiple nonholonomic mobile robots around a target. Due to the directional behavior, the multi-agent system stability remains a challenging problem. Invariant and attractive sets are an interesting tool in defining navigation area of a group including target informations. In order to stabilize the group around a target, two kind of decentralized protocols are established. The first protocol considers only local informations from the concerned agent. However, the second Protocol incorporates both local information and those of the neighborhood. Lyapunov-based theory leading to the characterization of a such stable set is analyzed. Simulations are presented to illustrate the effectiveness of the multi-mobile robot protocols.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"10 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":"114400124","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
Integrated design of mechanism and control for high-precision stages by the interaction index in the Direct Nyquist Array method 基于直接奈奎斯特阵列法中相互作用指标的高精度平台机构与控制一体化设计
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7171163
W. Ohnishi, H. Fujimoto, K. Sakata, Kazuhiro Suzuki, K. Saiki
{"title":"Integrated design of mechanism and control for high-precision stages by the interaction index in the Direct Nyquist Array method","authors":"W. Ohnishi, H. Fujimoto, K. Sakata, Kazuhiro Suzuki, K. Saiki","doi":"10.1109/ACC.2015.7171163","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171163","url":null,"abstract":"High-precision stages are widely used in the semiconductor and flat panel industry. Because these stages have six degrees of freedom to control, coupling forces can deteriorate its control performance and stability. If heights of the center of gravity (CoG), the center of rotation (CoR), the actuation point, and the measurement point are not the same, couping between the x and θy motions occurs. In this paper, integrated design method of mechanism and control is proposed utilizing the Direct Nyquist Array (DNA) method and a changeable actuation height stage by means of multiple actuator arrangement in the x direction. Due to the model analysis and the optimal actuation height, the coupling can be reduced with a simple precompensator. By drawing the Generalized Gershgorin Band (GGB), the effectiveness of the proposed method is verified through experiments.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"25 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":"122051902","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
Particle filter for combined wheel-slip and vehicle-motion estimation 轮滑与车辆运动联合估计的粒子滤波
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7172186
K. Berntorp
{"title":"Particle filter for combined wheel-slip and vehicle-motion estimation","authors":"K. Berntorp","doi":"10.1109/ACC.2015.7172186","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172186","url":null,"abstract":"The vehicle-estimation problem is approached by fusing measurements from wheel encoders, an inertial measurement unit, and (optionally) a global positioning system in a Rao-Blackwellized particle filter. In total 14 states are estimated, including key variables in active safety systems, such as longitudinal velocity, roll angle, and wheel slip for all four wheels. The method only relies on kinematic relationships. We present experimental data for one test scenario, using a Volkswagen Golf equipped with state-of-the-art sensors for determining ground truth. We report highly promising results, even for periods of combined aggressive cornering and braking.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"25 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":"122157003","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: 12
Noise resistant design of wavelet based multiresolution control 基于小波多分辨率控制的抗噪设计
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7172111
Eghbal A. Hosseini, H. Sadjadian
{"title":"Noise resistant design of wavelet based multiresolution control","authors":"Eghbal A. Hosseini, H. Sadjadian","doi":"10.1109/ACC.2015.7172111","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172111","url":null,"abstract":"In this paper a new method for noise cancellation in a class of wavelet based multiresolution controllers is proposed. Noise cancelation is based on hard thresholding of detail signals in the decomposition stage of the controller. We took advantage of the fact that noise mainly affects high frequency contents of the error signal that is used by the controller, and used hard thresholding to filter their effect in the subsequent control output. The resulting controller outperforms conventional PID and multiresolution PID controllers in closed-loop feedback system design. We tested the performance of the new controller by implementing a n integral plus dead time process used integral of the time-weighted absolute error criteria (ITAE) to tune and compare different controller designs.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"474 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":"122187307","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
A Lebesgue-Stieltjes framework for optimal control and allocation 最优控制与分配的Lebesgue-Stieltjes框架
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7172216
I. Michael Ross, M. Karpenko, R. Proulx
{"title":"A Lebesgue-Stieltjes framework for optimal control and allocation","authors":"I. Michael Ross, M. Karpenko, R. Proulx","doi":"10.1109/ACC.2015.7172216","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172216","url":null,"abstract":"A Lebesgue-Stieltjes optimal control framework is used as the basis for constructing deterministic controls for uncertain systems. The framework is motivated by large uncertainties that occur in the next generation of aerospace systems. Instead of designing new feedback controls that may be expensive to implement, this paper addresses the problem at the outer-loop level by reshaping the input subject to the constraints of the inner loop. Computations based on the combination of a hyper-pseudospectral method verified by Monte Carlo simulations demonstrate the efficacy of the ideas. Ground test results at Honeywell validate the operational readiness of the proposed concepts.","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":"129526059","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: 9
Economic model predictive control of nonlinear process systems using multiple empirical models 基于多重经验模型的非线性过程系统的经济模型预测控制
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7172110
Anas Alanqar, M. Ellis, P. Christofides
{"title":"Economic model predictive control of nonlinear process systems using multiple empirical models","authors":"Anas Alanqar, M. Ellis, P. Christofides","doi":"10.1109/ACC.2015.7172110","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172110","url":null,"abstract":"Economic model predictive control (EMPC) is a feedback control technique that attempts to tightly integrate economic optimization and feedback control since it is a predictive control scheme that is formulated with an objective function representing the process economics. As its name implies, EMPC requires the availability of a dynamic model to compute its control actions and such a model may be obtained either through application of first-principles or though system identification techniques. However, in industrial practice, it may be difficult in general to obtain an accurate first-principles model of the process. Motivated by this, in the present work, Lyapunov-based economic model predictive control (LEMPC) is designed with multiple linear empirical models. The different models are used to more accurately predict the behavior of a nonlinear system over a larger state-space region compared to using a single empirical linear model only. The LEMPC scheme is applied to a chemical process example to demonstrate its closed-loop stability and performance properties as well as significant computational advantages.","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":"128358429","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
Control of the 1D continuous version of the Cucker-Smale model* cucker - small模型的一维连续版控制*
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7170907
B. Piccoli, Francesco Rossi, E. Trélat
{"title":"Control of the 1D continuous version of the Cucker-Smale model*","authors":"B. Piccoli, Francesco Rossi, E. Trélat","doi":"10.1109/ACC.2015.7170907","DOIUrl":"https://doi.org/10.1109/ACC.2015.7170907","url":null,"abstract":"The well-known Cucker-Smale model is a microscopic system reproducing the alignment of velocities in a group of autonomous agents. Here, we focus on its mean-field limit, which we call the continuous Cucker-Smale model. It is a transport partial differential equation with nonlocal terms. For some choices of the parameters in the Cucker-Smale model (and the continuous one), alignment is not ensured for some initial configurations, therefore it is natural to study the enforcing of alignment via an external force. We provide a control strategy enforcing alignment for every initial data and acting only on a small portion of the crowd at each time. This is an adapted version of the sparse control for a finite number of agent, that is the constraint of acting on a small number of agents at each time.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"61 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":"128613870","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
Full state sliding mode trajectory tracking control for general planar vessel models 平面船舶模型的全状态滑模轨迹跟踪控制
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7172144
H. Ashrafiuon, S. Nersesov, F. Mahini, G. Clayton
{"title":"Full state sliding mode trajectory tracking control for general planar vessel models","authors":"H. Ashrafiuon, S. Nersesov, F. Mahini, G. Clayton","doi":"10.1109/ACC.2015.7172144","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172144","url":null,"abstract":"A novel trajectory tracking sliding mode control law for general planar underactuated autonomous vessel models is presented where all six position and velocity states are asymptotically stabilized. The approach is based on defining a transitional trajectory vector function which can be used to reduce the sixth order system to a fourth order one with two control inputs. It is then shown that the stabilization of the reduced order system guarantees asymptotic stability of all six system states where the only restriction for reference trajectory is that it must satisfy the vessel's nonholonomic constraint. The most important advantages of the approach are that it does not require any specific structure for the forcing functions such as hydrodynamic damping, it is robust to modeling uncertainties and disturbances, and it can be applied to models with diagonal and non-diagonal mass matrices. Simulation results are presented for an autonomous surface vessel.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"32 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":"128615624","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
A semilinear distributed parameter approach for solenoid valve control including saturation effects 考虑饱和效应的电磁阀半线性分布参数控制方法
2015 American Control Conference (ACC) Pub Date : 2015-07-01 DOI: 10.1109/ACC.2015.7171126
Tristan Braun, Florian Straußberger, J. Reuter, Gabi Preissler
{"title":"A semilinear distributed parameter approach for solenoid valve control including saturation effects","authors":"Tristan Braun, Florian Straußberger, J. Reuter, Gabi Preissler","doi":"10.1109/ACC.2015.7171126","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171126","url":null,"abstract":"In this paper a semilinear parabolic PDE for the control of solenoid valves is presented. The distributed parameter model of the cylinder becomes nonlinear by the inclusion of saturation effects due to the material's B/H-curve. A flatness based solution of the semilinear PDE is shown as well as a convergence proof of its series solution. By numerical simulation results the adaptability of the approach is demonstrated, and differences between the linear and the nonlinear case are discussed. The major contribution of this paper is the inclusion of saturation effects into the magnetic field governing linear diffusion equation, and the development of a flatness based solution for the resulting semilinear PDE as an extension of previous works [1] and [2].","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":"128958534","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
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