{"title":"Sampled-data observer for one-sided Lipschitz systems: Single-rate and multirate cases","authors":"Hossein Beikzadeh, H. Marquez","doi":"10.1109/ACC.2015.7171855","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171855","url":null,"abstract":"The problem of sampled-data observer design is addressed for the so-called nonlinear systems with one sided Lipschitz nonlinearity in presence of disturbance inputs. We first develop a single-rate observer using a refined Euler model formulated via tractable linear matrix inequalities (LMIs). This scheme is shown to be input-to-state stable from exogenous disturbances to the estimation error in a semiglobal practical sense for the unknown exact discrete-time plant model. Then, the proposed observer is modified appropriately to cope with the practical case of multirate sampling by preserving similar stability property. A simulation example justifies the efficiency of both observers for the one-sided Lipschitz systems and demonstrates the superiority of the multirate observer when the input and output signals are sampled at different rates.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"155 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":"124324830","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}
S. Samaranayake, Axel Parmentier, Ethan Xuan, A. Bayen
{"title":"A mathematical framework for delay analysis in single source networks","authors":"S. Samaranayake, Axel Parmentier, Ethan Xuan, A. Bayen","doi":"10.1109/ACC.2015.7172054","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172054","url":null,"abstract":"This article presents a mathematical framework for modeling heterogeneous flow networks with a single source and multiple sinks. The traffic is differentiated by its destination (i.e. Lagrangian flow) and different flow groups are assumed to satisfy the first-in-first-out (FIFO) condition at each junction. We show that our model leads to a well-posed problem for computing the dynamics of the system and prove that the solution is unique through a mathematical derivation of the model properties. The framework is then used to analytically prescribe the delays at each junction of the network and across any sub-path, which is one of the contributions of the article. This is a critical requirement when solving control and optimization problems over the network, such as system optimal network routing and solving for equilibrium behavior. In fact, the framework provides analytical expressions for the delay at any node or sub-path as a function of the inflow at any upstream node. Furthermore, the model can be solved numerically using a very simple and efficient feed forward algorithm. We demonstrate the versatility of the framework by applying it to a diverge junction with complex junction dynamics.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"201 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":"124511954","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}
{"title":"A multiple vehicle path covering problem with localization constraints: Formulation and algorithms","authors":"Sivakumar Rathniam, Rajinkant Sharma","doi":"10.1109/ACC.2015.7171912","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171912","url":null,"abstract":"Most of the multiple vehicle path planning algorithms that arise in surveillance applications in the literature currently rely on the use of the Global Positioning System (GPS) information. However, intentional and unintentional interference in both military and civil scenarios can easily disrupt the GPS signals, and as a result, render the path planning algorithms not applicable. This article provides a new way of addressing this difficulty by combining techniques from cooperative localization and path planning. Specifically, this article formulates two fundamental problems related to path planning of vehicles in GPS denied environments and provides novel algorithms to solve the same. Simulation results are also presented to corroborate the performance of the proposed algorithms.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"2 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":"127879374","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}
{"title":"Distributed cooperative voltage equalization for series-connected super-capacitors","authors":"Jiangang Liu, Zhiwu Huang, Jun Peng, Jing Wang","doi":"10.1109/ACC.2015.7172041","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172041","url":null,"abstract":"In this paper, we propose a distributed cooperative voltage equalization strategy in order to balance the voltages of the series-connected super-capacitors, which is the power supply of energy storage light rail vehicles. Taking each supercapacitor cell as an agent in multi-agent systems, the voltage equalization problem can be formulated as a cooperative tracking problem. The sparse communication network among the super-capacitors in the cyber layer can be modeled by a digraph. As the voltage changes within a limited range, a general saturation function is put forward to guarantee the boundedness of the control input. Based on the nearest neighborhood rule, a bounded voltage equalization controller with tunable control gains is designed accordingly. The proposed voltage equalization methodology is distributed and not using a central controller. Each super-capacitor cell only need its voltage information and its neighbors, the desired control objective can be accomplished by local interaction in a cooperative way. Under the assumption that the digraph has a spanning tree, the asymptotically stability of the overall close-loop system is rigorously proved with the aid of a novel Lyapunov function integrating Lasalle invariant principle. The voltage equalization has been achieved by the proposed cooperative control approach, which is verified by the simulations. under different initial conditions, cooperative objectives and different network sizes.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"13 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":"126235772","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}
{"title":"Optimal auto-regulation to minimize first-passage time variability in protein level","authors":"K. Ghusinga, P. Fok, Abhyudai Singh","doi":"10.1109/ACC.2015.7172023","DOIUrl":"https://doi.org/10.1109/ACC.2015.7172023","url":null,"abstract":"The timing of cellular events is inherently random because of the probabilistic nature of gene expression. Yet cells manage to have precise timing of important events. Here, we study how gene expression could possibly be regulated to precisely schedule timing of an event around a given time. Event timing is modeled as the first-passage time (FPT) for a protein's level to cross a critical threshold. Considering auto-regulation as a possible regulatory mechanism, we investigate what form of auto-regulation would lead to minimum stochasticity in FPT around a fixed time. We formulate a stochastic gene expression model and show that under certain assumptions, it reduces to a birth-death process. Our results show that when the death rate is zero, the objective is best achieved when all of the birth rates are equal. On the contrary, when the death rate is non-zero, the optimal birth rates are not equal. In terms of the gene expression model, these results illustrate that when protein does not degrade, stochasticity in FPT around a given time is minimized when there is no auto-regulation of its expression. However, when the protein degrades, some form of auto-regulation is required to achieve this. These results are consistent with experimental findings for the lysis time stochasticity in λ phage.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"90 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":"126237093","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}
{"title":"Integrated flight control design for a large flexible aircraft","authors":"J. Theis, H. Pfifer, G. Balas, H. Werner","doi":"10.1109/ACC.2015.7171927","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171927","url":null,"abstract":"A systematic design procedure suited to integrate rigid body and aeroelastic control objectives within the mixed sensitivity framework is proposed for a two-degrees-of-freedom control configuration. It is based on a modal representation and combines stability augmentation, structural mode control and maneuver demand in a single linear parameter-varying (LPV) controller. To demonstrate applicability, an integrated flight control system is designed for the nonlinear model of a large flexible aircraft. The integrated controller is shown to greatly reduce structural vibrations while maintaining handling qualities and robustness margins of a conventional controller.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"96 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":"126249101","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}
{"title":"Multiple-model based adaptive compensation of actuation sign uncertainty using an error transformation","authors":"Yajie Ma, G. Tao, B. Jiang, H. Liu","doi":"10.1109/ACC.2015.7170729","DOIUrl":"https://doi.org/10.1109/ACC.2015.7170729","url":null,"abstract":"This paper develops a new multiple-model based adaptive control scheme to compensate actuation sign uncertainty, which employs three steps: (1) design multiple estimators; (2) design multiple controllers using an error transformation relating to the output tracking error, the estimation error, and a virtual tracking error between the estimator state and the reference signal; and (3) design a control switching mechanism to select the most appropriate controller to generate the applied control signal. Such a control scheme is first deigned for single-degree of freedom bodies with a control gain that is unknown in both sign and magnitude, to introduce and illustrate this approach. Then, the full scheme is developed for three-axis rigid microsatellites with unknown inertia parameters and uncertain actuation signs. The proposed multiple-model based adaptive control scheme ensures the desired system stability and asymptotic tracking properties. Simulation results verify its effectiveness.","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":"126287146","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}
{"title":"Nonlinear adaptive filtering in terrain-referenced navigation","authors":"Brian L. Copp, K. Subbarao","doi":"10.1109/ACC.2015.7171002","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171002","url":null,"abstract":"Nonlinear adaptive estimation is applied to terrain-referenced navigation in three dimensions. In this scheme, a bank of parallel filters is initialized with different altitude hypotheses, where each filter represents a discrete (gridded) approximation to the Bayes minimum variance estimator. The importance weight of each filter is recursively updated using the measurement residuals. The altitude bias estimate is found from a weighted sum of the filter hypotheses. Numerical simulations with synthetic data indicate that an altitude bias can be accurately estimated without the use of three-dimensional grids. The computational simplicity and parallel nature of the filter may make it suitable for estimation of additional parameters such as horizontal velocity components.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"12 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":"126361633","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}
{"title":"Designing a self-regulating biomolecular comparator","authors":"Deepak K. Agrawal, Elisa Franco, Rebecca Schulman","doi":"10.1109/ACC.2015.7171136","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171136","url":null,"abstract":"A major goal of biomolecular engineering is to build large systems of reactions with controlled input-output behavior. One challenge is that some reactions within such a system can be unreliable, so that rectification of these signals will be needed. Biomolecular oscillators, for example, typically have fluctuations in the amplitude response that can limit its ability to control downstream processes. In this paper, we describe a simple reaction module, or biomolecular comparator, that can take such signals as input and produces a square wave-like output. The comparator produces an output at a constant high level whenever the source input is above some predefined threshold concentration and a constant low signal otherwise. This functionality is verified though simulations and theoretical analysis. We also discuss important constraints on the comparator's design. This work could make it possible to develop precise oscillatory molecular signals that allow for the dynamic control of synthetic biomolecular systems.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"89 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":"126227982","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}
{"title":"Nonlinearity-based adaptive sparse-grid quadrature filter","authors":"Tao Sun, M. Xin, Bin Jia","doi":"10.1109/ACC.2015.7171107","DOIUrl":"https://doi.org/10.1109/ACC.2015.7171107","url":null,"abstract":"The recently emerging sparse-grid quadrature filter (SGQF) has been shown to outperform the unscented Kalman filter owing to its higher levels of estimation accuracy It can achieve the close performance to the Gauss Hermite quadrature filter without suffering the curse-of-dimensionality problem. However, the computation efficiency of the SGQF can be further improved by exploring the inherent system structure. In this paper, a new adaptive sparse-grid quadrature filter (ASGQF) is proposed. The accuracy levels of the sparse-grid quadrature (SGQ) are adaptively selected based on the nonlinearity of the stochastic system such that a higher level of SGQ is used only when the nonlinearity measure is high, which reduces the unnecessary computation complexity. A global measure and a local measure of nonlinearity are used and compared. In a target tracking example, the ASGQF with the adaptive mixture of low level SGQ and high level SGQ is shown to achieve close performance to the sole higher level SGQF and demands much less computation load.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"29 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":"125662026","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}