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Proceedings of the 2011 American Control Conference最新文献

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Generating images from non-raster data in AFM 从AFM中的非光栅数据生成图像
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5990638
P. Huang, S. Andersson
{"title":"Generating images from non-raster data in AFM","authors":"P. Huang, S. Andersson","doi":"10.1109/ACC.2011.5990638","DOIUrl":"https://doi.org/10.1109/ACC.2011.5990638","url":null,"abstract":"Non-raster methods in atomic force microscopy utilize high-level feedback control to steer the tip in order to sample only regions of interest. Although the non-raster method can reduce the scanning time by gathering fewer samples, the measurement locations are no longer uniformly distributed. As a result, the production of accurate images from the data is a non-trivial problem. This paper presents a method of generating images that faithfully represent the sample from the non-raster data based on Kriging spatial interpolation theory. The method is modified to work well with a particular non-raster method developed previously by one of the authors. One of the primary drawbacks of Kriging, however, is its computational cost. As the algorithm is too slow for real time use, we also describe the use Delaunay triangulation for image generation. While less accurate than Kriging, triangulation is fast enough to produce images in real time, providing visual feedback to the user during the image process.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123486491","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
Robust model matching for geometric fault detection filters 几何故障检测滤波器的鲁棒模型匹配
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.3182/20110828-6-IT-1002.03440
P. Seiler, J. Bokor, B. Vanek, G. Balas
{"title":"Robust model matching for geometric fault detection filters","authors":"P. Seiler, J. Bokor, B. Vanek, G. Balas","doi":"10.3182/20110828-6-IT-1002.03440","DOIUrl":"https://doi.org/10.3182/20110828-6-IT-1002.03440","url":null,"abstract":"Geometric fault detection and isolation filters are known for having excellent fault isolation properties. However, they are generally assumed to be sensitive to model uncertainty and noise. This paper proposes a robust model matching method to incorporate model uncertainty into the design of geometric fault detection filters. Several existing methods for robust filter synthesis are described to solve the robust model matching problem. It is then shown that the robust model matching problem has an interesting self-optimality property for multiplicative input uncertainty models. Finally, a simple example is presented to study the effect of parametric uncertainty and unmodeled dynamics on the performance of a geometric filter.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114222760","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: 18
Triple mode MPC or laguerre MPC: A comparison 三模式MPC或拉盖尔MPC:比较
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5990881
B. Khan, J. Rossiter
{"title":"Triple mode MPC or laguerre MPC: A comparison","authors":"B. Khan, J. Rossiter","doi":"10.1109/ACC.2011.5990881","DOIUrl":"https://doi.org/10.1109/ACC.2011.5990881","url":null,"abstract":"This paper reviews triple mode predictive control for linear time invariant systems and considers the analogies with new approaches to conventional dual mode MPC algorithms deploying Laguerre polynomials. It is shown that there are strong analogies and moreover, that using the Laguerre insights within a Triple mode approach may significantly enlarge the feasibility region compared to recently proposed triple mode approaches. The improvements, with respect to an existing Triple mode algorithm, are demonstrated by examples.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121525070","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
Stability of feedback linearization under intermittent information: A target-pursuit case 间歇信息下反馈线性化的稳定性:一种目标跟踪情况
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5991175
D. Tolic, R. Fierro
{"title":"Stability of feedback linearization under intermittent information: A target-pursuit case","authors":"D. Tolic, R. Fierro","doi":"10.1109/ACC.2011.5991175","DOIUrl":"https://doi.org/10.1109/ACC.2011.5991175","url":null,"abstract":"Managing networks of Autonomous Vehicles (AVs) for accomplishing a common goal, such as target pursuit, is very challenging due to the limited processing, sensing and communication capabilities of the agents. The effects of these limitations on stability of control systems are investigated in this paper. Having the performance of a target-pursuit controller provided with limited information about the target as an incentive, we develop a complete methodology for analyzing robustness of nonlinear controllers under intermittent information. As long as new information arrive within Maximum Allowable Transfer Intervals (MATIs), stability of the closed-loop system is guaranteed. Considering networks of AVs as spatially distributed systems, we adopt a Network Control Systems (NCSs) approach. Using Lyapunov techniques and the small-gain theorem, we are able to analyze stability of internal dynamics in feedback linearized systems within the same framework, and not as a separate problem. Finally, based on the target's maneuver, we provide MATIs leading to different types of stability for the investigated target-pursuit policy, and provide corroborating numerical simulations.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121646307","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
Vision-based relative altitude estimation of small unmanned aerial vehicles in target localization 小型无人机目标定位中基于视觉的相对高度估计
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5991109
Rick Zhang, H. Liu
{"title":"Vision-based relative altitude estimation of small unmanned aerial vehicles in target localization","authors":"Rick Zhang, H. Liu","doi":"10.1109/ACC.2011.5991109","DOIUrl":"https://doi.org/10.1109/ACC.2011.5991109","url":null,"abstract":"This paper presents a UAV vision-based relative altitude estimation method using a given size (length) of the ground vehicle. In conjunction with a well known target localization technique, the proposed method relaxes the flat ground assumption and provides an independent approach of altitude correction. It offers possible improvement or expansion in small UAV applications in target localization, tracking, and terrain exploration missions, such as ground terrain mapping. In addition, the proposed kinematic method is reliable and computationally efficient. Its feasibility and effectiveness is further demonstrated by extensive experiments, including both stationary and moving target estimations.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121660738","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
Observability analysis of an inertial navigation system with stationary updates 具有静止更新的惯性导航系统的可观测性分析
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5991282
Arvind Ramanandan, Anning Chen, J. Farrell
{"title":"Observability analysis of an inertial navigation system with stationary updates","authors":"Arvind Ramanandan, Anning Chen, J. Farrell","doi":"10.1109/ACC.2011.5991282","DOIUrl":"https://doi.org/10.1109/ACC.2011.5991282","url":null,"abstract":"Stationary measurement updates offer the possibility of containing errors in velocity, biases and attitude even during periods of GPS unavailability, given the information that the rover is not moving. Automated detection of appropriate instances of stationarity is possible, given a recently proposed frequency domain method based on IMU data. In this paper we focus on analytical and numerical evaluation of observability of error states of an INS aided with stationary updates. The null space of the continuous time observability gramian is evaluated for various motion scenarios typically occurring in a land vehicle.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"1161 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113988455","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: 15
State estimation for a class of nonlinear differential games using differential neural networks 一类非线性微分对策的微分神经网络状态估计
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5990779
Emmanuel Garcia, Daishi Murano
{"title":"State estimation for a class of nonlinear differential games using differential neural networks","authors":"Emmanuel Garcia, Daishi Murano","doi":"10.1109/ACC.2011.5990779","DOIUrl":"https://doi.org/10.1109/ACC.2011.5990779","url":null,"abstract":"This paper deals with the problem of the state estimation for a certain class of nonlinear differential games, where the mathematical model of this class is completely unknown. Being thus, a Luenberger-like differential neural network observer is applied and a new learning law for its synaptic weights is suggested. Furthermore, by means of a Lyapunov stability analysis, the stability conditions for the state estimation error are established and the upper bound of this error is obtained. Finally, a numerical example illustrates the applicability of this approach.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114807269","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
Application of pseudospectral method in stochastic optimal control of nonlinear structural systems 伪谱法在非线性结构系统随机最优控制中的应用
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5991279
Wei Song, S. Dyke
{"title":"Application of pseudospectral method in stochastic optimal control of nonlinear structural systems","authors":"Wei Song, S. Dyke","doi":"10.1109/ACC.2011.5991279","DOIUrl":"https://doi.org/10.1109/ACC.2011.5991279","url":null,"abstract":"This paper presents the results of numerical study on the optimal control strategy of nonlinear stochastic systems. The systems under investigation are mechanical oscillators and a damping device. The numerical approach to obtain the optimal control strategy involves solving a nonlinear partial differential equation - the Hamilton-Jacobi-Bellman equation. Since civil engineering structural systems usually exhibit nonlinear hysteretic behavior under extreme loading conditions, the potential application of the obtained control strategy could provide an optimal feedback control law to reduce the system response under the random excitations (such as earthquakes, wind load and sea waves). Several numerical examples are presented to verify optimality and demonstrate the efficacy of the proposed optimal control solution. First, a linear oscillator is used to verify that the obtained solution is indeed the optimal solution by comparing it to the closed form solution. Then the proposed method is applied to several nonlinear systems. In each case, optimality is demonstrated by comparing the system responses and costs under optimal control with those obtained using linearized optimal control.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114821927","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
Stability conditions for optimal filtering over cognitive radio system 认知无线电系统最优滤波的稳定性条件
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5991504
Xiao Ma, S. Djouadi, Husheng Li
{"title":"Stability conditions for optimal filtering over cognitive radio system","authors":"Xiao Ma, S. Djouadi, Husheng Li","doi":"10.1109/ACC.2011.5991504","DOIUrl":"https://doi.org/10.1109/ACC.2011.5991504","url":null,"abstract":"Cognitive radio system is a very popular area in the communication community as it saves money and bandwidth by sensing the available licensed spectrum for unlicensed users. This advantage provides a promising future for the application of cognitive radio in control systems. In this paper, we propose to communicate through a cognitive radio link between the sensor and the estimator. In this way, the state estimator needs to adjust to this new communication link as the link is affected by the interruptions from primary users. We assume the emergence of primary users results in packet losses. The link is assumed to be governed by multiple semi-Markov processes each of which can capture and represent one channel in it. We derive sufficient conditions for the stability of the peak covariance process of the optimal filter. A numerical example is given to demonstrate the theorems.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"337 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124307679","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
A grasping force optimization algorithm with dynamic torque constraints selection for multi-fingered robotic hands 基于动态力矩约束选择的多指机械手抓握力优化算法
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5991236
V. Lippiello, B. Siciliano, L. Villani
{"title":"A grasping force optimization algorithm with dynamic torque constraints selection for multi-fingered robotic hands","authors":"V. Lippiello, B. Siciliano, L. Villani","doi":"10.1109/ACC.2011.5991236","DOIUrl":"https://doi.org/10.1109/ACC.2011.5991236","url":null,"abstract":"The problem of grasping force optimization (GFO) for a multi-fingered robotic hand is considered in this paper. The GFO problem is cast in a convex optimization problem, considering also joint torque constraints. A new algorithmic solution is proposed here, which is suitable to be implemented online. The proposed formulation allows a substantial reduction of the computational load of the problem by dynamically decreasing the number of active torque constraints. Moreover, differently from other approaches, the algorithm does not require the evaluation of a new initial point at the beginning of each optimization cycle. The effectiveness of the proposed method has been tested in a simulation case study where the grasping forces of a five-fingers robotic hand are modified online to cope with time-varying external forces applied to the object.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127591337","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
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