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Defense of a Target Against Intelligent Adversaries: A Linear Quadratic Formulation 针对智能对手的目标防御:线性二次公式
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206368
Eloy García, D. Casbeer, M. Pachter
{"title":"Defense of a Target Against Intelligent Adversaries: A Linear Quadratic Formulation","authors":"Eloy García, D. Casbeer, M. Pachter","doi":"10.1109/CCTA41146.2020.9206368","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206368","url":null,"abstract":"This paper addresses the Active Target Defense Differential Game with three players, the Target, the Attacker, and the Defender. The Target tries to reach its goal while evading the Attacker. The Attacker aims at the Target trying to avoid the Defender while the Defender protects the Target by interposing himself between the Attacker's and the target and trying to intercept the Attacker as far as possible from the Target. The agents are constrained by their use of control energy. The problem becomes a linear quadratic differential game and the analytical solution is obtained. In this paper the Active Target Defense Differential Game paradigm is extended to address two novelties: a goal set for the Target and the expenditure of control energy by the players.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133414372","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
Experiments and identification of thermoacoustic instabilities with the Rijke tube Rijke管热声不稳定性的实验与辨识
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206288
A. Iannelli, Martin Baumann, S. Balula, Roy S. Smith
{"title":"Experiments and identification of thermoacoustic instabilities with the Rijke tube","authors":"A. Iannelli, Martin Baumann, S. Balula, Roy S. Smith","doi":"10.1109/CCTA41146.2020.9206288","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206288","url":null,"abstract":"This paper is concerned with the experimental characterization of a thermoacoustic demonstrator known as the Rijke tube. An approach which leverages the prior qualitative knowledge of the sys-tem's behaviour to plan the experiment campaign and identify reliable models of the system is described. First, nonlinear features of the dynamics, e.g. the type of Hopf bifurcation triggered by the thermoacoustic coupling and the periodic orbits arising from it, are investigated. Then, a family of linear systems, parameterized with a coefficient related to the heat release, is constructed. Different approaches for input design and identification are tested. The results show that the identified models can favourably complement the prior knowledge gained from first principles and provide quantitative assessments on the linear and nonlinear behaviour of the system.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131870672","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
Decentralized Persistent Area Coverage Control with Loss of Awareness 失去意识的分散持久区域覆盖控制
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206267
Erick J. Rodríguez-Seda, Y. Diaz-Mercado
{"title":"Decentralized Persistent Area Coverage Control with Loss of Awareness","authors":"Erick J. Rodríguez-Seda, Y. Diaz-Mercado","doi":"10.1109/CCTA41146.2020.9206267","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206267","url":null,"abstract":"This paper presents a decentralized, hybrid control approach for persistent area coverage control applications. The hybrid cooperative control framework builds on the concepts of cellular automata and awareness-based model to guarantee safe coverage of a large-scale domain by a network of mobile wireless sensors with bounded input disturbances and limited communication and sensing ranges. The framework only requires communication among nearby agents at discrete intervals of time, reducing the communication among agents. Results are validated through simulation and experiments with a team of ten differential-drive mobile robots.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115449972","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
Data Augmentation Using GANs for Crop/Weed Segmentation in Precision Farming 基于gan的精准农业作物/杂草分割数据增强
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206297
Mulham Fawakherji, Ciro Potena, Ibis Prevedello, A. Pretto, D. Bloisi, D. Nardi
{"title":"Data Augmentation Using GANs for Crop/Weed Segmentation in Precision Farming","authors":"Mulham Fawakherji, Ciro Potena, Ibis Prevedello, A. Pretto, D. Bloisi, D. Nardi","doi":"10.1109/CCTA41146.2020.9206297","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206297","url":null,"abstract":"Farming robots need a fast and robust image segmentation module to apply targeted treatments, which require the ability to distinguish, in real time, between crop and weeds. Existing solutions make use of visual classifiers that are trained on large annotated datasets. However, generating large datasets with pixel-wise annotations is an extremely time-consuming task. In this work, we tackle the crop/weed segmentation problem by using a synthetic image generation method to augment the training dataset without the need of manually labelling the images. The proposed approach consists in training a Generative Adversarial Network (GAN), which can automatically generate realistic agricultural scenes. As a difference with respect to common GAN approaches, where the network learns how to reproduce an entire scene, we generate only instances of the objects of interest in the scene, namely crops. This allows to build a generative model that is more compact and easier to train. The generated objects are then placed into real images of agricultural datasets, thus creating new images that can be used for training. To evaluate the performance of the proposed approach, quantitative experiments have been carried out using different segmentation network architectures, showing that our method well generalizes across multiple architectures.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114355021","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
Deadbeat Adaptive Backstepping Design for Tracking Transfer Case Torque and Estimating its Clutch Touchpoint 变速器转矩跟踪及离合器接触点估计的无拍自适应反演设计
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206164
Wenpeng Wei, Hussein Dourra, G. Zhu
{"title":"Deadbeat Adaptive Backstepping Design for Tracking Transfer Case Torque and Estimating its Clutch Touchpoint","authors":"Wenpeng Wei, Hussein Dourra, G. Zhu","doi":"10.1109/CCTA41146.2020.9206164","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206164","url":null,"abstract":"This research applies the discrete-time adaptive backstepping control scheme to a transfer case clutch actuation system for tracking the reference clutch torque and estimating the clutch touchpoint simultaneously. Note that due to the clutch wear and temperature variation, the transfer case clutch touchpoint is typically unknown and needs to be estimated. Instead of using a seperated algorithm for estimating the touchpoint, the proposed approach utilizes one control scheme for tracking the reference torque and estimating the varying touchpoint at the same time. The deadbeat control law is designed based on a systematic non-Lyapunov-Function-based backstepping control scheme, and the stability of the closed-loop system are guaranteed, where all the closed-loop states are bounded. In addition, due to the deadbeat design, the tracking and estimation convergence rates are quite fast, and as a result, the closed-loop system performance is robust to the external disturbance. The proposed method is validated through simulation study.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123607910","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
Monitoring and verification of event-driven transportation systems in discrete manufacturing 离散制造中事件驱动运输系统的监控和验证
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206376
Petar Andonov, A. Savchenko, Philipp Rumschinski, Thomas Trenner, Jörg Neidig, R. Findeisen
{"title":"Monitoring and verification of event-driven transportation systems in discrete manufacturing","authors":"Petar Andonov, A. Savchenko, Philipp Rumschinski, Thomas Trenner, Jörg Neidig, R. Findeisen","doi":"10.1109/CCTA41146.2020.9206376","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206376","url":null,"abstract":"Reliable, yet flexible operation of manufacturing systems is important for efficient and economically viable production. Model-based analysis and verification methods are becoming increasingly important to achieve such an operation. In this work, we outline a model-based approach to monitor and verify transportation systems commonly employed in discrete manufacturing. To provide guaranteed verification and monitoring results despite uncertainties and the event-driven nature of the considered transportation systems, we combine tailored first principle models with suitable set-based feasibility formulations. Simulation examples and results from an industrial test plant underline the performance and real-time capability of the presented approach.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124741228","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
Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents 存在洋流的自动水面车辆的安全关键控制
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206276
Erlend A. Basso, E. H. Thyri, K. Pettersen, M. Breivik, R. Skjetne
{"title":"Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents","authors":"Erlend A. Basso, E. H. Thyri, K. Pettersen, M. Breivik, R. Skjetne","doi":"10.1109/CCTA41146.2020.9206276","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206276","url":null,"abstract":"Autonomous surface vehicles (ASVs) are safety-critical systems that must provide strict safety guarantees such as collision avoidance to enable fully autonomous operations. This paper presents a unified framework for safety-critical control of ASVs for maneuvering, dynamic positioning, and control allocation with safety guarantees in the presence of unknown ocean currents. The framework utilizes control Lyapunov function (CLF)- and control barrier function (CBF)-based quadratic programs (QPs), and is applicable to a general class of nonlinear affine control systems. The stabilization objective is formulated as a maneuvering problem and integral action is introduced in the CLFs to counteract the effect of unknown irrotational ocean currents. Furthermore, ocean current estimates are constructed for robust CBF design, and analytic conditions under which the estimates guarantee safety are derived. Subsequently, robust CBFs are designed to achieve collision avoidance of static obstacles. The paper concludes by verifying the framework in simulation for a double-ended passenger ferry.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125473781","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: 8
A practical online time-varying delay estimation of remote control system based on adaptive super-twisting algorithm 一种实用的基于自适应超扭转算法的远程控制系统在线时变时延估计
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206286
Yang Deng, Vincent Léchappé, S. Rouquet, Emmanuel Moulay, F. Plestan
{"title":"A practical online time-varying delay estimation of remote control system based on adaptive super-twisting algorithm","authors":"Yang Deng, Vincent Léchappé, S. Rouquet, Emmanuel Moulay, F. Plestan","doi":"10.1109/CCTA41146.2020.9206286","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206286","url":null,"abstract":"This article deals with the practical online delay estimation of remote control system by using an external signal. The external signal can be considered as a special communication loop of the remote control system, and it requires no information from the control system. The delay estimator is based on the adaptive super-twisting algorithm, it accurately estimates the time-varying delay with self-tuned parameters. Moreover, the proposed method also attenuates the effect of the channel inherent noise and deception attack via the network. Finally, this method is validated on a WiFi communication network, and some simulations are given to illustrate the performance and the robustness of the proposed method.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125538291","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
Learning Control for Autonomous Driving on Slippery Snowy Road Conditions 雪滑路面自动驾驶学习控制
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206260
Roushan Rezvani Arany, H. Auweraer, Tong Duy Son
{"title":"Learning Control for Autonomous Driving on Slippery Snowy Road Conditions","authors":"Roushan Rezvani Arany, H. Auweraer, Tong Duy Son","doi":"10.1109/CCTA41146.2020.9206260","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206260","url":null,"abstract":"This paper presents an investigation of Gaussian Processes (GPs) in combination with model predictive control (MPC) for autonomous driving control on slippery snowy road conditions. A double lane change scenario with two different road friction coefficients is considered for learning the GP model. The model is then incorporated into the MPC algorithm development. The performance of the GP-MPC controller is evaluated and compared with conventional MPC controller. The validation is conducted based on a co-simulation platform that simulates high fidelity vehicle/tire dynamics and snowy traffic environment in different setting conditions, respectively. The results demonstrate that the GP-MPC controller can achieve better trajectory tracking performance and with less control input than the conventional MPC controller however with higher computation time.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116087954","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
LPV-Based Real-Time Intake Oxygen Fraction Estimation of a Turbocharged Diesel Engine with EGR 基于lpv的EGR增压柴油机进气含氧量实时估算
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206365
Ruixue C. Li, T. Harikrishnan, T. Victor, G. Zhu, Bruce Vernham, Tianyi He
{"title":"LPV-Based Real-Time Intake Oxygen Fraction Estimation of a Turbocharged Diesel Engine with EGR","authors":"Ruixue C. Li, T. Harikrishnan, T. Victor, G. Zhu, Bruce Vernham, Tianyi He","doi":"10.1109/CCTA41146.2020.9206365","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206365","url":null,"abstract":"This paper utilizes a Kalman filter observer schemes to estimate the intake manifold oxygen fraction (IOF) of a turbocharged diesel engine with exhaust gas re-circulation (EGR) in real-time. The IOF has a strong correlation with the diesel engine NOx emissions and it is a good feedback candidate for closed-loop NOx control. The dynamics of target diesel engine air-path system is analyzed and used for developing a linear parameter-varying (LPV) model for the observer design. The LPV model based Kalman filter observer is developed and the tuning method for noise covariance matrices is studied to optimize the estimator performance. The estimation performance at steady-state and transient conditions (HD FTP cycle) are validated in a co-simulation environment using GT-SUITE and MATLAB/SIMULINK.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114260134","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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