2020 IEEE Conference on Control Technology and Applications (CCTA)最新文献_第4页

A receding horizon control strategy for constrained differential-drive robots moving in static unknown environments 静态未知环境下约束差速驱动机器人的后退地平线控制策略

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206301

Cristian Tiriolo, G. Franzé, Walter Lucia

引用次数: 5

Reversal Angle Control of Windshield Wiper Motor Using a Reference Governor 基于参考调速器的雨刷电机反转角控制

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206386

Tsutomu Tashiro, Daijiro Shimada

引用次数: 2

Stability Versus Maneuverability of Non-holonomic Differential Drive Mobile Robot: Focus on Aggressive Position Control Applications 非完整差动驱动移动机器人的稳定性与机动性:以主动位置控制应用为重点

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206155

Kaustav Mondal, Brent A. Wallace, Armando A. Rodriguez

{"title":"Stability Versus Maneuverability of Non-holonomic Differential Drive Mobile Robot: Focus on Aggressive Position Control Applications","authors":"Kaustav Mondal, Brent A. Wallace, Armando A. Rodriguez","doi":"10.1109/CCTA41146.2020.9206155","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206155","url":null,"abstract":"This paper presents a novel control centric dynamic modeling analysis focused on the relationship between stability and maneuverability of non-holonomic differential drive robots. The impact of specific vehicle design parameters on stability, lateral and longitudinal maneuverability of robot are examined over a broad range of forward motion operating conditions. The central objective is to determine whether the directional instability created by placing the center of gravity (c.g.) behind wheel-axle, aids in the performance of a robot executing aggressive cornering maneuvers. To this end, the paper explores two outer-loop position control applications, (1) Trajectory tracking using Lyapunov based method, (2) Minimum-time maneuvering of racetrack using Model Predictive Control (MPC) strategy. A hierarchical inner-outer loop control architecture with a weighted $mathcal{H}^{infty}$ mixed sensitivity based inner-loop velocity tracking system, is presented for the same. The advantages and disadvantages of proposed modeling approach and associated control relevant performance tradeoffs are demonstrated through simulations in discrete time.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"182 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":"115133879","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

Direct Force Feedback using Gaussian Process based Model Predictive Control 基于高斯过程的直接力反馈模型预测控制

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206279

Janine Matschek, Reni Jordanowa, R. Findeisen

引用次数: 2

Secure Contingency Prediction and Response for Cyber-Physical Systems 网络物理系统的安全应急预测与响应

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206253

Erik Miehling, Cédric Langbort, T. Başar

{"title":"Secure Contingency Prediction and Response for Cyber-Physical Systems","authors":"Erik Miehling, Cédric Langbort, T. Başar","doi":"10.1109/CCTA41146.2020.9206253","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206253","url":null,"abstract":"The complex nature of recent attacks on cyber-physical systems calls for more expressive models for contingency prediction and response. In this paper, in an attempt to address the primary difficulties facing the design of models for cyber-physical systems security, we propose a general model, termed secure contingency prediction and response (SCPR), that explicitly links the security status of the cyber layer with the operational status of the physical system. This is achieved by describing the security status of the cyber layer as the progression of an attacker through an attack graph and drawing a correspondence between compromised nodes in the attack graph and attacker capabilities in the physical layer. Using the proposed model, we formulate a novel cyber-physical systems security problem, termed control-aware intrusion response, in which actions in the cyber layer take into account the structural controllability of the physical system. The expressiveness of the proposed model is further illustrated by briefly discussing its applicability to some foundational cyber-physical systems security problems.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"14 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":"134646878","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

Gain-Scheduled Autopilot Design with Anti-Windup Compensator for a Dual-Spin Canard-Guided Projectile 双自旋鸭式制导弹丸抗卷绕补偿增益计划自动驾驶仪设计

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206311

Sovanna Thai, S. Theodoulis, C. Roos, J. Biannic, Michael Proff

引用次数: 4

A Tutorial on PES Pareto Methods for Analysis of Noise Propagation in Feedback Loops 反馈回路中噪声传播分析的PES Pareto方法教程

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206364

D. Abramovitch

{"title":"A Tutorial on PES Pareto Methods for Analysis of Noise Propagation in Feedback Loops","authors":"D. Abramovitch","doi":"10.1109/CCTA41146.2020.9206364","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206364","url":null,"abstract":"This paper represents a tutorial on the so called PES Pareto methodology of analyzing the sources of noise in a feedback loop. Originally conceived for analyzing noise contributors in magnetic hard disk drives, the method provides a means of systematically identifying uncertainty contributors to a servo loop. Once identified and ranked according to their overall effect on the error and output signals, the top ranking sources can be worked on first, either by finding ways to reduce their magnitude or by altering system components to reduce sensitivity to the the noise contributors. The PES Pareto Method is based on three ideas: (1) an understanding of how Bode's Integral Theorem applies to servo system noise measurements, (2) a measurement methodology that allows for the isolation of individual noise sources, and (3) a system model that allows these sources to be recombined to simulate the servo loop's error signal. The method requires the measurement of frequency response functions and output power spectra for each servo system element. Each input noise spectrum can then be inferred and applied to the closed loop model to determine its effect on error signal uncertainty. The PES Pareto Method is illustrated by decomposing PES signals that were obtained from a hard disk drive manufactured by Hewlett-Packard Company in the mid 1990s. However, beyond this old lab data, the method should be applicable to a wide variety of control loops.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"163 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":"116967773","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 novel Motion Cueing Algorithm based on real-time optimization and periodic invariant sets 一种新的基于实时优化和周期不变集的运动线索算法

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206343

Martin Soyer, Sorin Olaru, Zhou Fang

引用次数: 6

Multi-Model Resilient Observer under False Data Injection Attacks 虚假数据注入攻击下的多模型弹性观察者

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206284

O. Anubi, Charalambos Konstantinou, Carlos A. Wong, Satish Vedula

{"title":"Multi-Model Resilient Observer under False Data Injection Attacks","authors":"O. Anubi, Charalambos Konstantinou, Carlos A. Wong, Satish Vedula","doi":"10.1109/CCTA41146.2020.9206284","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206284","url":null,"abstract":"In this paper, we present the concept of boosting the resiliency of optimization-based observers for cyber-physical systems (CPS) using auxiliary sources of information. Due to the tight coupling of physics, communication and computation, a malicious agent can exploit multiple inherent vulnerabilities in order to inject stealthy signals into the measurement process. The problem setting considers the scenario in which an attacker strategically corrupts portions of the data in order to force wrong state estimates which could have catastrophic consequences. The goal of the proposed observer is to compute the true states in-spite of the adversarial corruption. In the formulation, we use a measurement prior distribution generated by the auxiliary model to refine the feasible region of a traditional compressive sensing-based regression problem. A constrained optimization-based observer is developed using $l_{1}$-minimization scheme. Numerical experiments show that the solution of the resulting problem recovers the true states of the system. The developed algorithm is evaluated through a numerical simulation example of the IEEE 14-bus system.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"43 2 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":"130233177","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

Set-Theoretic Control for Active Detection of Replay Attacks with Applications to Smart Grid 重放攻击主动检测的集理论控制及其在智能电网中的应用

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206373

A. Abdelwahab, Walter Lucia, A. Youssef

引用次数: 5