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2020 IEEE Conference on Control Technology and Applications (CCTA)最新文献

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System Identification and $mathcal{H}_{infty}$ Control of a Fatigue Structural Testing Rig 疲劳结构试验台系统辨识与$mathcal{H}_{infty}$控制
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206389
Robyn Fortune, C. Beltempo, J. Forbes
{"title":"System Identification and $mathcal{H}_{infty}$ Control of a Fatigue Structural Testing Rig","authors":"Robyn Fortune, C. Beltempo, J. Forbes","doi":"10.1109/CCTA41146.2020.9206389","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206389","url":null,"abstract":"This paper considers system identification and $mathcal{H}_{infty}$ control of a load-controlled fatigue structural test rig. The test rig is comprised of an aluminum-composite structure and hydraulic actuators that apply desired loads. Fatigue tests must be performed using closed-loop control in order to avoid damaging the test article. Therefore, three closed-loop system identification methods are considered, the direct method, indirect method, and dual-Youla method. The best identified models in terms of variance accounted for are then used to design two degree-of-freedom $mathcal{H}_{infty}$ controllers. Reduced-order versions of the $mathcal{H}_{infty}$ controllers are implemented on the test rig and used to track a load profile. The system identification and $mathcal{H}_{infty}$ controller synthesis methods are presented, along with identification and tracking results.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"114 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":"116120221","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
Reactive collision avoidance for ASVs based on control barrier functions 基于控制障碍函数的自动驾驶汽车反应性避碰
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206340
E. H. Thyri, Erlend A. Basso, M. Breivik, K. Pettersen, R. Skjetne, A. Lekkas
{"title":"Reactive collision avoidance for ASVs based on control barrier functions","authors":"E. H. Thyri, Erlend A. Basso, M. Breivik, K. Pettersen, R. Skjetne, A. Lekkas","doi":"10.1109/CCTA41146.2020.9206340","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206340","url":null,"abstract":"A reactive collision avoidance method for autonomous surface vehicles based on control barrier functions (CBFs) is proposed. An encounter between the ownship (the vessel that we control) and a target ship is classified, in accordance with the International Regulations for Preventing Collisions at Sea (COLREGs), to be either a head-on, overtake, give-way, stand-on or a safe situation with respect to the ownship. Subsequently, a spatial region is assigned to the target ship based on the classification, and this region is used to define a collision-free set. Based on this, a CBF is formulated to ensure forward invariance of the collision-free set. This CBF can then be applied as an inequality constraint to any guidance, navigation and control system with an optimization-based trajectory tracking or thrust allocation system. The method is verified through simulations and is seen to handle head-on, overtaking and crossing situations with both give-way and stand-on duty in compliance with COLREGs rules 13-15 and 17.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"11 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":"115175734","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
Capture-the-Flag: A Differential Game 《夺旗:一种差异游戏
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206333
M. Pachter, D. Casbeer, Eloy García
{"title":"Capture-the-Flag: A Differential Game","authors":"M. Pachter, D. Casbeer, Eloy García","doi":"10.1109/CCTA41146.2020.9206333","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206333","url":null,"abstract":"A simplified version of the Capture the Flag game which has been extensively addressed in the literature is considered. This version allows us to model the problem as a differential game and obtain its complete closed-form solution. In this paper the Attacker's and Defender's optimal state-feedback strategies in each one of the players' winning regions are obtained and the analytical Barrier function that separates the state space into the winning regions of each player is constructed.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"95 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":"114646529","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
Privacy Preserving Average Consensus by Adding Edge-based Perturbation Signals 添加边缘微扰信号的隐私保持平均一致性
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206263
Yi Xiong, Zhongkui Li
{"title":"Privacy Preserving Average Consensus by Adding Edge-based Perturbation Signals","authors":"Yi Xiong, Zhongkui Li","doi":"10.1109/CCTA41146.2020.9206263","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206263","url":null,"abstract":"In this paper, the privacy preserving average consensus problem of multi-agent systems with strongly connected and weight balanced graph is considered. In most existing consensus algorithms, the agents need to exchange their state information, which leads to the disclosure of their initial states. This might be undesirable because agents' initial states may contain some important and sensitive information. To solve the problem, we propose a novel distributed algorithm, which can guarantee average consensus and meanwhile preserve the agents' privacy. This algorithm assigns some additive perturbation signals on the communication edges and these perturbations signals will be added to original true states for information exchanging. This ensures that direct disclosure of initial states can be avoided. Then a rigid analysis of our algorithm's privacy preserving performance is provided. For any individual agent in the network, we present a necessary and sufficient condition under which its privacy is preserved. The effectiveness of our algorithm is demonstrated by a numerical simulation.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"26 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":"125480997","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
Robustness and Reliability of Model-based Sensor Data Fusion in a Lithium-Ion Battery System 锂离子电池系统中基于模型的传感器数据融合的鲁棒性和可靠性
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206336
Dominik Schneider, C. Endisch
{"title":"Robustness and Reliability of Model-based Sensor Data Fusion in a Lithium-Ion Battery System","authors":"Dominik Schneider, C. Endisch","doi":"10.1109/CCTA41146.2020.9206336","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206336","url":null,"abstract":"In recent years, battery monitoring systems with sensors on cell level have been introduced to enhance robustness and safety. With model-based sensor data fusion the uncertainty of cell voltage and current measurement is diminished. Within this contribution approaches are explored to strengthen the robustness of the sensor data fusion method. In particular, two Kalman filters are investigated that are based on Student's t instead of Gaussian noise. Furthermore, the underlying parameter estimation is improved by adaption of measurement noise and taking the estimator windup into account. Simulation results show that each of the presented methods increases the robustness of the sensor data fusion framework and may be combined for best performance. Moreover, with sensor data fusion the reliability of each cell measurement is enhanced, which is also investigated within this contribution.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"108 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":"124859045","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
Driving with guardian: Blending user inputs with safety ensuring barriers 与监护人一起驾驶:将用户输入与安全保障屏障相结合
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206270
Michael Arwashan, T. Ge, Zexiang Liu, N. Ozay
{"title":"Driving with guardian: Blending user inputs with safety ensuring barriers","authors":"Michael Arwashan, T. Ge, Zexiang Liu, N. Ozay","doi":"10.1109/CCTA41146.2020.9206270","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206270","url":null,"abstract":"This paper considers the practical aspects of using a control barrier function induced by a robust controlled invariant set for supervising user inputs. Our focus application is path following/lane keeping functionality in advanced driver assist systems. We define specific normalized barrier functions for ellipsoidal and polytopic invariant sets. Then, we use the magnitude of these barriers to determine an optimum safe control input as well to determine when to blend this input with the user's input. This method allows for a smooth overriding of the user input and is well defined in the case that the barrier is violated due, for instance, to model mismatch. The method is demonstrated in a realistic simulation environment. These simulations show the proposed method to be a computationally light way to safeguard user inputs in a smooth manner.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"8 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":"125044968","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
Automotive backlash position estimator for driveline jerk control 用于传动系统抽动控制的汽车侧隙位置估计器
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206324
Kaushal Darokar, P. Reddy, J. Furlich, D. Robinette, M. Shahbakhti, M. Ravichandran, Jeffrey Doering
{"title":"Automotive backlash position estimator for driveline jerk control","authors":"Kaushal Darokar, P. Reddy, J. Furlich, D. Robinette, M. Shahbakhti, M. Ravichandran, Jeffrey Doering","doi":"10.1109/CCTA41146.2020.9206324","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206324","url":null,"abstract":"Backlash position information is important in designing control systems for the purpose of reducing clunk and shuffle in automotive drivelines. Typically, this position information is used by the control system to determine when the driveline has entered or exited the backlash and also to regulate the speed of backlash traversal. To this end, we develop here a Kalman filter-based estimator for the backlash position, utilizing readily available speed measurements from the vehicle CAN bus. The estimator is designed to switch between two modes, since the drivetrain physics is different while traversing the lash and outside of the lash. We validate the estimator using experimentally collected vehicle test data, and observe that the backlash position estimates are accurate to within 20 ms of the test vehicle's actual backlash position. Furthermore, we verify the robustness of the system to CAN jitter in the speed measurements.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"329 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":"123396585","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
Random-Sampling Multipath Hypothesis Propagation for Cost Approximation in Long-Horizon Optimal Control 长视界最优控制中成本逼近的随机抽样多路径假设传播
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206334
Shankarachary Ragi, H. Mittelmann
{"title":"Random-Sampling Multipath Hypothesis Propagation for Cost Approximation in Long-Horizon Optimal Control","authors":"Shankarachary Ragi, H. Mittelmann","doi":"10.1109/CCTA41146.2020.9206334","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206334","url":null,"abstract":"In this paper, we develop a Monte-Carlo based heuristic approach to approximate the objective function in long horizon optimal control problems. In this approach, we evolve the system state over multiple trajectories into the future while sampling the noise disturbances at each time-step, and find the weighted average of the costs along all the trajectories. We call these methods random sampling - multipath hypothesis propagation or RS-MHP. These methods (or variants) exist in the literature; however, the literature lacks convergence results for a generic class of nonlinear systems. This paper fills this knowledge gap to a certain extent. We derive convergence results for the cost approximation error from the MHP methods and discuss their convergence (in probability) as the sample size increases. As a case study, we apply RS-MHP to approximate the cost function in a linear quadratic control problem and demonstrate the benefits of our approach against an existing and closely related approximation approach called nominal belief-state optimization.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"51 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":"123411730","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
Model-Matching-Control of a Redundantly Actuated Steer-by-Wire-System 冗余驱动线控转向系统的模型匹配控制
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206283
Volker Ewald, U. Konigorski
{"title":"Model-Matching-Control of a Redundantly Actuated Steer-by-Wire-System","authors":"Volker Ewald, U. Konigorski","doi":"10.1109/CCTA41146.2020.9206283","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206283","url":null,"abstract":"Steer-by-Wire (sbw) systems gain new importance with regard to autonomous driving since a permanently rotating steering wheel is undesired in such a vehicle. In addition, redundancies in the vehicle steering system must be provided for autonomous vehicles, which have been seen as an obstacle for sbw-systems until now. In this article, a control concept for redundantly actuated sbw-systems is presented. For this purpose, the mechanical model of a redundantly actuated sbw is described, in which the actuators of the steering are elastically connected to each other. Also a linear model of a conventional hydraulic power steering (hps) is derived as reference model, to describe the desired dynamic behavior of the controlled system. A dynamic model-matching controller based on norm minimization is designed to match the dynamics of the sbw-system to the dynamics of the hps-model. Finally, the characteristics of the controlled system are analysed. The controlled system matches the reference system in the relevant frequency range and shows the desired behavior on the test bed.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"67 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":"126304307","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
Design of Constructive Tracking Control for Differentially Flat Systems via Minimum Projection Method 基于最小投影法的差分平面系统构造跟踪控制设计
2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI: 10.1109/CCTA41146.2020.9206377
Ryoya Ikeda, Takuya Hayashi, Hisakazu Nakamura
{"title":"Design of Constructive Tracking Control for Differentially Flat Systems via Minimum Projection Method","authors":"Ryoya Ikeda, Takuya Hayashi, Hisakazu Nakamura","doi":"10.1109/CCTA41146.2020.9206377","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206377","url":null,"abstract":"This paper addresses a trajectory tracking problem for differentially flat systems. We designed a Tracking Control Lyapunov Function (TCLF) that excludes a virtual state for differentially flat systems via the minimum projection method. Moreover, we designed an inverse optimal controller with this designed TCLF and conducted computer simulation regarding trajectory tracking for differentially flat systems.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"1 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":"129837848","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
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