2020 American Control Conference (ACC)最新文献

Asymptotic Tracking for Nonminimum-Phase Nonlinear Systems in Output Feedback Form 输出反馈形式下非最小相位非线性系统的渐近跟踪

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9148029

Shanwei Su, Wei Lin

引用次数: 0

Distributed Minimization of the Power Generation Cost in Prosumer-Based Distribution Networks 产消配电网中发电成本的分布式最小化

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147784

G. Cavraro, A. Bernstein, R. Carli, S. Zampieri

引用次数: 4

Flexibility capacity of thermostatically controlled loads with cycling/lock-out constraints 具有循环/锁定约束的恒温控制负载的灵活性

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147817

Austin R. Coffman, Neil Cammardella, P. Barooah, Sean P. Meyn

{"title":"Flexibility capacity of thermostatically controlled loads with cycling/lock-out constraints","authors":"Austin R. Coffman, Neil Cammardella, P. Barooah, Sean P. Meyn","doi":"10.23919/ACC45564.2020.9147817","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147817","url":null,"abstract":"Thermostatically Controlled Loads (TCLs), e.g., A/Cs and water heaters, are a source of flexible power demand for the power grid: many different power consumption trajectories exist that can maintain consumers’ quality of service (QoS). Extensive research has shown that flexible loads can provide valuable grid services. Quantifying the flexibility capacity of a collection of TCLs is a well-studied problem. However, many studies consider temperature constraints alone, while most TCLs are on/off loads that have cycling (or lock-out) constraints. Studies that have considered lock-out constraints have proposed quantifications that depend on the control algorithm used to coordinate loads to provide grid services.In this work, we present a characterization of the capacity of a collection of TCLs that considers not only temperature, but also cycling and total energy constraints. Our characterization is independent of the algorithm used to control the TCLs; it depends only on the QoS constraints on the individual TCLs. The proposed characterization can be used for planning a feasible power deviation trajectory for a collection of TCLs by solving a convex optimization problem.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125218882","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

On-line Path Planning and Visual Tracking of Fast-Moving Objects by Robot Manipulators with High-Speed Camera Arrays 高速相机阵列机器人快速运动目标在线路径规划与视觉跟踪

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147374

T. Hsiao, Ching-Hung Cheng

引用次数: 1

Increasing Efficiency of Grid Free Path Planning by Bounding the Search Region* 利用边界搜索区域提高网格自由路径规划效率*

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147228

Seth Tau, S. Brennan, K. Reichard, J. Pentzer, D. Gorsich

引用次数: 0

Open Loop Safe Trajectory Design for Cislunar NRHO Rendezvous 月球NRHO交会开环安全轨迹设计

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI: 10.23919/acc45564.2020.9147502

Giordana Bucchioni, M. Innocenti

引用次数: 2

Noise suppression by stochastic delays in negatively autoregulated gene expression 负自调节基因表达随机延迟的噪声抑制

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147896

Madeline Smith, Abhyudai Singh

{"title":"Noise suppression by stochastic delays in negatively autoregulated gene expression","authors":"Madeline Smith, Abhyudai Singh","doi":"10.23919/ACC45564.2020.9147896","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147896","url":null,"abstract":"We consider a mechanistic stochastic model of an autoregulatory genetic circuit with time delays. More specifically, a protein is expressed in random bursts from its corresponding gene. The synthesized protein is initially inactive and becomes active after a time delay. Rather than considering a deterministic delay, a key aspect of this work is to incorporate stochastic time delays, where the delay is an independent and identically distributed random variable. The active protein inhibits its own production creating a negative feedback loop. Our analysis reveals that for an exponentially-distributed time delay, the noise in protein levels decreases to the Poisson limit with increasing mean time delay. Interestingly, for a gamma-distributed time delay contrasting noise behaviors emerge based on the negative feedback strength. At low feedback strengths the protein noise levels monotonically decrease to the Poisson limit with increasing average delay. At intermediate feedback strengths, the noise levels first increase to reach a maximum, and then decrease back to the Poisson limit with increasing average delay. Finally, with strong feedback the protein noise levels monotonically increase with increasing average delay. For each of these scenarios we provide approximate analytical formulas for the protein mean and noise levels, and validate these results by performing exact Monte Carlo simulations. In conclusion, our results uncover a counter-intuitive feature where inclusion of stochastic delays in a negative feedback circuit can play a beneficial role in buffering deleterious fluctuations in the level of a protein.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124862170","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

Adaptive Output Servocontroller for MIMO System with Input Delay* 具有输入延迟的MIMO系统的自适应输出伺服控制器

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147942

V. Nikiforov, A. V. Paramonov, D. Gerasimov

引用次数: 1

Dynamic Joint Probabilistic Data Association Framework for Target Tracking with Ground Robots 地面机器人目标跟踪的动态联合概率数据关联框架

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147551

Sriram Krishnaswamy, Shane Vitullo, W. Laidler, Mrinal Kumar

{"title":"Dynamic Joint Probabilistic Data Association Framework for Target Tracking with Ground Robots","authors":"Sriram Krishnaswamy, Shane Vitullo, W. Laidler, Mrinal Kumar","doi":"10.23919/ACC45564.2020.9147551","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147551","url":null,"abstract":"With the rise in use for ground robots, there is a need for efficient detection and tracking to improve SLAM performed by each such agent. This paper analyses the effectiveness of the Dynamic Joint Probabilistic Data Association (DJPDA) framework for target tracking in dense environments by creating a test bed with a fleet of ground robots. DJPDA is a framework that utilizes tensor decomposition, a commonly used technique to tackle \"curse of dimensionality\", to handle the exponential growth in the binary non-competing joint association events (or feasible events) in Joint Probabilistic Data Association (JPDA) filter. The number of feasible events in JPDA is reduced by utilizing the \"core\" tensor, a result of the tensor decomposition, as a surrogate for the input of JPDA instead of the complete set of measurements. The test bed created for this experiment consists of 5 Kobuki ground robots. The laser scan data from the on-board Xbox Kinect sensor is collected for each time step by using one of these robots as the observer. Finally, the collected point cloud data is passed to the DJPDA framework for offline computation of the tracks to compare these predicted tracks with the true tracks obtained from the odometry data for each ground robot.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123278429","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

Model Predictive Control for Hybrid Dynamical Systems: Sufficient Conditions for Asymptotic Stability with Persistent Flows or Jumps 混合动力系统的模型预测控制:具有持续流动或跳跃的渐近稳定的充分条件

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147972

Berk Altın, R. Sanfelice

引用次数: 3