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2007 46th IEEE Conference on Decision and Control最新文献

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A robust two-time-scale control design for a pneumatic vibration isolator 气动隔振器的鲁棒双时间尺度控制设计
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434369
Dong Ki Han, P. Chang
{"title":"A robust two-time-scale control design for a pneumatic vibration isolator","authors":"Dong Ki Han, P. Chang","doi":"10.1109/CDC.2007.4434369","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434369","url":null,"abstract":"Active pneumatic vibration isolators have been widely studied as the use of precision equipment increases. This paper focuses on the robust two-time-scale control design of an active pneumatic vibration isolator using the singular perturbation method and time delay control (TDC). The singular perturbation method, or more generally, the two-time-scale approach to feedback design is used to cope with the ill-conditioning of the pneumatic vibration isolator; TDC is used to overcome inevitable modeling errors in more accurate physical model of pneumatic vibration isolator and unknown disturbance such as base excitation. Because the proposed controller in this paper is based on more accurate physical model than rough model, accurate control is feasible. Numerical experiment demonstrates the effectiveness of the proposed robust two-time-scale control design.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133382014","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: 11
Approximate hierarchies of linear control systems 线性控制系统的近似层次
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434071
A. Girard, George J. Pappas
{"title":"Approximate hierarchies of linear control systems","authors":"A. Girard, George J. Pappas","doi":"10.1109/CDC.2007.4434071","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434071","url":null,"abstract":"Recently, a hierarchical control approach based on the notion of approximate simulation relations has been introduced. The proposed hierarchical control architecture consists of a precise model (the concrete system) of the plant to be controlled and of a rough model (the abstract system) of the plant that is used for control synthesis. In this paper, we consider the problem of computing approximate simulation relations for linear control systems. For stabilizable systems, we give an effective characterization of simulation functions (i.e. functions whose level sets define approximate simulation relations) and compute the associated interfaces which allow the refinement of the control inputs of the abstract system into control inputs of the concrete system. Then, we propose a procedure for the computation of abstractions of linear control systems that can be used in our hierachical control framework. Finally, as an example of application, we use our approach to synthesize hierarchical controllers of a class of high-order systems.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115314263","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: 12
Pseudospectral Optimal Control for Military and Industrial Applications 伪谱最优控制在军事和工业中的应用
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4435052
Q. Gong, W. Kang, N. Bedrossian, F. Fahroo, P. Sekhavat, K. Bollino
{"title":"Pseudospectral Optimal Control for Military and Industrial Applications","authors":"Q. Gong, W. Kang, N. Bedrossian, F. Fahroo, P. Sekhavat, K. Bollino","doi":"10.1109/CDC.2007.4435052","DOIUrl":"https://doi.org/10.1109/CDC.2007.4435052","url":null,"abstract":"During the last decade, pseudospectral methods for optimal control, the focus of this tutorial session, have been rapidly developed as a powerful tool to enable new applications that were previously considered impossible due to the complicated nature of these problems. The purpose of this tutorial section is to introduce this advanced technology to a wider community of control system engineering. We bring in experts of pseudospectral methods from academia, industry, and military and DoD to present topics covering a large spectrum of pseudospectral methods, including the theoretical foundation, numerical techniques of pseudospectral optimal control, and military/industry applications.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131030885","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: 80
Nonsmooth optimization algorithm for mixed H2/H∞ synthesis 混合H2/H∞合成的非光滑优化算法
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434088
P. Apkarian, D. Noll, A. Rondepierre
{"title":"Nonsmooth optimization algorithm for mixed H2/H∞ synthesis","authors":"P. Apkarian, D. Noll, A. Rondepierre","doi":"10.1109/CDC.2007.4434088","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434088","url":null,"abstract":"The mixed H2/Hinfin synthesis problem is addressed via nonsmooth mathematical programming. The proposed algorithm is of first order and can handle any controller structure of practical interest. Since computations are carried out in the frequency domain, the method does not suffer dimensional restrictions like LMI or BMI methods. Global convergence is established and several numerical tests are presented.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121944413","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: 16
Asymptotic tracking of a state trajectory by output-feedback for a class of non linear systems 一类非线性系统状态轨迹的输出反馈渐近跟踪
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434422
V. Andrieu, L. Praly, A. Astolfi
{"title":"Asymptotic tracking of a state trajectory by output-feedback for a class of non linear systems","authors":"V. Andrieu, L. Praly, A. Astolfi","doi":"10.1109/CDC.2007.4434422","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434422","url":null,"abstract":"We consider the problem of tracking a reference trajectory with an output feedback for a class of nonlinear systems. We solve this problem by combining the techniques of dynamic scaling and homogeneity in the bi-limit.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"217 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115412528","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: 7
Probabilistic reachability analysis for large scale stochastic hybrid systems 大规模随机混合系统的概率可达性分析
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434095
H. Blom, Bert G. J. Bakker, J. Krystul
{"title":"Probabilistic reachability analysis for large scale stochastic hybrid systems","authors":"H. Blom, Bert G. J. Bakker, J. Krystul","doi":"10.1109/CDC.2007.4434095","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434095","url":null,"abstract":"This paper studies probabilistic reachability analysis for large scale stochastic hybrid systems (SHS) as a problem of rare event estimation. In literature, advanced rare event estimation theory has recently been embedded within a stochastic analysis framework, and this has led to significant novel results in rare event estimation for a diffusion process using sequential MC simulation. This paper presents this rare event estimation theory directly in terms of probabilistic reachability analysis of an SHS, and develops novel theory which allows to extend the novel results for application to a large scale SHS where a very huge number of rare discrete modes may contribute significantly to the reach probability. Essentially, the approach taken is to introduce an aggregation of the discrete modes, and to develop importance sampling relative to the rare switching between the aggregation modes. The practical working of this approach is demonstrated for the safety verification of an advanced air traffic control example.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131102556","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: 35
Homogeneous finite time observer for nonlinear systems with linearizable error dynamics 具有线性误差动力学的非线性系统齐次有限时间观测器
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434702
W. Perruquetti, T. Floquet
{"title":"Homogeneous finite time observer for nonlinear systems with linearizable error dynamics","authors":"W. Perruquetti, T. Floquet","doi":"10.1109/CDC.2007.4434702","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434702","url":null,"abstract":"This paper introduces a finite time observer for nonlinear systems that can be put into a linear canonical form up to output injection. The main contribution is that finite time observation is obtained using continuous output injections. The method is applied to a problem of chaotic synchronization.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129574682","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: 30
Practical stabilization and tracking of a wheeled mobile robot with integral sliding mode controller 基于积分滑模控制器的轮式移动机器人实用稳定与跟踪
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434134
M. Defoort, J. Palos, T. Floquet, Annemarie M. Kökösy, W. Perruquetti
{"title":"Practical stabilization and tracking of a wheeled mobile robot with integral sliding mode controller","authors":"M. Defoort, J. Palos, T. Floquet, Annemarie M. Kökösy, W. Perruquetti","doi":"10.1109/CDC.2007.4434134","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434134","url":null,"abstract":"This paper is dedicated to the robust stabilization and tracking problems for a wheeled mobile robot. After the mobile robot dynamics have been transformed into an advantageous form, a robust integral sliding mode controller is designed to promulgate a practical stabilization in spite of the uncertainties. The performance of the proposed controller is experimentally demonstrated on a real robot.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114425953","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
Exponential stabilization using sliding mode control for non linear systems with time-varying delays 非线性时变时滞系统的指数镇定滑模控制
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434453
A. Seuret, M. Irfan, C. Edwards, S. Spurgeon
{"title":"Exponential stabilization using sliding mode control for non linear systems with time-varying delays","authors":"A. Seuret, M. Irfan, C. Edwards, S. Spurgeon","doi":"10.1109/CDC.2007.4434453","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434453","url":null,"abstract":"This paper deals with exponential stabilization of linear systems with delay using a state feedback sliding mode controller. The approach is based on Lyapunov-Krasovskii techniques and uses a descriptor representation. The exponential stability properties are proved using an appropriate change of variables associated with a polytopic representation. The system under consideration is subject to unknown, time-varying but bounded delays. The results are given in terms of LMIs. An example is given to show the efficacy of the approach.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121523259","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
State observer and observability conditions for a class of hybrid continuous-discrete dynamic system 一类连续-离散混合动力系统的状态观测器和可观测性条件
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434675
J. Barbot, M. Djemai, N. Manamanni
{"title":"State observer and observability conditions for a class of hybrid continuous-discrete dynamic system","authors":"J. Barbot, M. Djemai, N. Manamanni","doi":"10.1109/CDC.2007.4434675","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434675","url":null,"abstract":"This paper deals with observability conditions and state observer design for a class of hybrid systems combining continuous and discrete dynamics. The main contribution of the work lies in the performed observability conditions for this class of systems and a design of hybrid observer to reconstruct both continuous and discrete states starting only from the knowledge of a continuous output. An illustrative example is presented showing the efficiency of the proposed observer.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132199480","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
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