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

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Symbolic models for nonlinear control systems using approximate bisimulation 使用近似双仿真的非线性控制系统符号模型
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434911
G. Pola, A. Girard, P. Tabuada
{"title":"Symbolic models for nonlinear control systems using approximate bisimulation","authors":"G. Pola, A. Girard, P. Tabuada","doi":"10.1109/CDC.2007.4434911","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434911","url":null,"abstract":"Control systems are usually modeled by differential equations describing how physical phenomena can be influenced by certain control parameters or inputs. Although these models are very powerful when dealing with physical phenomena, they are less suitable to describe software and hardware interfacing the physical world. This has spurred a recent interest in describing control systems through symbolic models that are abstract descriptions of the continuous dynamics, where each \"symbol\" corresponds to an \"aggregate\" of continuous states in the continuous model. Since these symbolic models are of the same nature of the models used in computer science to describe software and hardware, they provided a unified language to study problems of control in which software and hardware interact with the physical world. In this paper we show that every incrementally globally asymptotically stable nonlinear control system is approximately equivalent (bisimilar) to symbolic model with a precision that can be chosen a-priori. We also show that for digital controlled systems, in which inputs are piecewise-constant, and under the stronger assumption of incremental input-to-state stability, the symbolic models can be obtained, based on a suitable quantization of the inputs.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"27 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121011210","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: 19
Projector-based switching signal reconstruction and observer for switched systems 基于投影的切换信号重构与切换系统观测器
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4435040
S. Chaib, D. Boutat, A. Benali, F. Kratz
{"title":"Projector-based switching signal reconstruction and observer for switched systems","authors":"S. Chaib, D. Boutat, A. Benali, F. Kratz","doi":"10.1109/CDC.2007.4435040","DOIUrl":"https://doi.org/10.1109/CDC.2007.4435040","url":null,"abstract":"This paper is devoted to the problem of switching signal reconstruction. In the first part of this paper, we give a new approach for the invertibility of switched nonlinear systems, and we give the algorithm of switching signal reconstruction. In the second part, we give some remarks about observer design. Some sufficient conditions are formulated as an LMI problem for the switched observer design.","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":"129107927","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
Stability analysis for discrete time switched systems with temporary uncertain switching signal 具有暂时不确定开关信号的离散时间切换系统的稳定性分析
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434794
L. Hetel, J. Daafouz, C. Iung
{"title":"Stability analysis for discrete time switched systems with temporary uncertain switching signal","authors":"L. Hetel, J. Daafouz, C. Iung","doi":"10.1109/CDC.2007.4434794","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434794","url":null,"abstract":"This paper is dedicated to the stability analysis of switched systems with uncertain switching signal. We consider the case of discrete time switched systems that are stabilized by a switched state feedback for which the switching signal may be temporary uncertain. Dwell time conditions for stability analysis of such systems are given. The approach is applied to the case of switched systems with time-varying delay in the input and to continuous time switched systems in digital control loops with inter-sample switching.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"65 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":"130304516","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: 53
Stabilization of an electrostatic MEMS including uncontrollable linearization 包含不可控线性化的静电MEMS稳定化
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4434091
G. Zhu, J. Lévine, L. Praly
{"title":"Stabilization of an electrostatic MEMS including uncontrollable linearization","authors":"G. Zhu, J. Lévine, L. Praly","doi":"10.1109/CDC.2007.4434091","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434091","url":null,"abstract":"Electrostatic micro-actuators are not linearly controllable in a set containing the origin due to a quadratic term of electrical variable appearing as the input to the mechanical subsystem. Consequently, such systems are not feedback linearizable and thus not differentially flat on this set and the application of techniques based on feedback linearization leads usually to an unbounded control. This work aims at developing control schemes which should be bounded everywhere in the whole operational range. As there are no existing general frameworks for tackling the control design for the system under consideration, the approach of Lyapunov design combined with backstepping is used. The obtained control scheme is proved to stabilize the system at the above mentioned uncontrollable set. Furthermore, we address the output feedback control using a reduced order observer and certainty-equivalence implementation. The closed-loop stability is demonstrated by both stability analysis and numerical simulation.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"78 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":"125907905","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: 9
Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors 基于低成本惯性和磁传感器的姿态和航向估计的不变观测器
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-12 DOI: 10.1109/CDC.2007.4435006
Philippe Martin, E. Salaün
{"title":"Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors","authors":"Philippe Martin, E. Salaün","doi":"10.1109/CDC.2007.4435006","DOIUrl":"https://doi.org/10.1109/CDC.2007.4435006","url":null,"abstract":"In this paper we propose invariant nonlinear observers for attitude and heading estimation using directly the measurements from low-cost inertial and magnetic sensors. In particular we propose a simple and easy-to-tune observer where moreover the estimated attitude behaves well even in the presence of magnetic disturbances.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"40 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":"121544585","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
On stability analysis of linear discrete-time switched systems using quadratic Lyapunov functions 用二次李雅普诺夫函数分析线性离散切换系统的稳定性
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-10 DOI: 10.1109/CDC.2007.4434798
P. Mason, M. Sigalotti, J. Daafouz
{"title":"On stability analysis of linear discrete-time switched systems using quadratic Lyapunov functions","authors":"P. Mason, M. Sigalotti, J. Daafouz","doi":"10.1109/CDC.2007.4434798","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434798","url":null,"abstract":"The paper deals with the stability properties of linear discrete-time switched systems with polytopic sets of dynamics. The most classical and viable way of studying the uniform asymptotic stability of such a system is to check for the existence of a quadratic Lyapunov function. It is known from the literature that letting the Lyapunov function depend on the time-varying dynamic improves the chance that a quadratic Lyapunov function exists. We prove that the dependence on the dynamic can be actually assumed to be linear, with no prejudice on the effectiveness of the method. Moreover, we show that no gain in the sensibility is obtained if we allow the Lyapunov function to depend on the time as well. We conclude by showing that Lyapunov quadratic stability is a strictly stronger notion that uniform asymptotic stability.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131587994","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: 21
Robust gain scheduled control of a space launcher by introducing LQG/LTR ideas in the NCF robust stabilisation problem 在NCF鲁棒镇定问题中引入LQG/LTR思想的空间发射装置鲁棒增益调度控制
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-10 DOI: 10.1109/CDC.2007.4434356
M. Abbas-Turki, G. Duc, B. Clement, S. Theodoulis
{"title":"Robust gain scheduled control of a space launcher by introducing LQG/LTR ideas in the NCF robust stabilisation problem","authors":"M. Abbas-Turki, G. Duc, B. Clement, S. Theodoulis","doi":"10.1109/CDC.2007.4434356","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434356","url":null,"abstract":"A space launcher is a time-varying plant which is known to be hard to control, due to time and frequency-domain constraints and parameters uncertainties. In this paper, this problem is solved by interpolating LTI controllers designed for different instants of the flight. Such controllers are obtained by combining the NCF robust control problem with the LQG/LTR approach, the later being useful to design the compensators included in the first one.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126305171","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: 10
Asymptotic exactness of parameter-dependent lyapunov functions: An error bound and exactness verification 参数相关李雅普诺夫函数的渐近精确性:误差界和精确性验证
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-01 DOI: 10.1109/CDC.2007.4434845
Y. Oishi
{"title":"Asymptotic exactness of parameter-dependent lyapunov functions: An error bound and exactness verification","authors":"Y. Oishi","doi":"10.1109/CDC.2007.4434845","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434845","url":null,"abstract":"This paper provides an approximate approach to a robust semidefinite programming problem with a functional variable and shows its asymptotic exactness. This problem covers a variety of control problems including a robust stability/performance analysis with a parameter-dependent Lyapunov function. In the proposed approach, an approximate semidefinite programming problem is constructed based on the division of the set of parameter values. This approach is asymptotically exact in the sense that, as the resolution of the division becomes higher, the optimal value of the constructed approximate problem converges to that of the original problem. Our convergence analysis is quantitative. In particular, this paper gives an a priori upper bound on the discrepancy between the optimal values of the two problems. Moreover, it discusses how to verify that an optimal solution of the approximate problem is actually optimal also for the original problem.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"267 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123109946","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
Design, optimization, and control of a new class of reconfigurable hopping rovers 一类新型可重构跳跃探测车的设计、优化与控制
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-01 DOI: 10.1109/CDC.2007.4434975
Christopher Schmidt-Wetekam, David Zhang, Robert Hughes, T. Bewley
{"title":"Design, optimization, and control of a new class of reconfigurable hopping rovers","authors":"Christopher Schmidt-Wetekam, David Zhang, Robert Hughes, T. Bewley","doi":"10.1109/CDC.2007.4434975","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434975","url":null,"abstract":"A patent-pending new class of reconfigurable battery-powered hopping rovers for reconnaissance, exploration, defense, homeland security, and entertainment applications is publicly presented for the first time. A time- periodic linear quadratic regulator for stabilization of hopping maneuvers is presented, with simulation results. Additionally, a novel mechanical design for efficient and multi-modal operation is discussed, including a lockable hopping mechanism for the directed release of gradually accumulated elastic energy, utilizing two coupled four-bar linkages in tandem with a quick- release spring device.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"44 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115773097","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
Delay-optimal ARQ protocol design for channels with memory 带内存信道的延迟最优ARQ协议设计
2007 46th IEEE Conference on Decision and Control Pub Date : 2007-12-01 DOI: 10.1109/CDC.2007.4434547
A. Anastasopoulos
{"title":"Delay-optimal ARQ protocol design for channels with memory","authors":"A. Anastasopoulos","doi":"10.1109/CDC.2007.4434547","DOIUrl":"https://doi.org/10.1109/CDC.2007.4434547","url":null,"abstract":"Automatic repeat request (ARQ) protocols are utilized as a flexible way to adapt data transmission to channel variations whenever a feedback channel is available. The transmitter encodes the information into a packet and the receiver attempts to decode it. If decoding is not successful, the receiver signals the transmitter to either resend the same information or send additional information about the data. In this paper we consider ARQ protocols where the transmitter controls the amount of error correction capability introduced in the information sequence to minimize the expected delay. We formulate this problem as a stochastic control problem and study two cases of interest depending on whether or not the receiver feeds back information about the channel state. Some of the benefits of this formulation are an expression for the optimal packet size and delay as a solution of a fixed point equation and a unified treatment for channels with Markov statistics and for receivers with memory.","PeriodicalId":300509,"journal":{"name":"2007 46th IEEE Conference on Decision and Control","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124258839","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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