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Bearing-only formation control using an SE(2) rigidity theory 使用SE(2)刚性理论的纯方位地层控制
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7403182
Daniel Zelazo, P. Giordano, A. Franchi
{"title":"Bearing-only formation control using an SE(2) rigidity theory","authors":"Daniel Zelazo, P. Giordano, A. Franchi","doi":"10.1109/CDC.2015.7403182","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403182","url":null,"abstract":"This paper considers a formation control problem for a team of agents that are only able to sense the relative bearings from their local body frame to neighboring agents. It is further assumed that the sensing graph is inherently directed and a common reference frame is not known to all of the agents. Each agent is tasked with maintaining predetermined bearings with their neighbors. Using the recently developed rigidity theory for SE(2) frameworks [1], we propose a gradient-type controller to stabilize the formation. The central construct in the SE(2) rigidity theory for this work is the directed bearing rigidity matrix. We show that a necessary condition for the local stabilization of desired formation is for the corresponding SE(2) framework to be minimally infinitesimally rigid.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"2017 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127556317","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: 51
Output synchronization of Lur'e-type nonlinear systems in the presence of input disturbances 存在输入扰动时Lur'e型非线性系统的输出同步
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7402865
Hongkeun Kim, C. D. Persis
{"title":"Output synchronization of Lur'e-type nonlinear systems in the presence of input disturbances","authors":"Hongkeun Kim, C. D. Persis","doi":"10.1109/CDC.2015.7402865","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402865","url":null,"abstract":"This paper deals with the output synchronization problem of a network of Lur'e-type nonlinear systems under exogenous disturbances that are different from node to node and introduce a source of heterogeneity in the network. The Lur'e-type nonlinear systems we consider possess the properties of incremental output-feedback passivity and input-to-state stability relative to a set. Based on these properties, we propose a distributed controller which is a combination of adaptive laws to cope with the shortage of passivity and internal models to attenuate the net effect of disturbances on synchronization error. By the input-to-state stability of the Lur'e-type systems, the proposed controller guarantees boundedness of the closed-loop solutions and synchronization of the outputs of the nonlinear systems. Finally, a computer simulation of a network of Chua's circuits is given to demonstrate the validity of the proposed result.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114679875","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
Distributed adaptive sensor fault tolerant control for smart buildings 智能建筑分布式自适应传感器容错控制
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7402690
P. Papadopoulos, V. Reppa, M. Polycarpou, C. Panayiotou
{"title":"Distributed adaptive sensor fault tolerant control for smart buildings","authors":"P. Papadopoulos, V. Reppa, M. Polycarpou, C. Panayiotou","doi":"10.1109/CDC.2015.7402690","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402690","url":null,"abstract":"This paper presents a model-based distributed fault-tolerant control (FTC) scheme with emphasis on compensating the effects of sensor faults in multi-zone heating, ventilating and air-conditioning (HVAC) systems. A bank of local adaptive FTC agents are designed to accommodate possible sensor faults in HVAC systems, modeled as a set of interconnected, nonlinear subsystems. In order to compensate the fault effects that may propagate in the neighboring subsystems, each local FTC utilizes the information generated by a local monitoring agent that diagnoses the sensor faults and performs an adaptive estimation of the isolated sensor faults. The local monitoring and control agents are allowed to exchange information with neighboring agents. Simulation results are used to illustrate the effectiveness of the proposed methodology applied to a seven-zone HVAC system.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"17 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123600328","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
Output-based event-triggered control systems under Denial-of-Service attacks 拒绝服务攻击下基于输出的事件触发控制系统
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7402972
V. Dolk, P. Tesi, C. D. Persis, W. Heemels
{"title":"Output-based event-triggered control systems under Denial-of-Service attacks","authors":"V. Dolk, P. Tesi, C. D. Persis, W. Heemels","doi":"10.1109/CDC.2015.7402972","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402972","url":null,"abstract":"In this paper, we propose a dynamic event-triggered control (ETC) strategy for output-based feedback systems in the presence of Denial-of-Service (DoS) attacks. These malicious DoS attacks aim to impede the communication of measurement data in order to endanger the functionality of the closed-loop system. We show that the proposed ETC scheme, if well designed, can tolerate a class of DoS signals characterized by frequency and duration properties without jeopardizing the stability, performance and Zeno-freeness of the ETC system.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124097239","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: 31
Synchronization for a network of identical discrete-time agents with unknown, nonuniform constant input delay 具有未知、非均匀恒定输入延迟的相同离散代理网络的同步
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7403331
Meirong Zhang, A. Saberi, A. Stoorvogel
{"title":"Synchronization for a network of identical discrete-time agents with unknown, nonuniform constant input delay","authors":"Meirong Zhang, A. Saberi, A. Stoorvogel","doi":"10.1109/CDC.2015.7403331","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403331","url":null,"abstract":"This paper studies the synchronization problem for a network of identical discrete-time agents with unknown, nonuniform constant input delays. The agents are at most critically stable and non-introspective (i.e. the agents have no access to their own states or outputs). There exists full state coupling among the agents. An upper bound for the delay tolerance is obtained which explicitly depends on agent dynamics. For any unknown delay satisfying this upper bound, a controller design methodology is proposed without relying on exact knowledge of the network topology so that synchronization in a set of unknown networks can be achieved.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130530866","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
Sampled-data stabilisation of a class of state-delayed nonlinear dynamics 一类状态延迟非线性动力学的采样数据镇定
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7403113
Mattia Mattioni, S. Monaco, D. Normand-Cyrot
{"title":"Sampled-data stabilisation of a class of state-delayed nonlinear dynamics","authors":"Mattia Mattioni, S. Monaco, D. Normand-Cyrot","doi":"10.1109/CDC.2015.7403113","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403113","url":null,"abstract":"The paper deals with the stabilisation of strict-feedback dynamics with a delay on the last component of the state. It is shown that the Immersion and Invariance approach provides a natural framework for solving the problem. An academic simulated example is provided.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116537305","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
On the interval estimation for nonlinear singular system 非线性奇异系统的区间估计
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7402574
G. Zheng, D. Efimov, F. Bejarano, W. Perruquetti
{"title":"On the interval estimation for nonlinear singular system","authors":"G. Zheng, D. Efimov, F. Bejarano, W. Perruquetti","doi":"10.1109/CDC.2015.7402574","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402574","url":null,"abstract":"This paper investigates the interval observer design problem for a class of nonlinear singular systems with uncertainties in the state and in the output. Although the asymptotic estimation of the state for this class of systems may be not possible, it has been shown that, under suitable assumptions, an interval observer can be designed to provide the upper and the lower estimations of the real state. Moreover, this technique can be applied to unobservable nonlinear singular systems to obtain the interval estimation. The proposed result can be easily extended to deal with the nonlinear singular systems with parameter uncertainty as well.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132067346","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
Robust finite-time stabilization and observation of a planar system revisited 平面系统的鲁棒有限时间镇定与观测
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7403112
A. Polyakov, Y. Orlov, Harshal B. Oza, S. Spurgeon
{"title":"Robust finite-time stabilization and observation of a planar system revisited","authors":"A. Polyakov, Y. Orlov, Harshal B. Oza, S. Spurgeon","doi":"10.1109/CDC.2015.7403112","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403112","url":null,"abstract":"The second order planar nonlinear affine control problem is studied. A homogeneous robust finite-time stabilizing control is developed for the most general case of matched and, the more challenging, mismatched nonlinear perturbations. A homogeneous observer is designed for the planar system. Explicit restrictions on the observer gains and nonlinearities are presented. The main contribution lies in the proposed combination of the explicit and implicit Lyapunov function methods as well as weighted homogeneity while providing finite-time stability analysis. Theoretical results are supported by numerical simulations.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"171 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132129215","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
Reduction model approach for systems with a time-varying delay 时变时滞系统的约简模型方法
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7403440
F. Mazenc, Michael A. Malisoff
{"title":"Reduction model approach for systems with a time-varying delay","authors":"F. Mazenc, Michael A. Malisoff","doi":"10.1109/CDC.2015.7403440","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403440","url":null,"abstract":"We provide a reduction model approach for achieving global exponential stabilization of linear systems with a time-varying pointwise delay in the input. We allow the delay to be discontinuous and uncertain. We also provide a stability result based on a different dynamic extension that ensures input-to-state stability with respect to additive uncertainties on the dynamics. Instead of the usual Lyapunov-Krasovskii or Razumikhin methods, we use a trajectory based approach.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129370999","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
Globally stable implicit Euler time-discretization of a nonlinear single-input sliding-mode control system 非线性单输入滑模控制系统的全局稳定隐式欧拉时间离散化
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7403069
B. Brogliato, A. Polyakov
{"title":"Globally stable implicit Euler time-discretization of a nonlinear single-input sliding-mode control system","authors":"B. Brogliato, A. Polyakov","doi":"10.1109/CDC.2015.7403069","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403069","url":null,"abstract":"In this note we study the effect of an implicit Euler time-discretization method on the stability of the discretization of a globally fixed-time stable, scalar differential inclusion representing a simple nonlinear system with a set-valued signum controller. The controller nonlinearity is a cubic term and it is shown that the fully-implicit method preserves the global Lyapunov stability property of the continuous-time system, contrarily the explicit discretization which does not. It allows to obtain finite-time convergence to the origin when the plant is undisturbed, while the cubic term provides the hyper-exponential convergence rate.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115938525","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: 23
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