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2015 54th IEEE Conference on Decision and Control (CDC)最新文献

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Semi-active suspension control problem: Some new results using an LPV/H∞ state feedback input constrained control 半主动悬架控制问题:利用LPV/H∞状态反馈输入约束控制的一些新结果
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7402337
M. Nguyen, J. G. D. Silva, O. Sename, L. Dugard
{"title":"Semi-active suspension control problem: Some new results using an LPV/H∞ state feedback input constrained control","authors":"M. Nguyen, J. G. D. Silva, O. Sename, L. Dugard","doi":"10.1109/CDC.2015.7402337","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402337","url":null,"abstract":"The semi-active suspension control problem faces the challenge of the dissipativity constraints of the semi-active dampers. This induces some compromises (actuator saturation, comfort, road holding...) which need to be taken into account in the control design step. In this paper, a state feedback input constrained control problem for LPV systems is considered with H∞ performance objective. Stabilization conditions based on the Finsler's Lemma are derived in order to ensure the stability in the presence of the input saturation, and to attenuate the disturbance effects. To this aim, two different Lyapunov functions are used. For the stability analysis, a generalized sector condition for LPV systems is applied to treat the nonlinearity caused by the actuator saturation. The considered performance objective regards the reduction of the ℒ2 gain from the disturbance to the controlled output. The LPV controller is computed from the solution of LMIs considering a polytopic representation for the LPV closed-loop system. These theoretical results are applied to a semi-active suspension system where the dissipativity conditions of the semi-active dampers are recast as saturation conditions on the control inputs. The comfort criteria is used as a performance objective in this study. Some simulation results are presented in order to illustrate the effectiveness of the proposed approach.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"66 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":"128617693","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
Road-following formation control of autonomous ground vehicles 自主地面车辆的道路跟随编队控制
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7402954
M. Ono, Greg N. Droge, H. F. Grip, O. Toupet, C. Scrapper, A. Rahmani
{"title":"Road-following formation control of autonomous ground vehicles","authors":"M. Ono, Greg N. Droge, H. F. Grip, O. Toupet, C. Scrapper, A. Rahmani","doi":"10.1109/CDC.2015.7402954","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402954","url":null,"abstract":"This work presents a novel cooperative path planning for formation keeping robots traversing along a road with obstacles and possible narrow passages. A unique challenge in this problem is a requirement for spatial and temporal coordination between vehicles while ensuring collision and obstacle avoidance. A two-step approach is used for fast real-time planning. The first step uses the A* search on a spatiotemporally extended graph to generate an obstacle-free path for the agent while the second step refines this path through local optimization to comply with dynamic and other vehicle constraints. This approach keeps robots close to their intended formation while giving them flexibility to negotiate narrow passages and obstacles, adhering to any given constraints.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"2 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":"129529361","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
Model reduction by moment matching for linear singular systems 线性奇异系统的矩匹配模型约简
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7403373
G. Scarciotti
{"title":"Model reduction by moment matching for linear singular systems","authors":"G. Scarciotti","doi":"10.1109/CDC.2015.7403373","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403373","url":null,"abstract":"The paper presents a moment matching approach to the model reduction problem for singular systems. Combining the interpolation-based and the steady-state-based description of moment, a partitioned formulation of the Krylov projector is obtained. Several implications of this result are investigated and different families of reduced order models are proposed. The possibility to maintain structural properties of system is studied. Two examples illustrate the results of the paper.","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":"117120225","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
Necessary and sufficient condition for local exponential synchronization of nonlinear systems 非线性系统局部指数同步的充分必要条件
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7402586
V. Andrieu, B. Jayawardhana, S. Tarbouriech
{"title":"Necessary and sufficient condition for local exponential synchronization of nonlinear systems","authors":"V. Andrieu, B. Jayawardhana, S. Tarbouriech","doi":"10.1109/CDC.2015.7402586","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402586","url":null,"abstract":"Based on recent works on transverse exponential stability, some necessary and sufficient conditions for the existence of a (locally) exponential synchronizer are established. We show that the existence of a structured synchronizer is equivalent to the existence of a stabilizer for the individual linearized systems (on the synchronization manifold) by a linear state feedback. This, in turns, is also equivalent to the existence of a symmetric covariant tensor field which satisfies a kind of Lyapunov inequality. Based on this property, we provide the construction of such synchronizer.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"167 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120985711","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
Any discontinuous PWA function is optimal solution to a parametric linear programming problem 任何不连续的PWA函数都是参数线性规划问题的最优解
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7403151
N. A. Nguyen, Sorin Olaru, P. Rodríguez-Ayerbe
{"title":"Any discontinuous PWA function is optimal solution to a parametric linear programming problem","authors":"N. A. Nguyen, Sorin Olaru, P. Rodríguez-Ayerbe","doi":"10.1109/CDC.2015.7403151","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403151","url":null,"abstract":"Recent studies have investigated the continuous functions in terms of inverse optimality. The continuity is a primordial structural property which is exploited in order to link a given piecewise affine (PWA) function to an optimization problem. The aim of this work is to deepen the study of the PWA functions in the inverse optimality context and specifically deal with the presence of discontinuities. First, it will be shown that a solution to the inverse optimality problem exists via a constructive argument. The loss of continuity will have an implication on the structure of the optimization problem which, albeit convex, turns to have a set-valued optimal solution. As a consequence, the original PWA function will represent an optimal solution but the uniqueness is lost. From the numerical point of view, we introduce an algorithm to construct an optimization problem that admits a given discontinuous PWA function as an optimal solution. This construction is shown to rely on convex liftings. A numerical example is considered to illustrate the proposal.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"16 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":"133218028","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: 17
Stabilization of chain of integrators with arbitrary order in finite-time 有限时间内任意阶积分器链的镇定
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7402942
K. Zimenko, A. Polyakov, D. Efimov
{"title":"Stabilization of chain of integrators with arbitrary order in finite-time","authors":"K. Zimenko, A. Polyakov, D. Efimov","doi":"10.1109/CDC.2015.7402942","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402942","url":null,"abstract":"A control algorithm for finite-time stabilization of a chain of integrators with arbitrary order is introduced. The method is based on Implicit Lyapunov Function (ILF) approach with applying properties of homogeneous systems. Scheme of control parameter tuning is presented in Linear Matrix Inequality (LMI) form. The method is simple in implementation and does not assume any additional computational on-line procedures that is an improvement with respect to [8], [11]. The theoretical results are supported by numerical simulations.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"55 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":"124746874","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
Stabilization of sampled-data Lur'e systems with nonuniform sampling 非均匀采样下采样数据Lur系统的镇定性
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7402654
Julien Louis, M. Jungers, J. Daafouz
{"title":"Stabilization of sampled-data Lur'e systems with nonuniform sampling","authors":"Julien Louis, M. Jungers, J. Daafouz","doi":"10.1109/CDC.2015.7402654","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402654","url":null,"abstract":"The paper addresses the problem of Lur'e sampled-data control design with non uniform sampling. It is shown that this problem can be treated using a methodology based on Euler approximate discrete time models associated to a formulation of the problem in the switched systems framework. Given a finite set of sampling periods, the problem is formulated as a stabilization problem for discrete-time switched Lur'e systems with norm bounded uncertainty. A quadratic criterion is used to take into account possible penalties on the sampling periods. Sufficient conditions are provided to compute both the controller gains and the active sampling period. The approach takes into account the inter-sample behaviour and provides stability guarantees for the exact Lur'e sampled-data system.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"60 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":"130491668","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
Phase IQC for the hierarchical performance analysis of uncertain large scale systems 不确定大系统分层性能分析的IQC阶段
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7403155
Khaled Laib, A. Korniienko, G. Scorletti, F. Morel
{"title":"Phase IQC for the hierarchical performance analysis of uncertain large scale systems","authors":"Khaled Laib, A. Korniienko, G. Scorletti, F. Morel","doi":"10.1109/CDC.2015.7403155","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403155","url":null,"abstract":"This paper investigates the performance analysis of uncertain large scale systems. Due to their complexity, the usual robustness analysis methods based on e.g: μ or Integral Quadratic Constraints (IQC) cannot be practically applied. In order to address this problem, in [1], we propose to represent a large scale system as an interconnection of sub-systems and to perform a hierarchical analysis by propagating the IQC characterization of each uncertain sub-system through the interconnection. For a given computational time, the conservatism of the analysis dramatically depends on the class of IQC under consideration. In this paper, we propose a new class of IQC which characterizes the phase of uncertain system. An application to the robustness analysis of a PLL network reveals that the use of this class of IQC improves the trade-off between conservatism and computation time.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"485 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120941346","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: 5
Finite-time Attractive Ellipsoid Method using Implicit Lyapunov Functions 利用隐式Lyapunov函数的有限时间吸引椭球体方法
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7403305
M. Mera, A. Polyakov, W. Perruquetti, G. Zheng
{"title":"Finite-time Attractive Ellipsoid Method using Implicit Lyapunov Functions","authors":"M. Mera, A. Polyakov, W. Perruquetti, G. Zheng","doi":"10.1109/CDC.2015.7403305","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403305","url":null,"abstract":"A finite-time version, based on Implicit Lyapunov Functions (ILF), for the Attractive Ellipsoid Method (AEM) is developed. Based on this, a robust control scheme is presented to ensure finite-time convergence of the solutions of a chain of integrators with bounded output perturbations to a minimal ellipsoidal set. The control parameters are obtained by solving a minimization problem of the “size” of the ellipsoid subject to a set of Linear Matrix Inequalities (LMI's) constraints, and by applying the implicit function theorem. A numerical example is presented to support the implementability of these theoretical results.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"19 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":"115651583","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
Adaptive input and parameter estimation with application to engine torque estimation 自适应输入和参数估计及其在发动机转矩估计中的应用
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-15 DOI: 10.1109/CDC.2015.7402791
J. Na, G. Herrmann, R. Burke, C. Brace
{"title":"Adaptive input and parameter estimation with application to engine torque estimation","authors":"J. Na, G. Herrmann, R. Burke, C. Brace","doi":"10.1109/CDC.2015.7402791","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402791","url":null,"abstract":"This paper presents two estimation methods for systems with unknown time-varying input dynamics. By defining auxiliary filtered variables, an invariant manifold is derived and used to drive the input estimator with only one tuning parameter. Exponential error convergence to a small compact set around the origin can be proved. Robustness against noise is studied and compared with two well-known schemes. Moreover, when the input dynamics to be estimated are parameterized in a quasilinear form with unknown parameters, the proposed idea is further investigated to estimate the associated unknown time-varying parameters. The algorithms are tested by considering the torque estimation of internal combustion engines (ICEs). Comparative simulation results based on a benchmark engine simulation model show satisfactory transient and robustness performance.","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":"126144530","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: 17
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