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A risk-constrained multi-stage decision making approach to the architectural analysis of planetary missions 行星任务结构分析的风险约束多阶段决策方法
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-10 DOI: 10.1109/CDC.2012.6426090
Y. Kuwata, M. Pavone, J. Balaram
{"title":"A risk-constrained multi-stage decision making approach to the architectural analysis of planetary missions","authors":"Y. Kuwata, M. Pavone, J. Balaram","doi":"10.1109/CDC.2012.6426090","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426090","url":null,"abstract":"This paper presents a novel risk-constrained multi-stage decision making approach to the architectural analysis of planetary rover missions. In particular, focusing on a 2018 Mars rover concept, which was considered as part of a potential Mars Sample Return campaign, we model the entry, descent, and landing (EDL) phase and the rover traverse phase as four sequential decision-making stages. The problem is to find a sequence of divert and driving maneuvers so that the rover drive is minimized and the probability of a mission failure (e.g., due to a failed landing) is below a user-specified bound. By solving this problem for several different values of the model parameters (e.g., divert authority), this approach enables rigorous, accurate and systematic trade-offs for the EDL system vs. the mobility system, and, more in general, cross-domain trade-offs for the different phases of a space mission. The overall optimization problem can be seen as a chance-constrained dynamic programming problem, with the additional complexity that 1) in some stages the disturbances do not have any probabilistic characterization, and 2) the state space is extremely large (i.e, hundreds of millions of states for trade-offs with high-resolution Martian maps). To this purpose, we solve the problem by performing an unconventional combination of average and minimax cost analysis and by leveraging high efficient computation tools from the image processing community. Preliminary trade-off results are presented.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116122482","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
A Lyapunov-based approach for Time-Coordinated 3D Path-Following of multiple quadrotors 基于lyapunov的多四旋翼机时间协调三维路径跟踪方法
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-10 DOI: 10.1109/CDC.2012.6425933
V. Cichella, I. Kaminer, E. Xargay, V. Dobrokhodov, N. Hovakimyan, Antonio Pedro Aguiar, A. Pascoal
{"title":"A Lyapunov-based approach for Time-Coordinated 3D Path-Following of multiple quadrotors","authors":"V. Cichella, I. Kaminer, E. Xargay, V. Dobrokhodov, N. Hovakimyan, Antonio Pedro Aguiar, A. Pascoal","doi":"10.1109/CDC.2012.6425933","DOIUrl":"https://doi.org/10.1109/CDC.2012.6425933","url":null,"abstract":"This paper focuses on the problem of developing control laws to solve the Time-Coordinated 3D Path-Following task for multiple quadrotor UAVs in the presence of time-varying communication networks and spatial and temporal constraints. The objective is to enable a fleet of quadrotors to track predefined spatial paths while coordinating to achieve synchronization in both time and heading. One scenario is a symmetric exchange of position by four quadrotors initially positioned in four corners of a square room. When the mission starts, every quadrotor is required to execute collision free maneuvers and arrive at the opposite corner at the same desired instant of time. In this paper, the time-coordination task is solved by adjusting the second derivative of the coordination variable along the desired paths. Conditions are derived under which the coordination and path-following errors converge to a neighborhood of zero. Flight test results are presented to validate the theoretical findings.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121052409","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: 33
Hierarchical nonlinear model predictive control for combined cycle start-up optimization 联合循环启动优化的层次非线性模型预测控制
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-10 DOI: 10.1109/CDC.2012.6425843
A. Tica, H. Guéguen, D. Dumur, D. Faille, F. Davelaar
{"title":"Hierarchical nonlinear model predictive control for combined cycle start-up optimization","authors":"A. Tica, H. Guéguen, D. Dumur, D. Faille, F. Davelaar","doi":"10.1109/CDC.2012.6425843","DOIUrl":"https://doi.org/10.1109/CDC.2012.6425843","url":null,"abstract":"A hierarchical model predictive control (H-MPC) structure is proposed to improve the start-up performances of Combined Cycle Power Plants (CCPPs) start-up. The structure includes two layers. At each layer, the control problem aims at deriving the profile of the gas turbine (GT) load at different time scales. To achieve this, the profile is assumed to be described by parameterized functions, whose parameters are computed by solving an optimal time control problem, based on a model developed in the modeling language Modelica and subject to a number of constraints on the plant variables. Numerical results prove the potential advantages of the proposed approach.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131787820","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
Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: Second order sliding mode synthesis and chattering-free digital implementation 具有预定稳定时间的单侧约束平面系统的有限时间跟踪:二阶滑模合成和无抖振数字实现
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-10 DOI: 10.1109/CDC.2012.6426465
Harshal B. Oza, Vincent Acary, Y. Orlov, S. Spurgeon, B. Brogliato
{"title":"Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: Second order sliding mode synthesis and chattering-free digital implementation","authors":"Harshal B. Oza, Vincent Acary, Y. Orlov, S. Spurgeon, B. Brogliato","doi":"10.1109/CDC.2012.6426465","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426465","url":null,"abstract":"In this paper, tuning rules are established when a second order sliding mode controller is utilized to achieve finite time tracking for a class of unilaterally constrained planar systems in the presence of external disturbances in continuous and discrete-event phases. Rigid body inelastic impacts are incorporated at the unstable equilibrium. A numerical chattering-free digital implementation is also presented. This implementation, while being based on strong theoretical foundations, appears to bring the present advances in the area closer to industrial application.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"s1-9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132114116","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
An algebraic approach for human posture estimation in the sagittal plane using accelerometer noisy signal 基于加速度计噪声信号的矢状面人体姿态估计的代数方法
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-10 DOI: 10.1109/CDC.2012.6426001
W. Perruquetti, V. Bonnet, M. Mboup, R. Ushirobira, P. Fraisse
{"title":"An algebraic approach for human posture estimation in the sagittal plane using accelerometer noisy signal","authors":"W. Perruquetti, V. Bonnet, M. Mboup, R. Ushirobira, P. Fraisse","doi":"10.1109/CDC.2012.6426001","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426001","url":null,"abstract":"Our aim is to develop an algebraic approach to estimate human posture in the sagittal plane using Inertial Measurement Unit (IMU) providing accelerations and angular velocities. For this purpose, we address the issue of the estimation of the amplitude, frequency and phase of a biased and noisy sum of three sinusoidal waveform signals on a moving time horizon. The length of the time window being small, the estimation must be done within a fraction of the signal's period. The problem is solved via an algebraic method. The efficiency of our approach is illustrated by computer simulations.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"357 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132705101","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: 13
Observers design for discrete-time Lipschitz nonlinear systems. State of the art and new results 离散时间Lipschitz非线性系统观测器设计。最新的研究成果
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-10 DOI: 10.1109/CDC.2012.6426564
A. Zemouche, M. Boutayeb
{"title":"Observers design for discrete-time Lipschitz nonlinear systems. State of the art and new results","authors":"A. Zemouche, M. Boutayeb","doi":"10.1109/CDC.2012.6426564","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426564","url":null,"abstract":"This note addresses the problem of observers design for Lipschitz nonlinear systems in the discrete-time case. The main objective of this work is to clarify and correct some recent results in this field. After a state of the art, some analytical comparisons are provided. On the other hand, a new Linear Parameter Varying (LPV) technique is proposed to reduce the conservatism related to the classical observer design methods. A numerical example is given in order to show the performance of the proposed LPV method.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128399044","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
Asynchronous output-feedback stabilization of discrete-time Markovian jump linear systems 离散马尔可夫跃变线性系统的异步输出反馈镇定
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-10 DOI: 10.1109/CDC.2012.6426362
Zhan Shu, J. Xiong, J. Lam
{"title":"Asynchronous output-feedback stabilization of discrete-time Markovian jump linear systems","authors":"Zhan Shu, J. Xiong, J. Lam","doi":"10.1109/CDC.2012.6426362","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426362","url":null,"abstract":"Various constraints on signal processing and transmission in practice have posed a big issue to perfect synchronous switching control for Markovian jump linear systems (MJLSs), and thus designing a controller partially or totally independent of the plant switching becomes significant. In this paper, we propose an approach to synthesizing asynchronous switching control laws for discrete-time MJLSs. By utilizing a separation technique, a necessary and sufficient condition for asynchronous static output-feedback stabilizability is established in terms of a set of matrix inequality with a special structure for computation. Then, an iterative algorithm is employed to solve the condition. Appropriate optimization on initial values may improve the solvability. Numerical examples are provided to illustrate the effectiveness of the proposed approach.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"263 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134290804","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
Parameter and state estimation for a class of neural mass models 一类神经质量模型的参数和状态估计
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-10 DOI: 10.1109/CDC.2012.6427031
R. Postoyan, Michelle S. Chong, D. Nešić, L. Kuhlmann
{"title":"Parameter and state estimation for a class of neural mass models","authors":"R. Postoyan, Michelle S. Chong, D. Nešić, L. Kuhlmann","doi":"10.1109/CDC.2012.6427031","DOIUrl":"https://doi.org/10.1109/CDC.2012.6427031","url":null,"abstract":"We present an adaptive observer which asymptotically reconstructs the parameters and states of a model of interconnected cortical columns. Our study is motivated by the fact that the considered model is able to realistically reproduce patterns seen on (intracranial) electroencephalograms (EEG) by varying its parameters. Therefore, by estimating its parameters and states, we could gain a better understanding of the mechanisms underlying neurological phenomena such as seizures, which might lead to the prediction of the onsets of epileptic seizures. Simulations are performed to illustrate our results.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114696456","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
Consistent approximation of an optimal search problem 最优搜索问题的一致逼近
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-10 DOI: 10.1109/CDC.2012.6426403
Chris Phelps, Q. Gong, J. Royset, I. Kaminer
{"title":"Consistent approximation of an optimal search problem","authors":"Chris Phelps, Q. Gong, J. Royset, I. Kaminer","doi":"10.1109/CDC.2012.6426403","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426403","url":null,"abstract":"This paper focuses on the problem of optimizing the trajectories of multiple searchers attempting to detect a non-evading moving target whose motion is conditionally deterministic. This problem is a parameter-distributed optimal control problem, as it involves an integration over a space of stochastic parameters as well as an integration over the time domain. In this paper, we consider a wide range of discretization schemes to approximate the integral in the parameter space by a finite summation, which results in a standard control-constrained optimal control problem that can be solved using existing techniques in optimal control theory. We prove that when the sequence of solutions to the discretized problem has an accumulation point, it is guaranteed to be an optimal solution of the original search problem. We also provide a necessary condition that accumulation points of this sequence must satisfy.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116209572","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: 15
Joint chance-constrained dynamic programming 联合机会约束动态规划
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-10 DOI: 10.1109/CDC.2012.6425906
M. Ono, Y. Kuwata, B. Balaram
{"title":"Joint chance-constrained dynamic programming","authors":"M. Ono, Y. Kuwata, B. Balaram","doi":"10.1109/CDC.2012.6425906","DOIUrl":"https://doi.org/10.1109/CDC.2012.6425906","url":null,"abstract":"This paper presents a novel joint chance-constrained dynamic programming algorithm, which explicitly bounds the probability of failure to satisfy given state constraints. Existing constrained dynamic programming approaches cannot handle a joint chance constraint since their application is limited to constraints in the same form as the cost function, that is, an expectation over a sum of one-stage costs. We overcome this challenge by reformulating the joint chance constraint into a constraint on an expectation over a sum of indicator functions, which can be incorporated into the cost function by dualizing the optimization problem. As a result, the primal variables can be optimized by a standard dynamic programming, while the dual variable is optimized by a root-finding algorithm that converges exponentially. Error bounds on the primal and dual objective values are rigorously derived. We demonstrate the algorithm on a path planning problem, as well as an optimal control problem for Mars entry, descent and landing. The simulations are conducted using a real terrain data of Mars, with four million discrete states at each time step.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126199801","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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