Z. Yacine, D. Ichalal, N. A. Oufroukh, S. Mammar, S. Djennoune
{"title":"Unknown input observer for vehicle lateral dynamics based on a Takagi-Sugeno model with unmeasurable premise variables","authors":"Z. Yacine, D. Ichalal, N. A. Oufroukh, S. Mammar, S. Djennoune","doi":"10.1109/CDC.2012.6426213","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426213","url":null,"abstract":"In this paper, an observer is proposed for estimating vehicle states which are not available for measurement. A new representation of a nonlinear vehicle model by exact Takagi-Sugeno structure is proposed based on sector nonlinearity approach. It leads to a multiple model with unmeasurable premise variables which constitutes the first contribution of the present paper. As a second contribution, a state estimation by an Unknown Input Observer (UIO) with unmeasurable premise variables is considered. It takes into account the variations of the longitudinal velocity in order to reflect realistic driving conditions. The convergence conditions of this observer are formulated as an optimization problem subjected to constraints established using Lyapunov theory and expressed under Linear Matrix Inequalities. Finally, some simulations are performed on the nonlinear model of the vehicle including the variations of the longitudinal velocity.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"86 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":"132479388","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}
T. Ishizaki, K. Kashima, A. Girard, J. Imura, Luonan Chen, K. Aihara
{"title":"Clustering-based ℌ2-state aggregation of positive networks and its application to reduction of chemical master equations","authors":"T. Ishizaki, K. Kashima, A. Girard, J. Imura, Luonan Chen, K. Aihara","doi":"10.1109/CDC.2012.6426793","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426793","url":null,"abstract":"In this paper, based on a notion of network clustering, we propose a state aggregation method for positive systems evolving over directed networks, which we call positive networks. In the proposed method, we construct a set of clusters (i.e., disjoint sets of state variables) according to a kind of local uncontrollability of systems. This method preserves interconnection topology among clusters as well as stability and some particular properties, such as system positivity and steady-state characteristic (steady-state distribution). In addition, we derive an ℌ2-error bound of the state discrepancy caused by the aggregation. The efficiency of the proposed method is shown through the reduction of a chemical master equation representing the time evolution of the Michaelis-Menten chemical reaction system.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"92 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":"131623944","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}
{"title":"Robust fault detection for vehicle lateral dynamics","authors":"Sebastien Varrier, D. Koenig, J. Martínez","doi":"10.1109/CDC.2012.6426809","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426809","url":null,"abstract":"This paper investigates the problem of fault detection and isolation (FDI) for vehicle lateral dynamics. The system under consideration is a Linear Parameter Varying (LPV) model, where the scheduling parameter is related to the vehicle speed. The heart of the proposed approach relies in synthesizing robust residuals for some specified working speed. The robustness guaranties the validity between each working points. Synthesis of robust residuals is inspired from the well-known parity-space method but extended for uncertain systems. The final fault detector is reconstructed by switching from the different residuals according to the speed. An applicative illustration is presented to detect a sensor fault on a vehicle lateral dynamic system. The measurements have been provided by the MIPS laboratory in collaboration within the French INOVE project.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"24 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120908943","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}
{"title":"Intermediate point norm optimal iterative learning control","authors":"D. Owens, C. Freeman, T. V. Dinh","doi":"10.1109/CDC.2012.6426652","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426652","url":null,"abstract":"A Norm-Optimal Iterative Learning Control (NOILC) solution is developed for the problem when tracking is only required at a subset of isolated time points along the trial duration. Well-defined convergence properties are presented, along with design guidelines and supporting experimental results using an electromechanical test facility.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"30 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":"125986163","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}
{"title":"Nilpotent semigroups for the characterization of flat outputs of discrete-time switched linear and LPV systems","authors":"Jérémy Parriaux, G. Millérioux","doi":"10.1109/CDC.2012.6426874","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426874","url":null,"abstract":"This paper addresses the problem of flat output characterization for switched linear systems along with an extension to LPV systems. A condition which has a polynomial complexity with respect to the dimension of the system and a practical approach for checking this condition are provided.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"21 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":"121853273","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}
{"title":"Visual servo aircraft control for tracking parallel curves","authors":"P. Serra, R. Cunha, C. Silvestre, T. Hamel","doi":"10.1109/CDC.2012.6426240","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426240","url":null,"abstract":"This paper describes a nonlinear Image-Based Visual Servo (IBVS) controller for tracking nonlinear parallel 2-D curves, such as catenaries, with a fixed-wing aircraft. Image features are exploited from the image of the lines to design a feedback controller for the automatic manoeuvre. For curves in the vertical plane the proposed solution guarantees exponential stability in the horizontal direction and ultimate boundedness in the vertical direction, with bound proportional to the slope deviation with respect to a straight line. Simulation results are presented to illustrate the performance of the control approach.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"21 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":"127051143","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}
{"title":"Optimal active control of a wave energy converter","authors":"E. Abraham, E. Kerrigan","doi":"10.1109/CDC.2012.6426993","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426993","url":null,"abstract":"This paper investigates optimal active control schemes applied to a point absorber wave energy converter within a receding horizon fashion. A variational formulation of the power maximization problem is adapted to solve the optimal control problem. The optimal control method is shown to be of a bang-bang type for a power take-off mechanism that incorporates both linear dampers and active control elements. We also consider a direct transcription of the optimal control problem as a general nonlinear program. A variation of the projected gradient optimization scheme is formulated and shown to be feasible and computationally inexpensive compared to a standard NLP solver. Since the system model is bilinear and the cost function is non-convex quadratic, the resulting optimization problem is not a convex quadratic program. Results will be compared with an optimal command latching method to demonstrate the improvement in absorbed power. Time domain simulations are generated under irregular sea conditions.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"58 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":"129547133","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}
{"title":"Convergence of a PI coordination protocol in networks with switching topology and quantized measurements","authors":"E. Xargay, Ronald Choe, N. Hovakimyan, I. Kaminer","doi":"10.1109/CDC.2012.6426392","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426392","url":null,"abstract":"This paper analyzes the convergence properties of a distributed proportional-integral protocol for coordination of a network of agents with multiple leaders, dynamic information flow, and quantized measurements. We show that the integral term of the protocol allows the follower agents to `learn' the reference rate, rather than have it available a priori, and also provides disturbance rejection capabilities.","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":"127817843","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}
{"title":"Wellposedness and stabilization of a class of infinite dimensional bilinear control systems","authors":"J. Daafouz, M. Tucsnak, J. Valein","doi":"10.1109/CDC.2012.6426706","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426706","url":null,"abstract":"We consider a class of infinite dimensional systems involving a control function u taking values in [0; 1]. This class contains, in particular, the average models of some infinite dimensional switched systems. We prove that the system is well-posed and obtain some regularity properties. Moreover, when u is given in an appropriate feedback form and the system satisfies appropriate observability assumptions, we show that the system is weakly stable. The main example concerns the analysis and stabilization of a model of Boost converter connected to a load via a transmission line. The main novelty consists in the fact that we give a rigorous wellposedness and stability analysis of coupled systems, in the presence of duty cycles.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"5 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":"131727577","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}
B. Chu, S. Duncan, A. Papachristodoulou, C. Hepburn
{"title":"Using economic Model Predictive Control to design sustainable policies for mitigating climate change","authors":"B. Chu, S. Duncan, A. Papachristodoulou, C. Hepburn","doi":"10.1109/CDC.2012.6426649","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426649","url":null,"abstract":"Reducing greenhouse gas emissions is now an important and pressing matter. Systems control theory, and in particular feedback control, can contribute to the design of policies that achieve sustainable levels of emissions of CO2 (and other greenhouse gases) while minimizing the impact on the economy, and at the same time explicitly addressing the high levels of uncertainty associated with predictions of future emissions. In this paper, preliminary results are described for an approach where economic Model Predictive Control (MPC) is applied to a Regional dynamic Integrated model of Climate and the Economy (RICE model) as a test bed to design savings rates and global carbon tax for greenhouse gas emissions. Using feedback control, the policies are updated on the basis of the observed emissions, rather than on the predicted level of emissions. The basic structure and principle of the RICE model is firstly introduced and some key equations are described. The idea of introducing feedback control is then explained and economic MPC is applied to design policies for CO2 emissions. Simulation results are presented to demonstrate the effectiveness of the proposed method for two different scenarios. Feedback control design provides a degree of robustness against disturbances and model uncertainties, which is illustrated through a simulation study with two particular types of uncertainties. The results obtained in this paper illustrate the strength of the proposed design approach and form the basis for future research on using systems control theory to design optimal sustainable policies.","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":"128512780","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}