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2012 IEEE 51st IEEE Conference on Decision and Control (CDC)最新文献

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On the extension of classical calculus of variations and optimal control to problems with discontinuous trajectories 经典变分法与最优控制在不连续轨迹问题上的推广
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426145
A. Arutyunov, D. Karamzin, F. Pereira
{"title":"On the extension of classical calculus of variations and optimal control to problems with discontinuous trajectories","authors":"A. Arutyunov, D. Karamzin, F. Pereira","doi":"10.1109/CDC.2012.6426145","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426145","url":null,"abstract":"In this article, we present a proper extension of the problems of classical calculus of variations and of optimal control to the case of discontinuous trajectories. An appropriate impulsive control problem is introduced as a result of such extension. Existence theorems are proved under assumptions of the Filippov type.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"25 12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122863440","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
Decentralized LQG control of systems with a broadcast architecture 广播体系结构系统的分散LQG控制
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426441
Laurent Lessard
{"title":"Decentralized LQG control of systems with a broadcast architecture","authors":"Laurent Lessard","doi":"10.1109/CDC.2012.6426441","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426441","url":null,"abstract":"In this paper, we consider dynamical subsystems interconnected in a broadcast architecture. In the broadcast-out case, the root node can affect several leaf nodes, but the leaf nodes do not affect any other nodes. Each subsystem is locally controlled via output feedback, and the controllers can communicate according to a structure that parallels the dynamic coupling between subsystems. Explicit state-space realizations for the optimal controllers are derived using a spectral factorization approach. An interpretation of the controller states is also provided in terms of optimal state estimators. We also address the dual broadcast-in case, where there is a single leaf node affected by multiple root nodes.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114433301","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: 22
Observer based ℌ∞ controllers for a class of nonlinear lipschitz discrete-time systems 一类非线性lipschitz离散系统的基于观测器的<s:1>∞控制器
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426361
Bertrand Grandvallet, A. Zemouche, H. S. Ali, M. Boutayeb
{"title":"Observer based ℌ∞ controllers for a class of nonlinear lipschitz discrete-time systems","authors":"Bertrand Grandvallet, A. Zemouche, H. S. Ali, M. Boutayeb","doi":"10.1109/CDC.2012.6426361","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426361","url":null,"abstract":"This paper deals with the problem of observer-based H∞ stabilization for a class of nonlinear discrete-time systems. We propose a new design strategy in order to compute simultaneously the observer and the controller parameters. Thanks to the use of some matrix decompositions and other mathematical artifacts, we provide a novel sufficient synthesis condition expressed in term of Linear Matrix Inequality (LMI). The effectiveness of the proposed method is shown through many numerical examples.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121887218","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
Nonovershooting and nonundershooting linear multivariable state-feedback tracking controllers for discrete-time systems 离散系统的非超调和非欠调线性多变量状态反馈跟踪控制器
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426814
Robert Schmid
{"title":"Nonovershooting and nonundershooting linear multivariable state-feedback tracking controllers for discrete-time systems","authors":"Robert Schmid","doi":"10.1109/CDC.2012.6426814","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426814","url":null,"abstract":"We consider the problem of obtaining a nonovershooting and nonundershooting step response for multivariable discrete-time systems. Recently Schmid and Ntogramatzidis [1]-[2] introduced a linear state feedback controller design method to avoid overshoot and undershoot. In this paper we offer methods to employ deadbeat modes in order to further improve the tracking control of discrete-time systems. Examples are given to show the method is applicable to systems with real nonminimum phase zeros.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121905158","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
Synchronization and pattern formation in diffusively coupled systems 扩散耦合系统中的同步与模式形成
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6425824
M. Arcak
{"title":"Synchronization and pattern formation in diffusively coupled systems","authors":"M. Arcak","doi":"10.1109/CDC.2012.6425824","DOIUrl":"https://doi.org/10.1109/CDC.2012.6425824","url":null,"abstract":"We discuss spatially distributed networks that exhibit a diffusive coupling structure, common in biomolecular networks and multi-agent systems. We first review conditions that guarantee spatial homogeneity of the solutions of these systems, referred to as “synchrony.” We next point to structural system properties that allow diffusion-driven instability - a phenomenon critical to pattern formation in biology - and show that an analogous instability mechanism exists in multi-agent systems. The results reviewed in the paper also demonstrate the role played by the Laplacian eigenvalues in determining the dynamical properties of diffusively coupled systems. We conclude with a discussion of how these eigenvalues can be assigned with a design of node and edge weights of a graph, and present a formation control example.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"321 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122098546","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
A transformation of the Position Based Visual Servoing Problem into a convex optimization problem 将基于位置的视觉伺服问题转化为凸优化问题
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426022
Yuquan Wang, J. Thunberg, Xiaoming Hu
{"title":"A transformation of the Position Based Visual Servoing Problem into a convex optimization problem","authors":"Yuquan Wang, J. Thunberg, Xiaoming Hu","doi":"10.1109/CDC.2012.6426022","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426022","url":null,"abstract":"Here we address the problem of moving a camera from an initial pose to a final pose. The trajectory between the two poses is subject to constraints on the camera motion and the visibility, where we have bounds on the allowed velocities and accelerations of the camera and require that a set of point features are visible for the camera. We assume that the pose is possible to retrieve from the observations of the point features, i.e., we have a Position Based Visual Servoing Problem with constraints. We introduce a two step method that transforms the problem into a convex optimization problem with linear constraints. In the first step the rotational motion is restricted to be of a certain type. This restriction allows us to retrieve an explicit solution of the rotational motion that is optimal in terms of minimizing geodesic distance. Furthermore, this restriction guarantees that the rotational motion satisfies the constraints. Using the explicit solution, we can formulate a convex optimization problem for the translational motion, where we include constraints on workspace and visibility.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122134767","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
A trajectory tracking control scheme design for nonholonomic wheeled mobile robots with low-level control systems 基于低级控制系统的非完整轮式移动机器人轨迹跟踪控制方案设计
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426748
C. B. Low
{"title":"A trajectory tracking control scheme design for nonholonomic wheeled mobile robots with low-level control systems","authors":"C. B. Low","doi":"10.1109/CDC.2012.6426748","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426748","url":null,"abstract":"Motivated by formation control of multiple non-holonomic mobile robots, this paper presents a trajectory tracking control scheme design for nonholonomic mobile robots that are equipped with low-level linear and angular velocities control systems. The design includes a nonlinear kinematic trajectory tracking control law and a tracking control gains selection method that provide a means to implement the nonlinear tracking control law systematically based on the dynamic control performance of the robot's low-level control systems. In addition, the proposed scheme, by design, enables the mobile robot to execute reference trajectories that are represented by time-parameterized waypoints. This feature provides the scheme a generic interface with higher-level trajectory planners. The trajectory tracking control scheme is validated using an iRobot Packbot's parameteric model estimated from experimental data.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116622320","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
Controller's parameters tuning in presence of time-delay measurements: an application to vision-based quad-rotor navigation 存在时滞测量的控制器参数调整:在基于视觉的四旋翼导航中的应用
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426146
L. G. Carrillo, E. S. Espinoza, S. Mondié
{"title":"Controller's parameters tuning in presence of time-delay measurements: an application to vision-based quad-rotor navigation","authors":"L. G. Carrillo, E. S. Espinoza, S. Mondié","doi":"10.1109/CDC.2012.6426146","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426146","url":null,"abstract":"The stability analysis of a quad-rotor rotor-craft which uses a combination of imaging, inertial and altitude sensors to measure its states is addressed. A hierarchical controller is designed in two steps. The fast-time scale dynamics are stabilized using classical PD controllers. The slow time-scale dynamics are analyzed with delay frequency and time domain techniques. The proposal is validated by simulation and experimental results, showing the effectiveness of the method.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116734361","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
Observer-based output-feedback of a multicellular converter: Control Lyapunov function — Sliding mode approach 基于观测器的多单元变换器输出反馈:控制李雅普诺夫函数-滑模方法
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426416
Pascal Hauroigne, P. Riedinger, C. Iung
{"title":"Observer-based output-feedback of a multicellular converter: Control Lyapunov function — Sliding mode approach","authors":"Pascal Hauroigne, P. Riedinger, C. Iung","doi":"10.1109/CDC.2012.6426416","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426416","url":null,"abstract":"This paper deals with the issue of the observer-based output-feedback of a multicellular converter. By structure, this system is not observable in the usual sense. However, under certain condition, the state vector can be available. Using finite time observer and control Lyapunov function based control, we provide an observer based strategy which satisfies the observability condition, with algebraic constraint, and stabilizes the closed loop system. Simulations on a 3-cell converter illustrate the behavior of the system under the observer based strategy.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116995087","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
Quickest detection of market shocks in agent based models of the order book 在基于代理的订单簿模型中最快地检测市场冲击
2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426166
V. Krishnamurthy, Anup Aryan
{"title":"Quickest detection of market shocks in agent based models of the order book","authors":"V. Krishnamurthy, Anup Aryan","doi":"10.1109/CDC.2012.6426166","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426166","url":null,"abstract":"We consider how local and global decision policies interact in quickest time change detection in multi-agent models of the order book. A monopolist market maker sets two-sided prices for an asset. The market evolves through the orders of trading agents. Agents observe local individual decisions of previous agents via an order book, combine these observed decisions with their noisy private signals about the asset, selfishly optimize their expected local utility, and then make their own individual decisions (whether to buy, sell or do nothing). Given this order book information, the goal is to achieve quickest change point detection when a shock occurs to the value of the asset. We provide a Bayesian formulation of the change point problem. Some structural results are given for the optimal policy.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129765190","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: 8
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