2012 IEEE 51st IEEE Conference on Decision and Control (CDC)最新文献_第9页

Toward force control of a quadrotor UAV in SE(3) 四旋翼无人机在SE中的力控制研究(3)

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426033

Vicente Parra‐Vega, A. Sanchez, Carlos Izaguirre

{"title":"Toward force control of a quadrotor UAV in SE(3)","authors":"Vicente Parra‐Vega, A. Sanchez, Carlos Izaguirre","doi":"10.1109/CDC.2012.6426033","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426033","url":null,"abstract":"Two novel model-free second order sliding mode controllers are proposed for the constrained underactuated position and orientation dynamic model of the quadrotor, i.e., considering contact wrench, based on spring-like contact force model. The main theorem establishes conditions for the closed-loop system to guarantee semi-global exponential and robust tracking of position and admissible contact forces, with zero yaw, by exploiting the solution in SE(3). It is proved an integral sliding mode for all time and for any initial condition at a quaternion-based sliding surface. This yields a causal and analytical computation of desired angular velocity in terms of position control, without involving derivatives of the state. A second theorem is derived for terminal stability with desired finite time convergence. This in turns produces three results, a) a singularity-free representation under proper and easy to meet initialization; b) stable transition from free flying to constrained motion, and c) realization of the virtual position controller due to finite time convergence of angular tracking errors. It is noted that there arises an evident physical limit for force interaction along underactuated directions: the more interaction force along the underactuated axes, the more roll and pitch angles are needed the less thrust that can be produced to sustain the UAV in the air. Comprehensive simulation study is discussed under various flying conditions, and finally, the explicit (active) force control, based on a differential algebraic model, is briefly addressed.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123863069","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

A random coordinate descent method for large-scale resource allocation problems 大规模资源分配问题的随机坐标下降法

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426370

I. Necoara

引用次数: 7

Projection-based switched system optimization: Absolute continuity of the line search 基于投影的切换系统优化:线路搜索的绝对连续性

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426270

T. Caldwell, T. Murphey

引用次数: 14

Generation of worst-case input signals based on the guaranteed sampling of linear interval predictors with non-held uncertain inputs 基于非保持不确定输入的线性区间预测器保证采样的最坏情况输入信号的产生

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426300

C. Combastel

{"title":"Generation of worst-case input signals based on the guaranteed sampling of linear interval predictors with non-held uncertain inputs","authors":"C. Combastel","doi":"10.1109/CDC.2012.6426300","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426300","url":null,"abstract":"This paper deals with the design of experiments for the validation of a class of interval dynamic models. Set-membership algorithms based on interval analysis often allow the computation of guaranteed bounds (e.g. reach tubes, bounds for some estimates) enclosing all the possible scenarios according to some model where uncertainties are specified in a bounded error context. The guarantee of inclusion is very useful to ensure a complete coverage of all the specified scenarios in verification problems (e.g. verification of safety properties). However, such a guarantee and, consequently, the verified properties hold in practice only up to the validity of the considered uncertain model. In addition, the practical validation of dynamic interval models involving bounded uncertain inputs is quite difficult since finding a relevant input excitation leading to some worst-case scenario (e.g. an output reaching its maximum or minimum admissible value at a given time instant) is not a trivial task in general. The current paper proposes a constructive method to generate such worst-case input signals based on the guaranteed sampling of linear interval predictors with non-held uncertain inputs. The results are then illustrated through the example of designing worst-case road profiles to validate the interval model of a quarter vehicle suspension.","PeriodicalId":312426,"journal":{"name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","volume":"129 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":"123954792","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

A real time implementation of MPC based Motion Cueing strategy for driving simulators 基于MPC的驾驶模拟器运动提示策略的实时实现

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426119

A. Beghi, M. Bruschetta, F. Maran

{"title":"A real time implementation of MPC based Motion Cueing strategy for driving simulators","authors":"A. Beghi, M. Bruschetta, F. Maran","doi":"10.1109/CDC.2012.6426119","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426119","url":null,"abstract":"Driving simulators are widely used in many different applications, such as driver training, vehicle development, and medical studies. To fully exploit the potential of such devices, it is crucial to develop platform motion control strategies that generate realistic driving feelings. This has to be achieved while keeping the platform within its limited operation space. Such strategies go under the name of motion cueing algorithms. In this paper a particular implementation of a Motion Cueing algorithm is described, that is based on Model Predictive Control technique. A distinctive feature of such approach is that it exploits a detailed model of the human vestibular system, and consequently differs from standard Motion Cueing strategies based on washout filters. The algorithm has been evaluated experimentally on a small-size, innovative platform, by performing tests with professional drivers. Results show that the MPC-based motion cueing algorithm allows to effectively handle the platform working area, to limit the presence of those platform movements that are typically associated to driver motion sickness, and to devise simple and intuitive tuning procedures.","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":"123210234","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: 48

Adaptive experiment design for ARMAX systems? ARMAX系统的自适应实验设计

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6425920

Lirong Huang, H. Hjalmarsson, L. Gerencsér

引用次数: 3

A novel self-triggered sampling scheme in networked control systems 网络控制系统中一种新的自触发采样方案

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426577

Chen Peng, Q. Han

引用次数: 4

LMI search for rational anticausal Zames-Falb multipliers LMI寻找理性的反因果Zames-Falb乘数

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426868

J. Carrasco, Martin Maya-Gonzalez, A. Lanzon, W. Heath

引用次数: 12

Controller compact form dynamic linearization based model free adaptive control 控制器紧凑型基于动态线性化的无模型自适应控制

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426479

Yuanming Zhu, Z. Hou

引用次数: 18

An optimal regulation strategy for energy management of hybrid electric vehicles 混合动力汽车能量管理的最优调节策略

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI: 10.1109/CDC.2012.6426329

Balaji Sampathnarayanan, S. Onori, S. Yurkovich

引用次数: 11