2018 Indian Control Conference (ICC)最新文献

Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3) 一类欠驱动车辆的有限时间稳定轨迹跟踪与指向控制

2018 Indian Control Conference (ICC) Pub Date : 2018-03-07 DOI: 10.1109/INDIANCC.2018.8307976

Rakesh R. Warier, A. Sanyal, Mani H. Dhullipalla, S. P. Viswanathan

{"title":"Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3)","authors":"Rakesh R. Warier, A. Sanyal, Mani H. Dhullipalla, S. P. Viswanathan","doi":"10.1109/INDIANCC.2018.8307976","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8307976","url":null,"abstract":"In this paper, an integrated guidance and control scheme for finite-time position and pointing direction tracking of a class of underactuated vehicles is presented. The underactuated vehicle is considered to be a rigid body with translational control applied only along a fixed body frame direction and rotational control that can be applied along all three body-fixed coordinate axes. The combined rotational and translational motion of the vehicle has six degrees of freedom and only four degrees of freedom actuated; thus the system as a whole is underactuated. This model is representative of a number of commonly used aerial vehicles including quadrotors, vertical take-off and landing (VTOL) aircraft, fixed-wing aerial vehicles and spacecraft. The guidance and control problem is formulated in the space of the special Euclidean group of rigid body motions, SE(3), using the framework of geometric mechanics. The proposed control ensures that the difference between the actual and the desired position trajectory is stabilized to zero in finite time. Additionally, through the proposed feedback control, the specified pointing vector in the body-fixed frame of the vehicle tracks the desired pointing direction in finite time. Almost global finite-time stability of the overall closed-loop system over the state space is shown analytically and illustrated through numerical simulations.","PeriodicalId":338695,"journal":{"name":"2018 Indian Control Conference (ICC)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123188860","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

Weighted kernel deterministic annealing: A maximum-entropy principle approach for shape clustering 加权核确定性退火:形状聚类的最大熵原理方法

2018 Indian Control Conference (ICC) Pub Date : 2018-03-07 DOI: 10.1109/INDIANCC.2018.8307944

Mayank Baranwal, S. Salapaka

引用次数: 1

Synchronization of Liénard-type oscillators in heterogenous electrical networks 异质电网中lisamnard型振荡器的同步

2018 Indian Control Conference (ICC) Pub Date : 2018-03-07 DOI: 10.1109/INDIANCC.2018.8307985

Mohit Sinha, F. Dörfler, Brian B. Johnson, S. Dhople

引用次数: 8

Multi-objective prioritized control of a semi-batch process with multiple feed and multiple products using economic MPC 多进料多产品半批工艺的多目标优先控制

2018 Indian Control Conference (ICC) Pub Date : 2018-01-04 DOI: 10.1109/INDIANCC.2018.8307989

M. Anilkumar, Nitin U. Padhiyar, K. Moudgalya

引用次数: 2

Tracking and stabilization of mechanical systems using reinforcement learning 利用强化学习的机械系统跟踪与稳定

2018 Indian Control Conference (ICC) Pub Date : 2018-01-01 DOI: 10.1109/INDIANCC.2018.8307979

S. Bhuvaneswari, R. Pasumarthy, Balaraman Ravindran, A. Mahindrakar

引用次数: 0

Differential-flatness and control of quadrotor(s) with a payload suspended through flexible cable(s) 通过柔性电缆悬挂载荷的四旋翼机的差分平整度和控制

2018 Indian Control Conference (ICC) Pub Date : 2017-11-14 DOI: 10.1109/INDIANCC.2018.8308004

Prasanth Kotaru, Guofan Wu, K. Sreenath

{"title":"Differential-flatness and control of quadrotor(s) with a payload suspended through flexible cable(s)","authors":"Prasanth Kotaru, Guofan Wu, K. Sreenath","doi":"10.1109/INDIANCC.2018.8308004","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8308004","url":null,"abstract":"We present the coordinate-free dynamics of three different quadrotor systems : (a) single quadrotor with a pointmass payload suspended through a flexible cable; (b) multiple quadrotors with a shared point-mass payload suspended through flexible cables; and (c) multiple quadrotors with a shared rigid-body payload suspended through flexible cables. We model the flexible cable(s) as a finite series of links with spherical joints with mass concentrated at the end of each link. The resulting systems are thus high-dimensional with high degree-of-underactuation. For each of these systems, we show that the dynamics are differentially-flat, enabling planning of dynamically feasible trajectories. For the single quadrotor with a point-mass payload suspended through a flexible cable with five links (16 degrees-of-freedom and 12 degrees-of-underactuation), we use the coordinate-free dynamics to develop a geometric variation-based linearized equations of motion about a desired trajectory. We show that a finite-horizon linear quadratic regulator can be used to track a desired trajectory with a relatively large region of attraction.","PeriodicalId":338695,"journal":{"name":"2018 Indian Control Conference (ICC)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125718682","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: 26

From dissipativity theory to compositional synthesis of symbolic models 从耗散理论到符号模型的合成综合

2018 Indian Control Conference (ICC) Pub Date : 2017-10-16 DOI: 10.1109/INDIANCC.2018.8307949

Abdalla Swikir, A. Girard, Majid Zamani

{"title":"From dissipativity theory to compositional synthesis of symbolic models","authors":"Abdalla Swikir, A. Girard, Majid Zamani","doi":"10.1109/INDIANCC.2018.8307949","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8307949","url":null,"abstract":"In this work, we introduce a compositional framework for the construction of finite abstractions (a.k.a. symbolic models) of interconnected discrete-time control systems. The compositional scheme is based on the joint dissipativity-type properties of discrete-time control subsystems and their finite abstractions. In the first part of the paper, we use a notion of so-called storage function as a relation between each subsystem and its finite abstraction to construct compositionally a notion of so-called alternating simulation function as a relation between interconnected finite abstractions and that of control systems. The derived alternating simulation function is used to quantify the error between the output behavior of the overall interconnected concrete system and that of its finite abstraction. In the second part of the paper, we propose a technique to construct finite abstractions together with their corresponding storage functions for a class of discrete-time control systems under some incremental passivity property. We show that if a discrete-time control system is so-called incrementally passivable, then one can construct its finite abstraction by a suitable quantization of the input and state sets together with the corresponding storage function. Finally, the proposed results are illustrated by constructing a finite abstraction of a network of linear discrete-time control systems and its corresponding alternating simulation function in a compositional way without imposing any restriction on the gains or the number of the subsystems.","PeriodicalId":338695,"journal":{"name":"2018 Indian Control Conference (ICC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128919127","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: 20

Generalized framework for decoupler design 解耦设计的广义框架

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307990

Shubham Khandelwal, K. Detroja

引用次数: 5

Real-time statistical detection and identification of sensor incipient fault using Kalman filter 基于卡尔曼滤波的传感器早期故障实时统计检测与识别

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307955

S. Gautam, P. Tamboli, V. H. Patankar, S. Duttagupta, K. Roy

引用次数: 1

System identification of a small scaled helicopter using simulated annealing algorithm 基于模拟退火算法的小型直升机系统辨识

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8308001

Pranjal Biswas, B. Navaneethkrishnan, G. Anand, S. Omkar

{"title":"System identification of a small scaled helicopter using simulated annealing algorithm","authors":"Pranjal Biswas, B. Navaneethkrishnan, G. Anand, S. Omkar","doi":"10.1109/INDIANCC.2018.8308001","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8308001","url":null,"abstract":"Developing an autonomous helicopter requires designing of precise controllers, which can be a daunting task if system dynamics are not known accurately. Thus very accurate system dynamics should be available to design controllers. The main idea of this paper is to present Simulated Annealing (SA) algorithm as a tool in time domain parametric system identification of a RC helicopter (Align T-Rex 550L). In addition, Prediction Error Minimization (PEM) and Genetic Algorithm (GA) have been taken as reference identification algorithms for the purpose of comparison. The work includes collecting flight data and pre-processing of the recorded data, and time domain parametric identification of state space system for hovering condition. The rigid body dynamics of the helicopter is represented in the state space form that has 40 parameters. The accuracy of the identified system is verified by comparing estimated and actual responses, by Pearson Correlation Coefficient, also 90% confidence interval is calculated for each of the identified parameters. Results show a high level of correlation of the actual responses and estimated responses of the system identified using SA, because of its ability to jump out of local optima.","PeriodicalId":338695,"journal":{"name":"2018 Indian Control Conference (ICC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115052549","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