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2006 14th Mediterranean Conference on Control and Automation最新文献

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Stable Nonlinear Receding Horizon Regulator Using RBF Neural Network Models 基于RBF神经网络模型的稳定非线性后退水平调节器
2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI: 10.1109/MED.2006.328824
Z. Ahmida, A. Charef, V. Becerra
{"title":"Stable Nonlinear Receding Horizon Regulator Using RBF Neural Network Models","authors":"Z. Ahmida, A. Charef, V. Becerra","doi":"10.1109/MED.2006.328824","DOIUrl":"https://doi.org/10.1109/MED.2006.328824","url":null,"abstract":"The general stability theory of nonlinear receding horizon controllers has attracted much attention over the last fifteen years, and many algorithms have been proposed to ensure closed-loop stability. On the other hand many reports exist regarding the use of artificial neural network models in nonlinear receding horizon control. However, little attention has been given to the stability issue of these specific controllers. This paper addresses this problem and proposes to cast the nonlinear receding horizon control based on neural network models within the framework of an existing stabilising algorithm","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127969486","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
Delay system identification applied to the longitudinal flight of an aircraft through a vertical gust 延迟系统识别应用于飞机通过垂直阵风的纵向飞行
2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI: 10.1109/MED.2006.328876
F. Veysset, L. Belkoura, P. Coton, J. Richard
{"title":"Delay system identification applied to the longitudinal flight of an aircraft through a vertical gust","authors":"F. Veysset, L. Belkoura, P. Coton, J. Richard","doi":"10.1109/MED.2006.328876","DOIUrl":"https://doi.org/10.1109/MED.2006.328876","url":null,"abstract":"This paper deals with modelling and identification of aircraft dynamic entering a vertical gust. The identification approach initiated in (M. Fliess et al., 2003) falls under a prospect for identification from tests carried out in the Flight Analysis Laboratory of the DCSD of ONERA in Lille. The plane is considered into various elements which consist in the fuselage, the wing and the tail. The model incorporates delays linked to the aircraft passage through the atmospheric turbulence","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"229 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123253295","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
Acoustic Mapping and Localization of an ROV ROV的声学测绘与定位
2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI: 10.1109/MED.2006.328873
G. Conte, S. Zanoli, L. Gambella, D. Scaradozzi
{"title":"Acoustic Mapping and Localization of an ROV","authors":"G. Conte, S. Zanoli, L. Gambella, D. Scaradozzi","doi":"10.1109/MED.2006.328873","DOIUrl":"https://doi.org/10.1109/MED.2006.328873","url":null,"abstract":"This paper summarizes the work done on the development of a module to interface a commercial mechanical scan sonar within an ROV control architecture and its integration with the other modules. The sonar module fulfills the scope of endowing the ROV with an open tool for the management of the sonar setting, adapting sonar performances to the specific mission requirement. In particular, this work is focused on the problem of the generation of environmental map from raw sonar scan data for objects detection purposes as well as for ROV self localization means. Preliminary assumption on the ROV motion ensures the construction of two-dimensional maps of the environment. Additionally, a procedure for self localization of the ROV based on sonar map and on onboard compass data is developed. Experimental tests on structured environment have been performed and other are planned in order to test the validity of the proposed solution. The research has been partially sponsored by the national project PICTURE","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123348206","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
Control of Switched Reluctance Motor Containing a Linear Model 含线性模型的开关磁阻电机控制
2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI: 10.1109/MED.2006.328699
M. Ayaz, A. Yıldız
{"title":"Control of Switched Reluctance Motor Containing a Linear Model","authors":"M. Ayaz, A. Yıldız","doi":"10.1109/MED.2006.328699","DOIUrl":"https://doi.org/10.1109/MED.2006.328699","url":null,"abstract":"The principle of operation of the switched reluctance motor (SRM) drive demands that the motor and converter be treated as one unit. The control of the SRM is very important and difficult. The motor's double salient structure makes its magnetic characteristics highly nonlinear. The motor flux linkage appears to be a nonlinear function of stator currents as well as rotor position. This paper deals with control parameters and converter topology of switched reluctance motor, where an equivalent circuit model is used. Its converter topology and its control are discussed in detail. Control parameters and its converter topology are obtained by using linear model and dynamics of the switched reluctance motor. Simulation studies are performed for phase currents and the steady-state motor operation","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124016970","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
Adaptive Control in the Presence of Outliers 异常值存在下的自适应控制
2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI: 10.1109/MED.2006.328762
J. M. Lemos
{"title":"Adaptive Control in the Presence of Outliers","authors":"J. M. Lemos","doi":"10.1109/MED.2006.328762","DOIUrl":"https://doi.org/10.1109/MED.2006.328762","url":null,"abstract":"This paper presents a modification of a predictive adaptive controller that renders it robust with respect to the occurrence of outliers in the plant measured output. Outliers are large deviations of the signal being measured that are not explained by a Gaussian distribution. Making a Gaussian assumption on the statistics of the observation noise results in the use of a quadratic loss for designing either estimators or controllers. In turn of a quadratic loss yields major amplification of large signal deviations causing poor parameter estimates and, consequently, controller gain detuning and loss of performance. The algorithm presented to solve this problem relies on a modification of the cost being minimized, such as to render it more insensitive to large prediction error values. Simulations on the position control in a ball and beam plant are presented to illustrate the advantages of the controller proposed","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115652877","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
Theoretical and experimental overview of bilateral teleoperation control laws 双边遥操作控制规律的理论与实验综述
2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI: 10.1109/MED.2006.328766
N. Marcassus, A. Chriette, M. Gautier
{"title":"Theoretical and experimental overview of bilateral teleoperation control laws","authors":"N. Marcassus, A. Chriette, M. Gautier","doi":"10.1109/MED.2006.328766","DOIUrl":"https://doi.org/10.1109/MED.2006.328766","url":null,"abstract":"This paper presents the application and the comparison of bilateral teleoperation laws applied on a device made of two industrial systems equipped with force sensors. Theoretical study of these kinesthetic couplings were carried on and experimental results are presented showing forces interactions during movements. A poor connection is found between the accuracy of the force sensor and the quality of the haptic feedback","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"22 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132630149","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
Controllability to Zero of Positive Bilinear Discrete-Time Systems with Delays 具有时滞的正双线性离散系统的可控性
2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI: 10.1109/MED.2006.328719
Tadeusz Kaczorek
{"title":"Controllability to Zero of Positive Bilinear Discrete-Time Systems with Delays","authors":"Tadeusz Kaczorek","doi":"10.1109/MED.2006.328719","DOIUrl":"https://doi.org/10.1109/MED.2006.328719","url":null,"abstract":"Necessary and sufficient conditions are established for the positivity of bilinear discrete-time systems with delays. The controllability to zero of the bilinear positive systems with delays is addressed. Necessary and sufficient conditions for the controllability to zero of positive bilinear systems with delays are formulated and proved. The considerations are illustrated by examples","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123796738","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
Autonomous Surface Craft: prototypes and basic research issues 自主表面工艺:原型和基础研究问题
2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI: 10.1109/MED.2006.328786
M. Caccia
{"title":"Autonomous Surface Craft: prototypes and basic research issues","authors":"M. Caccia","doi":"10.1109/MED.2006.328786","DOIUrl":"https://doi.org/10.1109/MED.2006.328786","url":null,"abstract":"An overview of the prototypes of autonomous surface craft (ASC) developed in the last years is presented in this paper, together with a discussion of main research issues, design trends and technological developments","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121666513","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: 96
Robust Fault Detection in a Mixed Η2/Ηα Setting: The Discrete - Time Case 鲁棒故障检测在混合Η2/Ηα设置:离散时间的情况下
2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI: 10.1109/MED.2006.328743
M. Khosrowjerdi, N. Safari-Shad, R. Nikoukhah
{"title":"Robust Fault Detection in a Mixed Η2/Ηα Setting: The Discrete - Time Case","authors":"M. Khosrowjerdi, N. Safari-Shad, R. Nikoukhah","doi":"10.1109/MED.2006.328743","DOIUrl":"https://doi.org/10.1109/MED.2006.328743","url":null,"abstract":"Robust fault detection problem for discrete-time LTI systems is considered. Allowing stochastic white noises and bounded unknown deterministic disturbances to model system uncertainties, it is shown that this problem can be cast as a mixed norm H2/Halpha residual generation problem. An example is presented to illustrate the application of the results.","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124044350","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
Modeling and Control System Design for a UAV Helicopter 无人机直升机建模与控制系统设计
2006 14th Mediterranean Conference on Control and Automation Pub Date : 2006-06-28 DOI: 10.1109/MED.2006.328860
G. Cai, Ben M. Chen, K. Peng, Miaobo Dong, Tong-heng Lee
{"title":"Modeling and Control System Design for a UAV Helicopter","authors":"G. Cai, Ben M. Chen, K. Peng, Miaobo Dong, Tong-heng Lee","doi":"10.1109/MED.2006.328860","DOIUrl":"https://doi.org/10.1109/MED.2006.328860","url":null,"abstract":"We present in this paper a linearized hovering model of a UAV helicopter obtained using the in-flight data generated through a perturbation method. The UAV helicopter is constructed from a radio-controlled helicopter by integrating an onboard system, which includes a data processing unit, a data acquisition system, a wireless communications and all necessary sensors. A flight control law is then designed using a newly developed nonlinear control technique, i.e. the composite nonlinear feedback control. Actual flight testing shows that the design is successful","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124422606","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: 71
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