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2022 30th Mediterranean Conference on Control and Automation (MED)最新文献

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Finite Time Convergence Parameter Estimator for Nonlinear MIMO System* 非线性MIMO系统的有限时间收敛参数估计*
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837124
D. Bazylev, S. Vrazhevsky
{"title":"Finite Time Convergence Parameter Estimator for Nonlinear MIMO System*","authors":"D. Bazylev, S. Vrazhevsky","doi":"10.1109/MED54222.2022.9837124","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837124","url":null,"abstract":"In this paper, we present a finite time convergence (FTC) parameter estimator for a class of non-linear MIMO systems. The designed FTC estimator is based on a continuous-time parameter identification algorithm that was recently proposed by the authors. Compared to the previous solution the new modified estimator doesn’t require the unobvious to achieve in practice assumptions imposed on regression functions to ensure guaranteed convergence. As a practical example, we use a “Twin Rotor MIMO System” laboratory bench which model is given by a nonlinear multi-channel system with cross-couplings. Significant improvement of the transient behavior for the new parameter estimator is demonstrated via representative simulation results.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"313 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116354497","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
Cooperative Multi-Lane Shock Wave Detection and Dissipation via Local Communication 基于局部通信的协同多车道冲击波检测与耗散
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837213
Nilesh Suriyarachchi, Christos N. Mavridis, J. Baras
{"title":"Cooperative Multi-Lane Shock Wave Detection and Dissipation via Local Communication","authors":"Nilesh Suriyarachchi, Christos N. Mavridis, J. Baras","doi":"10.1109/MED54222.2022.9837213","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837213","url":null,"abstract":"Traffic shock waves are well-known naturally occurring phenomena that lead to unnecessary congestion in highway networks. Introducing connected autonomous vehicles (CAVs) to highways of human-driven vehicles (HDVs) allows for the development of traffic control schemes that can mitigate the effects of the shock waves. In this work, we propose a shock wave detection algorithm based on communication between CAVs with local traffic information. The proposed methodology is suitable for multi-lane mixed traffic highways of arbitrary structure, i.e., it is not limited to closed-circuit ring roads. We show that the detection information can be used to design a class of proactive shock wave mitigating CAV controllers. The choice of the controller can depend on design parameters such as the aggressiveness of the driving behavior allowed. We also demonstrate the importance of the positioning of autonomous agents in multi-lane scenarios. The shock wave dissipation efficiency is evaluated on a three lane highway loop using realistic traffic simulations and low CAV penetration levels.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"43 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114002766","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
Fast Nonlinear Model Predictive Control Using a Custom Cost-Function: Preliminary Results 使用自定义成本函数的快速非线性模型预测控制:初步结果
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837207
Robert Nebeluk, M. Lawrynczuk
{"title":"Fast Nonlinear Model Predictive Control Using a Custom Cost-Function: Preliminary Results","authors":"Robert Nebeluk, M. Lawrynczuk","doi":"10.1109/MED54222.2022.9837207","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837207","url":null,"abstract":"Typically, in Model Predictive Control (MPC) algorithms, the squared sum of predicted control errors (the L2 norm) is minimised on-line. This work discusses an alternative approach in which a custom, user-defined cost-function is used; it may be defined analytically or in a graphical form. To obtain a computationally fast procedure, a differentiable neural approximation of the custom cost-function is used and the predicted trajectory of the controlled variable is linearised on-line. As a result, a quadratic optimisation MPC task is derived. Efficiency of the described approach is discussed for a simulated polymerisation reactor. In particular, it is shown that the discussed algorithm gives better results in terms of the custom cost-function than the classical L2 approach. Moreover, it is shown that the algorithm gives similar results to those possible in MPC with full nonlinear optimisation repeated at each sampling instant.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124512048","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
Private Consensus using Chaotic Oscillator-Based Encryption 基于混沌振子加密的私有一致性
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837163
Camilla Fioravanti, G. Oliva, S. Panzieri, C. Hadjicostis
{"title":"Private Consensus using Chaotic Oscillator-Based Encryption","authors":"Camilla Fioravanti, G. Oliva, S. Panzieri, C. Hadjicostis","doi":"10.1109/MED54222.2022.9837163","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837163","url":null,"abstract":"Distributed average consensus is a fundamental feature of multi-agents systems; yet, in several cases agents are reluctant to disclose their initial conditions, e.g., due to their sensitivity about private data. Consequently, ensuring the privacy of such information against honest but curious neighbors becomes a mandatory necessity. In this paper we propose to implement a privacy-preserving consensus strategy that exploits, for this purpose, unpredictable chaotic phenomena, such as the trend of variables in a Chua oscillator. The initial conditions are then split into two fragments, one of which always remains hidden in the node, while the other is exchanged after undergoing oscillator-dependent manipulation, adding an extra layer of security to what is exchanged over the network. In this way, the combination of the two fragments converges to the average of the true initial conditions of each node. The paper is complemented by a simulation campaign aimed at numerically demonstrating the effectiveness of the proposed approach.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126426822","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
Motion planning for mobile robots using the Collidable Velocity Obstacles method 基于可碰撞速度障碍物方法的移动机器人运动规划
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837248
Z. Gyenes, E. Szádeczky-Kardoss
{"title":"Motion planning for mobile robots using the Collidable Velocity Obstacles method","authors":"Z. Gyenes, E. Szádeczky-Kardoss","doi":"10.1109/MED54222.2022.9837248","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837248","url":null,"abstract":"The collision-free motion planning for mobile robots is a challenging task in dynamic environment. There are situations when the robot has no chance to select a velocity vector that would cause no collision in the next steps of the motion. Most of the motion planning algorithms for mobile robots cannot generate an appropriate solution for that problem. At the autonomous systems, the only acceptable solution in this situation is emergency braking which could cause huge damage between the robot and the obstacle. The main focus of this paper is to introduce a novel motion planning method for mobile robots that could generate a velocity vector for the robot that would cause the least damage between the robot and the environment. It can be assumed that the obstacles in the environment are passive, and low damage collisions would be attempted only when avoidance is not possible at the sampling time. If the robot has an opportunity to select a velocity vector from the Reachable Avoidance Velocities set, then a cost-function-based algorithm can be used considering different aspects.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121707778","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
Alternating optimization for multimodal collaborating odometry estimation in CAVs 自动驾驶汽车多模态协同里程估计的交替优化
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837156
Nikos Piperigkos, A. Lalos, K. Berberidis
{"title":"Alternating optimization for multimodal collaborating odometry estimation in CAVs","authors":"Nikos Piperigkos, A. Lalos, K. Berberidis","doi":"10.1109/MED54222.2022.9837156","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837156","url":null,"abstract":"Cooperative, Connected and Automated Mobility will enable the close coordination of actions between vehicles, road users and traffic infrastructures, resulting in profound socioeconomic impacts. In this context, location and yaw angle of vehicles is considered vital for safe, secured and efficient driving. Motivated by this fact, we formulated a multimodal sensor fusion problem which provides more accurate localization and yaw information than the original sources. Simultaneously estimating location and yaw parameters of vehicles can be treated as the task of cooperative odometry or awareness. To do so, V2V communication as well as multimodal self and inter-vehicular measurements from various sensors are considered for the problem formulation. The solution strategy is based on the maximum likelihood criterion as well as a novel alternating gradient descent approach. To simulate realistic traffic conditions, CARLA autonomous driving simulator has been used. The detailed evaluation study has shown that each vehicle, relying only on its neighborhood, is able to accurately re-estimate both its own and neighboring states (comprised of locations and yaws), effectively realising the vision of 360◦ awareness.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132406562","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
Regression-Based Thermodynamic Model Identification of a Zone with a Closed-Access Air Conditioner 基于回归的闭式空调区域热力学模型辨识
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837272
Nikola Hure, M. Vašak
{"title":"Regression-Based Thermodynamic Model Identification of a Zone with a Closed-Access Air Conditioner","authors":"Nikola Hure, M. Vašak","doi":"10.1109/MED54222.2022.9837272","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837272","url":null,"abstract":"Smart buildings have a great potential in the energy regulation market. One of the levers that are used for the flexibility provision of buildings are the thermal comfort systems. This paper deals with a thermodynamic model identification for a comfort-regulated zone of a smart home with an installed air conditioner. The intended end-use of the model is model predictive control of comfort with electricity demand response over a collection of objects with such similar configuration. Typical commercial setups of closed-access air conditioners found in residential objects are considered, where there is no possibility of any data communication from the air conditioner and where the sensory equipment is quite limited due to an intended large-scale deployment. This drives the specific input-output model form where the air conditioner electricity consumption is the selected model input. The performance of different mathematical models for temperature prediction in the smart home in the heating season is analyzed and the results with quantitative measures are provided. The complete analysis is based on measurement data collected on a smart home experimental setup.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134298859","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
Optimal Energy Storage System Placement for Robust Stabilization of Power Systems Against Dynamic Load Altering Attacks 针对动态负荷改变攻击的电力系统鲁棒稳定的储能系统优化配置
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837241
Roberto Germanà, A. Giuseppi, A. Pietrabissa, A. Giorgio
{"title":"Optimal Energy Storage System Placement for Robust Stabilization of Power Systems Against Dynamic Load Altering Attacks","authors":"Roberto Germanà, A. Giuseppi, A. Pietrabissa, A. Giorgio","doi":"10.1109/MED54222.2022.9837241","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837241","url":null,"abstract":"This paper presents a study on the \"Dynamic Load Altering Attacks\" (D-LAAs), their effects on the dynamics of a transmission network, and provides a robust control protection scheme, based on polytopic uncertainties, invariance theory, Lyapunov arguments and graph theory. The proposed algorithm returns an optimal Energy Storage Systems (ESSs) placement, that minimizes the number of ESSs placed in the network, together with the associated control law that can robustly stabilize against D-LAAs. The paper provides a contextualization of the problem and a modelling approach for power networks subject to D-LAAs, suitable for the designed robust control protection scheme. The paper also proposes a reference scenario for the study of the dynamics of the control actions and their effects in different cases. The approach is evaluated by numerical simulations on large networks.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127595210","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
Quadrotor Control with a Guaranteed Presence of Output Signals under a Prespecified State Bounds 在预先指定的状态边界下保证输出信号存在的四旋翼控制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837198
Mikhail Kuznetsov, S. Vrazhevsky, Ekaterina Khalyamina
{"title":"Quadrotor Control with a Guaranteed Presence of Output Signals under a Prespecified State Bounds","authors":"Mikhail Kuznetsov, S. Vrazhevsky, Ekaterina Khalyamina","doi":"10.1109/MED54222.2022.9837198","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837198","url":null,"abstract":"The article proposes a new robust tracking control method for UAV systems in roll and pitch angular planes. The main achievement of the obtained controller is a guarantee that the output signal is confined in a sufficiently small prespecified bounded set formed by arbitrary continuously differentiable functions. The method is applied to a multiple-input multiple-output quadrotor model under external bounded disturbances and parametrical uncertainties influence. Results and achieved performance are verified via representative computer simulation results.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"20 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132643658","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
A Multipole Expansion Method for PDE Constrained Problems PDE约束问题的多极展开法
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837174
R. Zivanovic
{"title":"A Multipole Expansion Method for PDE Constrained Problems","authors":"R. Zivanovic","doi":"10.1109/MED54222.2022.9837174","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837174","url":null,"abstract":"It is crucial to choose the appropriate numerical method for treating partial differential equations in shape optimization and control problems. This paper introduces a meshless approach derived from the well-known charge simulation method. Instead of a large number of heuristically located monopoles (i.e. charges or sources), the proposed technique relies on more rigorously located poles with multiplicity. A well-conditioned method is devised by applying basis orthogonalization in this multipole expansion. The basis size is determined by a recursive process of orthogonalization in order to achieve the desired accuracy as shown in the numerical examples.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133257730","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
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