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

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Integrated adaptive velocity and semi-active suspension control for different road profiles 集成自适应速度和半主动悬架控制不同的道路轮廓
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837262
Hakan Basargan, András Mihály, P. Gáspár, O. Sename
{"title":"Integrated adaptive velocity and semi-active suspension control for different road profiles","authors":"Hakan Basargan, András Mihály, P. Gáspár, O. Sename","doi":"10.1109/MED54222.2022.9837262","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837262","url":null,"abstract":"This study represents the integrated comfort-oriented velocity design, tracking control, and adaptive semi-active suspension control method. The velocity design approach is based on the ISO 2631-1 standard, while the proposed velocity tracking control method is based on the LPV control architecture. A road adaptive semi-active suspension control method, where a trade-off between vehicle stability and driving comfort is accomplishable to achieve desirable performance results at different road profiles and velocities. The trade-off is accomplishable due to flexibility and online reconfigurability of the LPV control method by online modification of scheduling variables. The design is based on the performance index, road profile, and the designed velocity of the velocity. The velocity designer, velocity tracking controller, and adaptive suspension controller have been integrated and simulated in the TruckSim environment to show the operation of the proposed method.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"92 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":"134471033","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
Optimization-based attack against control systems with CUSUM-based anomaly detection 利用基于cusum的异常检测对控制系统进行基于优化的攻击
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837192
Gabriele Gualandi, M. Maggio, A. Papadopoulos
{"title":"Optimization-based attack against control systems with CUSUM-based anomaly detection","authors":"Gabriele Gualandi, M. Maggio, A. Papadopoulos","doi":"10.1109/MED54222.2022.9837192","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837192","url":null,"abstract":"Security attacks on sensor data can deceive a control system and force the physical plant to reach an unwanted and potentially dangerous state. Therefore, attack detection mechanisms are employed in cyber-physical control systems to detect ongoing attacks, the most prominent one being a threshold-based anomaly detection method called CUSUM. Literature defines the maximum impact of stealth attacks as the maximum deviation in the plant’s state that an undetectable attack can introduce, and formulates it as an optimization problem. This paper proposes an optimization-based attack with different saturation models, and it investigates how the attack duration significantly affects the impact of the attack on the state of the plant. We show that more dangerous attacks can be discovered when allowing saturation of the control system actuators. The proposed approach is compared with the geometric attack, showing how longer attack durations can lead to a greater impact of the attack while keeping the attack stealthy.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"214 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":"121237918","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
Fixed Time Stability of Discrete Autonomous Systems 离散自治系统的定时稳定性
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837152
Junsoo Lee, W. Haddad
{"title":"Fixed Time Stability of Discrete Autonomous Systems","authors":"Junsoo Lee, W. Haddad","doi":"10.1109/MED54222.2022.9837152","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837152","url":null,"abstract":"Unlike finite time stability, wherein the upper bound of the settling-time function capturing the finite settling time behavior of the dynamical system depends on the system initial conditions, fixed time stability involves finite time stable systems for which the minimum bound of the settling-time function is guaranteed to be independent of the system initial conditions and can a priori be adjusted. In this paper, we develop several fixed time stability results for discrete autonomous systems including a fixed-time Lyapunov theorem that involves a Lyapunov difference that satisfies an exponential inequality of the Lyapunov function giving rise to a minimum bound on the settling-time function characterized by the principal and secondary branches of the Lambert W function.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"1 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":"128404307","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
Robust finite-frequency H∞ model reduction for uncertain 2D discrete systems 不确定二维离散系统的鲁棒有限频率H∞模型约简
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837190
A. El‐Amrani, A. Hajjaji, J. Bosche, A. Aitouche
{"title":"Robust finite-frequency H∞ model reduction for uncertain 2D discrete systems","authors":"A. El‐Amrani, A. Hajjaji, J. Bosche, A. Aitouche","doi":"10.1109/MED54222.2022.9837190","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837190","url":null,"abstract":"In this work, robustness and convergence properties of model reduction are investigated for discrete two-dimensional (2D) systems in the Fornasini-Marchesini (F-M) model with polytopic uncertainties. The goal is to design a reduced order model minimizing H∞ performance in a known finite-frequency (FF) area of the noises able to reproduce the behavior of the uncertain 2D original system. Using Lyapunov function and generalized Kalman Yakubovich Popov (gKYP) lemma, sufficient conditions for the existence of the FF reduced order design approach are formulated as feasibility of a set of Linear Matrix Inequalities (LMIs). Numerical simulations are given to illustrate the validity and feasibility of the designed reduced-order model.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"42 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":"115870976","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
Modeling and Control of a Telescopic Quadrotor Using Disturbance Observer Based Control 基于扰动观测器的伸缩四旋翼飞行器建模与控制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837197
A. Baldini, R. Felicetti, A. Freddi, S. Longhi, A. Monteriù
{"title":"Modeling and Control of a Telescopic Quadrotor Using Disturbance Observer Based Control","authors":"A. Baldini, R. Felicetti, A. Freddi, S. Longhi, A. Monteriù","doi":"10.1109/MED54222.2022.9837197","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837197","url":null,"abstract":"Morphing multirotors are characterized by the capability to modify their shape during the flight, in order to negotiate narrow gaps without the need for miniaturization, thus preserving flight time and payload. In this paper, we propose a mathematical model for a morphing quadrotor characterized by telescopic arms: as extendable arms move, the center of mass position changes, as well as the inertia of the vehicle. Then, we address the tracking control problem of the telescopic quadrotor under external additive disturbances (e.g., wind), following the disturbance observer based control approach. The control scheme consists in an inner/outer loop structure, where both loops interact with a nonlinear disturbance observer. Closed loop performances are analyzed and the control scheme is validated through a realistic numerical simulation.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"12 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":"116306070","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
Communication topologies evaluation for a vehicle merging into a platoon on highway 高速公路上车辆并队的通信拓扑评价
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837195
Ovidiu Pauca, A. Maxim, C. Caruntu
{"title":"Communication topologies evaluation for a vehicle merging into a platoon on highway","authors":"Ovidiu Pauca, A. Maxim, C. Caruntu","doi":"10.1109/MED54222.2022.9837195","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837195","url":null,"abstract":"Vehicle-to-vehicle communication represents the main capability of vehicles that stays at the base of cooperative control solutions. Vehicle groups, e.g., platoons, exchange information about velocities to improve the performances of the traffic (i.e., reducing fuel consumption/emissions, improving the quality of the travel). Due to the importance of communication in literature, manifold types of communication topologies were proposed for various scenarios. In this paper, a study of the performances of the communication topologies is performed, starting from a cooperative adaptive cruise control (CACC) algorithm used to control the vehicles from a platoon in a specific scenario, four communication topologies were tested, and numerical analysis was performed to point out the advantages of each topology.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"8 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":"115261408","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
Three-Dimensional Impact-Angle Control with Biased Proportional Navigation 带有偏置比例导航的三维冲击角控制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837204
K. S. Erer, Raziye Tekin
{"title":"Three-Dimensional Impact-Angle Control with Biased Proportional Navigation","authors":"K. S. Erer, Raziye Tekin","doi":"10.1109/MED54222.2022.9837204","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837204","url":null,"abstract":"An impact-angle guidance law for three-dimensional engagements is presented in this paper. The guidance law is derived without linearization, takes the cross-coupling effects into account, and does not require the time-to-go information. The approach is based on plane pursuit, which aims to bring the velocity vector of the missile into a rotating impact plane, and biased proportional navigation, in which the bias is applied only over the initial part of the engagement. The proposed guidance law is in stand-alone vector form and straightforward to implement. The performance is demonstrated with simulation runs.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"37 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":"114151316","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
EMG Onset and Offset Detection via a Modified Threshold Crossings Algorithm 基于改进阈值交叉算法的肌电信号起始和偏移检测
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837229
Vasiliki Theofili Nikolaidi, G. Andrikopoulos, Dimitris Tsipianitis, Dimosthenis Kazakos
{"title":"EMG Onset and Offset Detection via a Modified Threshold Crossings Algorithm","authors":"Vasiliki Theofili Nikolaidi, G. Andrikopoulos, Dimitris Tsipianitis, Dimosthenis Kazakos","doi":"10.1109/MED54222.2022.9837229","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837229","url":null,"abstract":"In this study, we propose a novel family of onset and offset detection algorithms for electromyographic (EMG) signals, based on the Teager-Kaiser Energy Operator (TKEO). These algorithms are derived from an existing double-threshold statistical detector, which is modified to use Shifted Skew Log Laplace Distribution (SSLLD) probabilities and likelihoods to take advantage of the improved TKEO SNR ratio. The performance of the proposed algorithms are compared against existing approaches on synthetic EMG signals generated using an heteroscedastic autoregressive Gaussian model.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"12 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":"115228341","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
Handling Vision Noise Through Robot Motion Control in a Real-Time Teleoperation System 实时遥操作系统中机器人运动控制处理视觉噪声
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837150
Athanasios C. Tsitos, M. Dagioglou
{"title":"Handling Vision Noise Through Robot Motion Control in a Real-Time Teleoperation System","authors":"Athanasios C. Tsitos, M. Dagioglou","doi":"10.1109/MED54222.2022.9837150","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837150","url":null,"abstract":"Teleoperation allows robots to perform complex actions in tasks and environments where robot cognition and motion capabilities cannot support autonomy or where cooperation with humans is necessary. In this work, we present a teleoperation system for controlling the motion of a non-anthropomorphic robot arm through a natural user interface that tracks human movements through a single RGB-D visual sensor. A proportional-derivative (PD) controller is formulated to regulate robot end-effector commanded accelerations and to deal with the noisy and low-frequency human information. The system is integrated in the robot operating system (ROS) and a Universal Robots UR3 cobot is used for the evaluation. The results show that the PD controller achieves a superior performance in terms of both tracking accuracy and robot motion smoothness compared to using a proportional controller which regulates the commanded velocities. Furthermore, the same gains of the PD controller can be used to handle a wider range of human speeds. Finally, we provide real-time demonstrations of the system and the ROS pipeline.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"46 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":"116204125","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
Multi-block ADMM Approach for Decentralized Demand Response of Energy Communities with Flexible Loads and Shared Energy Storage System 具有柔性负荷和共享储能系统的能源社区分散需求响应的多块ADMM方法
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837173
Seyed Mohsen Hosseini, Raffaele Carli, J. Jantzen, M. Dotoli
{"title":"Multi-block ADMM Approach for Decentralized Demand Response of Energy Communities with Flexible Loads and Shared Energy Storage System","authors":"Seyed Mohsen Hosseini, Raffaele Carli, J. Jantzen, M. Dotoli","doi":"10.1109/MED54222.2022.9837173","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837173","url":null,"abstract":"This paper proposes a novel decentralized energy scheduling framework for demand response of energy communities in the case of limited overall capacity of distribution networks. A combined energy scheduling of heating, ventilation, and air conditioning systems and a community energy storage system (CESS) for multiple smart residential users is presented. The proposed approach aims at minimizing the total expected energy costs while ensuring the occupants’ thermal comfort. The optimization problem is first formulated as a mixed-integer linear programming problem, which is converted into a linear programming problem using a tractable approximation method based on a non-complementary charging/discharging strategy of the CESS. The decentralized resolution process is based on multi-block proximal Jacobian alternating direction method of multipliers, ensuring efficient computation and protecting users’ privacy. We assess the effectiveness of the proposed approach through numerical experiments on a realistic case study.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"19 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":"126908234","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
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