2022 American Control Conference (ACC)最新文献_第10页

Multi-Robot Collaboration with Heterogeneous Capabilities 具有异构能力的多机器人协作

2022 American Control Conference (ACC) Pub Date : 2022-06-08 DOI: 10.23919/ACC53348.2022.9867606

Yunhai Han, Nathan Boyd, Xinpei Ni, Ye Zhao

引用次数: 0

When Shall I Estimate Your Intent? Costs and Benefits of Intent Inference in Multi-Agent Interactions 我该何时估计你的意图?多智能体交互中意图推理的成本与收益

2022 American Control Conference (ACC) Pub Date : 2022-06-08 DOI: 10.23919/ACC53348.2022.9867155

Sunny Amatya, Mukesh Ghimire, Yi Ren, Zheng Xu, Wenlong Zhang

引用次数: 0

Stable Interaction of Autonomous Vehicle Platoons with Human-Driven Vehicles 自动驾驶车辆队列与人类驾驶车辆的稳定交互

2022 American Control Conference (ACC) Pub Date : 2022-06-08 DOI: 10.23919/ACC53348.2022.9867210

Mohammad Pirani, Yining She, Renzhi Tang, Zhihao Jiang, Y. Pant

{"title":"Stable Interaction of Autonomous Vehicle Platoons with Human-Driven Vehicles","authors":"Mohammad Pirani, Yining She, Renzhi Tang, Zhihao Jiang, Y. Pant","doi":"10.23919/ACC53348.2022.9867210","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867210","url":null,"abstract":"A necessary prerequisite for the safe interaction of autonomous systems with a human-driven vehicle is for the overall closed-loop system (autonomous systems plus human-driven vehicle) to be stable. This paper studies the safe and stable interaction between a platoon of autonomous vehicles and a set of human-driven vehicles. Considering the longitudinal motion of the vehicles in the platoon, the problem is to ensure a safe emergency braking by the autonomous platoon considering the actions of human-driven vehicles, which may vary based on the driver type. We consider two types of platoon topologies, namely unidirectional and bidirectional. Safe emergency braking is characterized by a specific type of platoon stability, called head-to-tail stability (HTS). We present system-theoretic necessary and sufficient conditions for the combination of the autonomous platoon and human-driven vehicles to be HTS for two platoon control laws, namely the velocity tracking and the platoon formation. Modeling the input-output behavior of each vehicle via a transfer function, the HTS conditions restrict the human-driven vehicles’ transfer functions to have H∞ norms below certain thresholds. A safe interaction algorithm first identifies the transfer functions of the human-driven vehicles. Then, it tunes the platoon control gains such that the overall system meets HTS conditions. Theoretical results are validated with both experimental data with human subject studies and simulation studies.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123338830","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

A learning observer approach for fouling detection and localization in direct contact membrane distillation systems 直接接触膜蒸馏系统污垢检测与定位的学习观测器方法

2022 American Control Conference (ACC) Pub Date : 2022-06-08 DOI: 10.23919/ACC53348.2022.9867436

Tania Camelia Touati, Yasmine Marani, Messaoud Chakir, T. Laleg‐Kirati

{"title":"A learning observer approach for fouling detection and localization in direct contact membrane distillation systems","authors":"Tania Camelia Touati, Yasmine Marani, Messaoud Chakir, T. Laleg‐Kirati","doi":"10.23919/ACC53348.2022.9867436","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867436","url":null,"abstract":"As the need for freshwater is continuously growing, seawater desalination technologies are increasingly used to meet these demands. The high solutes’ rejection factor and the low energy consumption of Membrane Distillation (MD) technologies make them high potential desalination techniques. However, they suffer from membrane fouling which deteriorates the system’s performance and causes high maintenance costs. This paper presents a novel approach based on a learning observer for detecting and localizing fouling in Direct Contact Membrane Distillation (DCMD) systems which allows to significantly decrease the maintenance costs. This approach has the advantage of being flexible and computationally inexpensive. Before the architecture and the design steps of the proposed observer are presented, the DCMD module layout in the fault free scheme and in presence of fouling is explained. To illustrate the effectiveness of the proposed fouling monitoring approach, several tests were simulated and two scenarios were considered: homogeneous and non-homogeneous fouling evolution along the membrane. The various simulations demonstrated very encouraging results in both fouling estimation and localization.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126409456","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

Primal-Dual Distributed Control of Residential Thermal Loads for Voltage Regulation of Distribution Systems with High PV Penetration 高光伏渗透率配电系统电压调节中住宅热负荷的原-对偶分布控制

2022 American Control Conference (ACC) Pub Date : 2022-06-08 DOI: 10.23919/ACC53348.2022.9867660

Jie Cai, Zhiming Jiang

引用次数: 0

A Linear Programming Approach to the Minimum Cost Sparsest Input Selection for Structured Systems 结构化系统最小代价稀疏输入选择的线性规划方法

2022 American Control Conference (ACC) Pub Date : 2022-06-08 DOI: 10.23919/ACC53348.2022.9867459

Yuan Zhang, Yuanqing Xia, Yufeng Zhan

{"title":"A Linear Programming Approach to the Minimum Cost Sparsest Input Selection for Structured Systems","authors":"Yuan Zhang, Yuanqing Xia, Yufeng Zhan","doi":"10.23919/ACC53348.2022.9867459","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867459","url":null,"abstract":"In this paper, we consider three related cost-sparsity induced optimal input selection problems for structural controllability using a unifying linear programming (LP) framework. More precisely, given an autonomous system and a constrained input configuration where whether an input can directly actuate a state variable, as well as the corresponding (possibly different) cost, is prescribed, the problems are, respectively, selecting the minimum number of input links, selecting the minimum cost of input links, and selecting the input links with the cost as small as possible while their cardinality is not exceeding a prescribed number, all to ensure structural controllability of the resulting systems. Current studies show that in the dedicated input case (i.e., each input can actuate only a state variable), the first and second problems are polynomially solvable by some graphtheoretic algorithms, while the general nontrivial constrained case is largely unexploited. In this paper, we formulate these problems as equivalent integer linear programming (ILP) problems. Under a weaker constraint on the prescribed input configurations than most of the currently known ones with which the first two problems are reportedly polynomially solvable, we show these ILPs can be solved by simply removing the integer constraints and solving the corresponding LP relaxations, thus providing a unifying algebraic method, rather than graph-theoretic, for these problems with polynomial time complexity. The key to our approach is the observation that the respective constraint matrices of the ILPs are totally unimodular.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126512890","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

Constructive finite-dimensional observer-based boundary control of stochastic parabolic PDEs 随机抛物型偏微分方程的构造有限维观测器边界控制

2022 American Control Conference (ACC) Pub Date : 2022-06-08 DOI: 10.23919/ACC53348.2022.9867400

Pengfei Wang, R. Katz, E. Fridman

引用次数: 3

Distribution of Real and Imaginary Zeros of Multi-DoF Undamped Flexible Systems 多自由度无阻尼柔性系统的实零和虚零分布

2022 American Control Conference (ACC) Pub Date : 2022-06-08 DOI: 10.23919/ACC53348.2022.9867251

S. Rath, A. Maheshwari, S. Awtar

{"title":"Distribution of Real and Imaginary Zeros of Multi-DoF Undamped Flexible Systems","authors":"S. Rath, A. Maheshwari, S. Awtar","doi":"10.23919/ACC53348.2022.9867251","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867251","url":null,"abstract":"This paper investigates the distribution of zeros with respect to the poles on the imaginary and real axes of the s-plane in the transfer function of a multi-DoF undamped flexible LTI system. The transfer function of a multi-DoF undamped flexible LTI system can be modally decomposed i.e. expressed as the sum of second order modes where each mode is characterized by two system parameters – modal residue and modal frequency. It is well known that when all the modal residue signs are the same, all the zeros of the multi-DoF undamped flexible LTI system are minimum phase (MP). However, the same sign for all modal residues is a sufficient condition for the elimination of non-minimum phase (NMP) zeros and not a necessary one. In order to find sufficient conditions for the elimination of NMP zeros when all modal residue signs are not the same, specific results are needed that explain the distribution of zeros with respect to the poles in the s-plane. Therefore, in this paper results are provided that elucidate the distribution of zeros with respect to the poles on the real and imaginary axes of the s-plane for any combination of modal residue signs. The real and imaginary axes are divided into four segments based on the location of the poles and the parity of the number of zeros (i.e. even or odd) in each segment is derived as a function of the system parameters. The results in this paper provide the necessary and sufficient condition for the occurrence of pole-zero flipping on the imaginary axis which is known to be detrimental to the closed-loop dynamic performance of undamped flexible LTI systems. The results from this paper will also enable the derivation of a sufficient condition for the elimination of NMP zeros in multi-DoF undamped flexible LTI systems.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"281 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122947118","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

Fixed-Time Dynamical System Approach for Solving Time-Varying Convex Optimization Problems 求解时变凸优化问题的定时动力系统方法

2022 American Control Conference (ACC) Pub Date : 2022-06-08 DOI: 10.23919/ACC53348.2022.9867287

Rejitha Raveendran, A. Mahindrakar, U. Vaidya

引用次数: 0

Adaptive NN-Based Boundary Control for Output Tracking of A Wave Equation with Matched and Unmatched Boundary Uncertainties 边界不确定匹配与不匹配波动方程输出跟踪的自适应神经网络边界控制

2022 American Control Conference (ACC) Pub Date : 2022-06-08 DOI: 10.23919/ACC53348.2022.9867897

Jingting Zhang, P. Stegagno, Weizhen Zeng, C. Yuan

{"title":"Adaptive NN-Based Boundary Control for Output Tracking of A Wave Equation with Matched and Unmatched Boundary Uncertainties","authors":"Jingting Zhang, P. Stegagno, Weizhen Zeng, C. Yuan","doi":"10.23919/ACC53348.2022.9867897","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867897","url":null,"abstract":"This paper is focused on the output tracking control problem of a wave equation with both matched and unmatched boundary uncertainties. An adaptive boundary feedback control scheme is proposed by utilizing radial basis function neural networks (RBF NNs) to deal with the effect of system uncertainties. Specifically, two RBF NN models are first developed to approximate the matched and unmatched system uncertain dynamics respectively. Based on this, an adaptive NN control scheme is derived, which consists of: (i) an adaptive boundary feedback controller embedded by the NN model approximating the matched uncertainty, for rendering stable and accurate tracking control; and (ii) a reference model embedded by the NN model approximating the unmatched uncertainty, for generating a prescribed reference trajectory. Rigorous analysis is performed using the Lyapunov theory and the C0-semigroup theory to prove that our proposed control scheme can guarantee closed-loop stability and well-posedness. Simulation study has been conducted to demonstrate effectiveness of the proposed approach.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126283374","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