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Rotation-matrix-based attitude control without angular velocity measurements 无角速度测量的基于旋转矩阵的姿态控制
2014 American Control Conference Pub Date : 2014-07-21 DOI: 10.1109/ACC.2014.6858779
D. E. Zlotnik, J. Forbes
{"title":"Rotation-matrix-based attitude control without angular velocity measurements","authors":"D. E. Zlotnik, J. Forbes","doi":"10.1109/ACC.2014.6858779","DOIUrl":"https://doi.org/10.1109/ACC.2014.6858779","url":null,"abstract":"Rigid-body attitude control without angular velocity measurements is considered. The error rotation matrix describing the attitude error is used directly within the control algorithm. A controller composed of a proportional control term and an angular velocity control term is first considered. The proportional control term is a function of the error rotation matrix, while the angular velocity control term is realized by a strictly positive real system. Asymptotic stability of a desired closed-loop equilibrium point is shown, and a derivative free implementation of the controller is identified for use when angular velocity measurements are not available. Numerical simulation results demonstrate successful set-point regulation and noise mitigation.","PeriodicalId":369729,"journal":{"name":"2014 American Control Conference","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124788746","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
Gain-scheduling control of electromagnetic regenerative shock absorbers for energy harvesting by road unevenness 基于路面不平整度的电磁再生式减振器增益调度控制
2014 American Control Conference Pub Date : 2014-07-21 DOI: 10.1109/ACC.2014.6858638
A. Casavola, Fabio Di Iorio, Francesco Saverio Tedesco
{"title":"Gain-scheduling control of electromagnetic regenerative shock absorbers for energy harvesting by road unevenness","authors":"A. Casavola, Fabio Di Iorio, Francesco Saverio Tedesco","doi":"10.1109/ACC.2014.6858638","DOIUrl":"https://doi.org/10.1109/ACC.2014.6858638","url":null,"abstract":"A gain-scheduling control strategy is proposed for the active control of electromagnetic regenerative shock absorbers to be used in terrestrial vehicles for harvesting that mechanical energy induced by road unevenness that is usually dissipated in heat in standard shock absorbers. This paper extends recent results achieved by the authors on robust control design methods for this problem providing here a calibratable gain-scheduling solution, whose main feature is that of having some of the scheduling parameters directly related to the energy harvesting specification and adjustable on-line.","PeriodicalId":369729,"journal":{"name":"2014 American Control Conference","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134266624","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
Parallel recursive Bayesian estimation on multicore computational platforms using orthogonal basis functions 基于正交基函数的多核计算平台并行递归贝叶斯估计
2014 American Control Conference Pub Date : 2014-07-21 DOI: 10.1109/ACC.2014.6858950
Olov Rosen, A. Medvedev
{"title":"Parallel recursive Bayesian estimation on multicore computational platforms using orthogonal basis functions","authors":"Olov Rosen, A. Medvedev","doi":"10.1109/ACC.2014.6858950","DOIUrl":"https://doi.org/10.1109/ACC.2014.6858950","url":null,"abstract":"A method solving the recursive Bayesian estimation problem by means of orthogonal series representations of the involved probability density functions is proposed. The coefficients of the expansion for the posterior density are recursively propagated in time via prediction and update equations. The method has two main benefits: it provides high estimation accuracy at a relatively low computational cost and is highly amenable to parallel implementation. The parallelization properties of the method are analyzed and evaluated on a shared memory multicore processor. Up to 8 cores are employed in the numerical experiments and linear speedup is achieved. An application to a bearings-only tracking problem demonstrates the low computational cost of the method by providing the same accuracy as the particle filter but with significantly less computations.","PeriodicalId":369729,"journal":{"name":"2014 American Control Conference","volume":"234 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116129928","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
Observer design for linear multi-rate sampled-data systems 线性多速率采样数据系统的观测器设计
2014 American Control Conference Pub Date : 2014-07-21 DOI: 10.1109/ACC.2014.6858838
Miad Moarref, L. Rodrigues
{"title":"Observer design for linear multi-rate sampled-data systems","authors":"Miad Moarref, L. Rodrigues","doi":"10.1109/ACC.2014.6858838","DOIUrl":"https://doi.org/10.1109/ACC.2014.6858838","url":null,"abstract":"This paper addresses observer design for linear systems with multi-rate sampled output measurements. The sensors are assumed to be asynchronous and to have uncertain nonuniform sampling intervals. The contributions of this paper are twofold. Given the maximum allowable sampling period (MASP) for each sensor, the main contribution of the paper is to propose sufficient Krasovskii-based conditions for design of linear observers. The designed observers guarantee exponential convergence of the estimation error to the origin. Most importantly, the sufficient conditions are cast as a set of linear matrix inequalities (LMIs) that can be solved efficiently. As a second contribution, given an observer gain, the problem of finding MASPs that guarantee exponential stability of the estimation error is also formulated as a convex optimization program in terms of LMIs. The theorems are applied to a unicycle path following example.","PeriodicalId":369729,"journal":{"name":"2014 American Control Conference","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126914240","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: 22
A numerical optimization approach to switching surface design for switching LPV control 切换LPV控制切换曲面设计的数值优化方法
2014 American Control Conference Pub Date : 2014-07-21 DOI: 10.1109/ACC.2014.6859427
M. Javadian, R. Nagamune
{"title":"A numerical optimization approach to switching surface design for switching LPV control","authors":"M. Javadian, R. Nagamune","doi":"10.1109/ACC.2014.6859427","DOIUrl":"https://doi.org/10.1109/ACC.2014.6859427","url":null,"abstract":"This paper proposes an algorithm to design switching surfaces for the switching linear parameter-varying (LPV) controller with hysteresis switching. The switching surfaces are sought for to optimize the bound of the closed-loop L2-gain performance. An optimization problem is formulated with respect to parameters characterizing Lyapunov matrix variables, local controller matrix variables, and locations of the switching surfaces. Since the problem turns out to be non-convex in terms of these characterizing parameters, a numerical algorithm is given to guarantee the decrease of the cost function value after each iteration. A hybrid method which combines the steepest descent method and Newton's method is employed in each iteration to decide the update direction of switching surface parameters. A simple numerical example is provided to demonstrate the validity of the proposed algorithm.","PeriodicalId":369729,"journal":{"name":"2014 American Control Conference","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134485208","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: 10
A path planning approach to compute the smallest robust forward invariant sets 一种计算最小鲁棒前向不变量集的路径规划方法
2014 American Control Conference Pub Date : 2014-07-21 DOI: 10.1109/ACC.2014.6859367
S. Mukhopadhyay, Fumin Zhang
{"title":"A path planning approach to compute the smallest robust forward invariant sets","authors":"S. Mukhopadhyay, Fumin Zhang","doi":"10.1109/ACC.2014.6859367","DOIUrl":"https://doi.org/10.1109/ACC.2014.6859367","url":null,"abstract":"Robustness of nonlinear systems can be analyzed by computing robust forward invariant sets (RFIS). The smallest RFIS provides the least conservative estimate of system performance under perturbations. However, computation of the smallest RFIS through brute force search can be a difficult task. We develop a novel algorithm to find the smallest RFIS for two-dimensional systems subjected to bounded additive perturbations. The algorithm leverages path planning algorithms to produce an approximation of the boundary of the smallest RFIS. The algorithm is mathematically justified, and simulation results are provided showing that the proposed algorithm can be used to find an RFIS that is very close to the smallest RFIS. The amount of computation is effectively reduced. Hence the algorithm may be generalized to higher dimensional systems with generic perturbations.","PeriodicalId":369729,"journal":{"name":"2014 American Control Conference","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128727992","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: 6
Information space sensor tasking for Space Situational Awareness 用于空间态势感知的信息空间传感器任务
2014 American Control Conference Pub Date : 2014-07-21 DOI: 10.1109/ACC.2014.6858922
Zachary Sunberg, S. Chakravorty, R. Erwin
{"title":"Information space sensor tasking for Space Situational Awareness","authors":"Zachary Sunberg, S. Chakravorty, R. Erwin","doi":"10.1109/ACC.2014.6858922","DOIUrl":"https://doi.org/10.1109/ACC.2014.6858922","url":null,"abstract":"In this paper, we apply a receding horizon control approach to the sensor tasking aspect of a simplified version of the Space Situational Awareness (SSA) problem: “Given a small number of sensors and a large number of satellites, how should the sensors be used to maximize the information gained about the states of the satellites” Finding the globally optimal solution to this partially observed Markov decision process is computationally intractable. However, by using a stochastic gradient ascent algorithm proposed in previous work to improve an open-loop control policy over a shortened horizon, large performance improvements can be made over a baseline myopic tasking policy in a computationally tractable manner. The structure of this approach also allows for a distributed implementation in which each sensor acts as an agent that is semi-independent from the others.","PeriodicalId":369729,"journal":{"name":"2014 American Control Conference","volume":"51 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131859210","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: 7
Asymptotic mean ergodicity of average consensus estimators 平均一致估计量的渐近平均遍历性
2014 American Control Conference Pub Date : 2014-07-21 DOI: 10.1109/ACC.2014.6859059
Bryan Van Scoy, R. Freeman, K. Lynch
{"title":"Asymptotic mean ergodicity of average consensus estimators","authors":"Bryan Van Scoy, R. Freeman, K. Lynch","doi":"10.1109/ACC.2014.6859059","DOIUrl":"https://doi.org/10.1109/ACC.2014.6859059","url":null,"abstract":"Dynamic average consensus estimators suitable for the decentralized computation of global averages of constant or slowly-varying local inputs include the proportional (P) and proportional-integral (PI) estimators. We analyze the convergence properties of these estimators when run on i.i.d. random graphs which are connected and balanced on average, but need not be connected or balanced at each time step. The statistics of the steady-state process are found using the Kronecker product covariance and an ergodic theorem is used to determine whether the steady-state process is mean ergodic. We show that for constant inputs the P estimator is asymptotically mean ergodic only for systems with non-zero forgetting factor which do not have zero steady-state error on average. The PI estimator has both the asymptotic mean ergodicity property and zero steady-state error in expectation for constant inputs independent of initial conditions, proving that the time-averaged output of each agent robustly converges to the correct average.","PeriodicalId":369729,"journal":{"name":"2014 American Control Conference","volume":"905 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132563822","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: 6
Distributed computation of classic and exponential closeness on tree graphs 树图上经典和指数接近度的分布式计算
2014 American Control Conference Pub Date : 2014-07-21 DOI: 10.1109/ACC.2014.6858727
Wei Wang, Choon Yik Tang
{"title":"Distributed computation of classic and exponential closeness on tree graphs","authors":"Wei Wang, Choon Yik Tang","doi":"10.1109/ACC.2014.6858727","DOIUrl":"https://doi.org/10.1109/ACC.2014.6858727","url":null,"abstract":"Closeness centrality is a basic centrality measure that characterizes how centrally located a node is, within a network, based on its distances to all other nodes. In this paper, we address the distributed computation of two variants of this measure, known as classic closeness and exponential closeness, which differ in how the distances are taken into account. For each variant, we construct continuous- and discrete-time distributed algorithms, with which nodes in an undirected and unweighted tree graph can cooperatively determine their own closeness by talking only to neighbors, executing simple homogeneous update rules, and consuming minimal physical memories. We show that each algorithm is a networked dynamical system whose affine state equation has a unique equilibrium point that is always exponentially or finite-time stable, and whose output equation at the equilibrium point always yields the unknown closeness, thereby solving the problem.","PeriodicalId":369729,"journal":{"name":"2014 American Control Conference","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129043733","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: 17
Power management of cooling systems with dynamic pricing 具有动态定价的冷却系统电源管理
2014 American Control Conference Pub Date : 2014-07-21 DOI: 10.1109/ACC.2014.6859512
Saghar Hosseini, R. Dai, M. Mesbahi
{"title":"Power management of cooling systems with dynamic pricing","authors":"Saghar Hosseini, R. Dai, M. Mesbahi","doi":"10.1109/ACC.2014.6859512","DOIUrl":"https://doi.org/10.1109/ACC.2014.6859512","url":null,"abstract":"This paper addresses the optimal power management problems in electric cooling systems based on appropriately constructed thermal dynamic models and cost profiles. In this venue, the dynamics and logical constraints for the cooling load are first formulated as mixed-integer linear programming models. We subsequently apply an online learning algorithm to adjust the weighting factor for customers' satisfaction level considering the fluctuating prices and customers' preferences. The proposed approach is expected to save the user's electricity cost by adequately scheduling the operations of the cooling load without an adverse effect on the entire system. The effectiveness of the proposed temperature control and trade-off between electricity cost and customers' satisfaction level is demonstrated via a simulation scenario.","PeriodicalId":369729,"journal":{"name":"2014 American Control Conference","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115021546","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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