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2017 13th IEEE International Conference on Control & Automation (ICCA)最新文献

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Sliding mode-based fault tolerant control designs for quadrotor UAVs-A comparative study 基于滑模的四旋翼无人机容错控制设计——比较研究
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003051
Seema Mallavalli, A. Fekih
{"title":"Sliding mode-based fault tolerant control designs for quadrotor UAVs-A comparative study","authors":"Seema Mallavalli, A. Fekih","doi":"10.1109/ICCA.2017.8003051","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003051","url":null,"abstract":"This paper provides a comparative study of three Sliding Mode Control (SMC)-based fault tolerant controllers for trajectory tracking of a quadrotor UAV subject to actuator faults. Conventional SMC, Integral (ISMC) and Integral Terminal SMC (ITSMC) designs are designed and implemented to a quadrator UAV. The controllers' performance along with their respective robustness was assessed using various faulty conditions. Stability analysis was carried over using the Lyapunov approach. A thorough discussion of the controllers' respective performance in light of the obtained results was also performed and presented in the paper.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127074672","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: 13
A deep look at SMR performance via simulation approach 通过仿真方法深入了解SMR性能
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003147
Junpeng Niu, Jun Xu, Lihua Xie
{"title":"A deep look at SMR performance via simulation approach","authors":"Junpeng Niu, Jun Xu, Lihua Xie","doi":"10.1109/ICCA.2017.8003147","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003147","url":null,"abstract":"In Shingled Magnetic Recording (SMR) drives, sequential write, indirect address mapping and garbage collection (GC) are three main unique features. To plenarily utilize these properties, there are many new specific algorithms designed to improve the performance, e.g., batch write policies and active GC algorithms. To analyze those designs, a simulation model is developed to estimate the performance under different system parameters and workload properties. The simulation results thus provide plausible guidance of SMR drive design.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130043489","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
The three-dimensional shape control for a soft robot 软体机器人的三维形状控制
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003091
Jiawei Zhu, Hesheng Wang, Weidong Chen, Le Xie
{"title":"The three-dimensional shape control for a soft robot","authors":"Jiawei Zhu, Hesheng Wang, Weidong Chen, Le Xie","doi":"10.1109/ICCA.2017.8003091","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003091","url":null,"abstract":"A three-dimensional shape control algorithm for soft robot is proposed. Considering the characteristics of the soft robot with infinite degrees of freedom, the traditional control method for rigid robot is not applicable. Besides, the shape of the soft robot generated by four driven ropes changing is three-dimensional, so a complete description of the soft robot shape parameters is presented. The relation between soft robot shape parameters and driving cables length is deduced. Based on this expression, a shape control algorithm is designed and its stability is proved applying Lyapunov method. The simulation and verification experimental results indicate the stability and reliability of the proposed algorithm.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130761108","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
New criterion and algorithm for fault tolerant control over frequency region in presence of additive faults and disturbances 针对存在加性故障和干扰的频率域容错控制提出了新的准则和算法
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003055
J. Stefanovski
{"title":"New criterion and algorithm for fault tolerant control over frequency region in presence of additive faults and disturbances","authors":"J. Stefanovski","doi":"10.1109/ICCA.2017.8003055","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003055","url":null,"abstract":"We formulate a new criterion over a frequency region for fault tolerant control, as a mathematical problem. We present all solutions to this problem, and apply them to find a passive fault tolerant controller with a sufficient level of disturbance attenuation, to a class of systems which satisfy certain assumptions. An example is given, to illustrate the feasibility of our two-step control design algorithm.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128774540","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
Flight routing and scheduling with departure uncertainties in air traffic flow management 空中交通流管理中具有出发不确定性的飞行路线与调度
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003077
G. Sandamali, R. Su, Yicheng Zhang, Qing Li
{"title":"Flight routing and scheduling with departure uncertainties in air traffic flow management","authors":"G. Sandamali, R. Su, Yicheng Zhang, Qing Li","doi":"10.1109/ICCA.2017.8003077","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003077","url":null,"abstract":"Uncertainty takes different forms in air transportation systems. One form is demand uncertainty which is mainly due to the root cause of aircraft departing in deviated time slots. This can lead to severe consequences, including capacity violation in air routes. The current Air Traffic Flow Management (ATFM) literature does not consider demand uncertainty in flight scheduling. However, in reality, most of the flights do not take off at the designated time slots, thus can lead to an unexpected number of aircraft to appear in some links. This creates several difficulties in air transportation systems, including higher workloads for air traffic controllers and higher delays and travel costs. In this study, we propose a novel flight routing and scheduling scheme while considering the demand uncertainty present in the system. Our objective is to route and schedule flights to minimize the overall network delay while satisfying all link capacity constraints even under demand uncertainty. To this end, when estimating the flight parameters such as location and time, we consider a range of values that the flight can take due to its departure uncertainty rather than a discrete single value. The problem is formulated as a Mixed Integer Quadratic Programming (MIQP) problem. With the help of simulation, we show that the proposed approach helps to eliminate the capacity violation completely from the system while ensuring a low amount of overall flight delay.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121521676","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: 9
Escape-avoid games with multiple defenders along a fixed circular orbit 逃脱-避免游戏与多个防御者沿着一个固定的圆形轨道
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003190
Rui Yan, Z. Shi, Yisheng Zhong
{"title":"Escape-avoid games with multiple defenders along a fixed circular orbit","authors":"Rui Yan, Z. Shi, Yisheng Zhong","doi":"10.1109/ICCA.2017.8003190","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003190","url":null,"abstract":"In this paper, we address a particular multiplayer pursuit-evasion game, called as escape-avoid games, in which a number of defenders moving along a fixed circular orbit (FCO) in an evenly distributed formation are attempting to capture a single evader who strives to escape from the encirclement of the defenders. The analysis of this game plays an important role in aircraft control, motion planning and other applications involving cooperative and adversarial agents. Firstly, for the game of degree, the conditions under which the evader or defenders can win the game are discussed, and thus a barrier is constructed analytically such that the relative space is separated into two parts associated with each player's wining region. Secondly, the number of defenders which can guarantee the existence of successful capture is given. Finally, we fuse the game of kind and degree by taking the minimum terminal included angle as a payoff function, and the optimal control strategies for the players are also presented.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125180945","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: 16
Single-channel speech separation based on robust sparse Bayesian learning 基于鲁棒稀疏贝叶斯学习的单通道语音分离
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003044
Zhe Wang, G. Bi, Xiumei Li
{"title":"Single-channel speech separation based on robust sparse Bayesian learning","authors":"Zhe Wang, G. Bi, Xiumei Li","doi":"10.1109/ICCA.2017.8003044","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003044","url":null,"abstract":"This paper describes a novel algorithm to improve the performance of sparsity based single-channel speech separation(SCSS) problem based on compressed sensing which is an emerging technique for efficient data reconstruction. The conventional approach assumes the mixing conditions and source signals are stationary. For practical applications of audio source separation, however, we face the challenges of non-stationary mixing conditions due to the variation of sources or moving speakers. The proposed algorithm deals with this non-stationary situation in SCSS where the speech signals is recovered based on an auto-calibration sparse Bayesian learning algorithm. Numerical experiments including the performance comparison with other sparse representation approach are provided to show the achieved performance improvement.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122999796","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
Event-triggered robust H∞ state estimation for T-S fuzzy systems via piecewise Lyapunov functions 基于分段Lyapunov函数的T-S模糊系统事件触发鲁棒H∞状态估计
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003121
Changzhu Zhang, Jinfei Hu
{"title":"Event-triggered robust H∞ state estimation for T-S fuzzy systems via piecewise Lyapunov functions","authors":"Changzhu Zhang, Jinfei Hu","doi":"10.1109/ICCA.2017.8003121","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003121","url":null,"abstract":"This paper is concerned with the design of H∞ event-triggered state estimation for discrete-time T-S fuzzy systems. With the event triggering communication strategy, only the measured outputs of the physical plant that violate a predefined triggering condition will be transmitted in the communication channel. Considering that the implementation of the filter may not be synchronized with the plant trajectories due to the asynchronous premise variables in network environment, a novel observer-based piecewise fuzzy filter is proposed. By applying a piecewise Lyapunov-Krasovskii functional and some techniques on matrix convexification, a method of event-triggered H∞ piecewise filter design is developed for the filtering error system concerned to be asymptotically stable with a given disturbance attenuation level and reduced transmission rate. Moreover, a co-design algorithm to derive the filter gains and the event triggering parameters is proposed.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"37 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131224092","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
Cooperative adaptive flow estimation for spherical formation tracking control with directed communication 有向通信球形编队跟踪控制的协同自适应流量估计
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003115
Yangyang Chen, Xiang Ai, Yu-Ping Tian, Ya Zhang
{"title":"Cooperative adaptive flow estimation for spherical formation tracking control with directed communication","authors":"Yangyang Chen, Xiang Ai, Yu-Ping Tian, Ya Zhang","doi":"10.1109/ICCA.2017.8003115","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003115","url":null,"abstract":"This article considers the robust cooperative control problem of multiple double-integrator agents' formation moving around a set of given curves on spheres, where each agent suffers an unknown spatiotemporal flowfield and the communication topology among agents is directed. The flow specification is composed of a general direction matrix and a responding unknown flow speed vector, which includes almost all forms of flowfield in the literature. A new second-order adaptive update law is given for estimating the flow speed vector by using the tool of adaptive backstepping, which is incorporated into our previous geometric extension design for the purpose of designing the robust spherical formation tracking control law. A potential function is used to avoid each agent's movement to the undefined angle on the points between the poles of sphere. The asymptotic stability of the system is proved when the directed communication topology is strongly connected. The effectiveness of the analytical results is verified by a numerical simulation.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133216898","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
Convergence analysis of leader-follower consensus Kalman filtering in sensor networks 传感器网络中leader-follower共识卡尔曼滤波的收敛性分析
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003192
Feifei Li, Ya Zhang, Yangyang Chen
{"title":"Convergence analysis of leader-follower consensus Kalman filtering in sensor networks","authors":"Feifei Li, Ya Zhang, Yangyang Chen","doi":"10.1109/ICCA.2017.8003192","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003192","url":null,"abstract":"This paper studies the consensus based Kalman filtering problem for discrete-time linear systems in sensor networks. Considering the fact that just part of sensors in the network can measure the target, the filtering algorithms of the sensors are assigned differently according to the availability to get the direct measurements. For the sensors that can directly get the measurement outputs, we call them leaders and apply Kalman filters directly; for other sensors which are called followers, weighted average strategy of neighbors' estimations is applied. The communication weights are designed on the basis of the sensors' path distances to the monitored target and one parameter. By analyzing the multiple linearly coupled discrete-time Riccati equations, sufficient parameter conditions of the convergence of the mean square estimation errors are explicitly proposed for both spanning tree and arbitrary topology, respectively. Numerical examples are given to illustrate our results.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131809073","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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