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2021 SICE International Symposium on Control Systems (SICE ISCS)最新文献

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A GPS Measurement-Based Map Conversion Scheme for Railway Synchronization Control under Moving Block Signalling 一种基于GPS测量的动块信号下铁路同步控制地图转换方案
2021 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2021-03-02 DOI: 10.23919/SICEISCS51787.2021.9495324
T. Tamba, Y. Y. Nazaruddin, M. B. Waluya, I. Faruqi
{"title":"A GPS Measurement-Based Map Conversion Scheme for Railway Synchronization Control under Moving Block Signalling","authors":"T. Tamba, Y. Y. Nazaruddin, M. B. Waluya, I. Faruqi","doi":"10.23919/SICEISCS51787.2021.9495324","DOIUrl":"https://doi.org/10.23919/SICEISCS51787.2021.9495324","url":null,"abstract":"For railway signalling and control tasks, Takagi’s synchronization control approach [1] can be used to shorten the headway between adjacent trains which operate under the moving block signalling system. However, such a control approach assumes that each train runs on a single straight track line and therefore cannot be used directly to the existing railway configurations which in practice have turning and crossing points. This paper proposes a solution to this practical implementation issue by combining a measurement-based map conversion algorithm to Takagi’s synchronization control scheme. The proposed algorithm essentially converts a two-dimensional measurement data set from a GPS into a single straight track line position as required by the train detection system in Takagi’s synchronization control approach. Experimental results from the implementation of the proposed approach are presented.","PeriodicalId":395250,"journal":{"name":"2021 SICE International Symposium on Control Systems (SICE ISCS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128569226","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
Safe Control with Control Barrier Function for Euler-Lagrange Systems Facing Position Constraint 面向位置约束的Euler-Lagrange系统的控制屏障函数安全控制
2021 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2021-03-02 DOI: 10.23919/SICEISCS51787.2021.9495318
Aditya Wildan Farras, T. Hatanaka
{"title":"Safe Control with Control Barrier Function for Euler-Lagrange Systems Facing Position Constraint","authors":"Aditya Wildan Farras, T. Hatanaka","doi":"10.23919/SICEISCS51787.2021.9495318","DOIUrl":"https://doi.org/10.23919/SICEISCS51787.2021.9495318","url":null,"abstract":"This paper provides a control barrier function (CBF)-based control for general Euler-Lagrange (EL) systems to ensure safety. The objective is to guarantee the forward invariance of the safe set. In the presence of constraints, directly applying the nominal control may make the system violate constraints. It could deteriorate the system stability and cause hardware failure in the worst case. To address this problem, we propose a control scheme and formulate the corresponding control barrier function. Furthermore, we present control of constrained 2-DOF manipulators as an example to show how to implement our proposed solution to EL systems. The effectiveness of the proposed solution is demonstrated through simulations.","PeriodicalId":395250,"journal":{"name":"2021 SICE International Symposium on Control Systems (SICE ISCS)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114541760","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
Leader-Following Coordination of Heterogeneous Multi-Agent Systems via Displacement Feedback 基于位移反馈的异构多智能体系统的领导-跟随协调
2021 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2021-03-02 DOI: 10.23919/SICEISCS51787.2021.9495320
Rodolfo Pietrasanta, E. Capello, Y. Fujisaki
{"title":"Leader-Following Coordination of Heterogeneous Multi-Agent Systems via Displacement Feedback","authors":"Rodolfo Pietrasanta, E. Capello, Y. Fujisaki","doi":"10.23919/SICEISCS51787.2021.9495320","DOIUrl":"https://doi.org/10.23919/SICEISCS51787.2021.9495320","url":null,"abstract":"This paper deals with heterogeneous second-order multi-agent consensus, for attitude coordinated control of spacecraft. A robust consensus for undirected and connected graph is shown, with dynamic weight interaction and only displacement measurements available. Leader-following coordination is proposed, with proof of internal stability. Flexible appendages, external disturbances and uncertainties are included in the model. A space maneuver is considered to show the achievement of the consensus.","PeriodicalId":395250,"journal":{"name":"2021 SICE International Symposium on Control Systems (SICE ISCS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130144158","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
Estimation of Fall History by Plantar Pressure DuringWalking Based on Auto Encoder and Principal Component Analysis 基于自动编码器和主成分分析的步行时足底压力的跌倒史估计
2021 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2021-03-02 DOI: 10.23919/SICEISCS51787.2021.9495319
Midori Kawada, Kanako Nakajima, A. Sashima, Yuji Ohta, K. Kurumatani
{"title":"Estimation of Fall History by Plantar Pressure DuringWalking Based on Auto Encoder and Principal Component Analysis","authors":"Midori Kawada, Kanako Nakajima, A. Sashima, Yuji Ohta, K. Kurumatani","doi":"10.23919/SICEISCS51787.2021.9495319","DOIUrl":"https://doi.org/10.23919/SICEISCS51787.2021.9495319","url":null,"abstract":"Fall risk assessment is important, because falls for the elderly account for 12% of the factor of needed LongTerm Care. The plantar pressure during walking is responsible for gait movement, and fall risk and the most influential factor is the fall history of the previous year. In this research, we constructed fall history estimation algorithm by a plantar pressure waveform model during walking. We implemented algorithms based on Feed Forward Neural Network, Support Vector Machine, Auto Encoder, and Principal Component Analysis We carried out the comparison of the algorithms based on the performances of fall history estimation by plantar pressure. The results showed that the reconstructed waveform by Auto Encoder has the best performance. The fall history estimation algorithm that we have developed is expected to become a better fall risk assessment tool for elderly people.","PeriodicalId":395250,"journal":{"name":"2021 SICE International Symposium on Control Systems (SICE ISCS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127906837","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
Path Tracking of Non-holonomic Mobile Robot Using Event-triggered Control in Presence of Time and State-Dependent Uncertainties 存在时间和状态不确定性的非完整移动机器人的事件触发控制路径跟踪
2021 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2021-03-02 DOI: 10.23919/SICEISCS51787.2021.9495322
Padmini Singh, Subhash Chand Yogi, L. Behera, N. Verma
{"title":"Path Tracking of Non-holonomic Mobile Robot Using Event-triggered Control in Presence of Time and State-Dependent Uncertainties","authors":"Padmini Singh, Subhash Chand Yogi, L. Behera, N. Verma","doi":"10.23919/SICEISCS51787.2021.9495322","DOIUrl":"https://doi.org/10.23919/SICEISCS51787.2021.9495322","url":null,"abstract":"This paper proposes path tracking of non-holonomic mobile robot using event-triggered control in presence of time and state dependent uncertainty. A non-holonomic mobile robot is an underactuated system where, two control input drives the three system states to the desired value. The controller is developed in two steps. In first step an eventtriggered kinematic controller is designed to reduce the effort of the actuator. The event-triggering conditions are derived using Lipschitz method. In second step a dynamic controller has been designed which offers robustness towards time and state-dependent uncertainty. To reject the time dependent uncertainty twisting controller is used and to reject the state-dependent uncertainty adaptive tuning laws are derived using Lyapunov stability theory. Simulations has been done for different types of trajectory tracking.","PeriodicalId":395250,"journal":{"name":"2021 SICE International Symposium on Control Systems (SICE ISCS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130253764","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
A PSO-Based Moving Target Defense Control Optimization Scheme 一种基于pso的运动目标防御控制优化方案
2021 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2021-03-02 DOI: 10.23919/SICEISCS51787.2021.9495323
T. Tamba
{"title":"A PSO-Based Moving Target Defense Control Optimization Scheme","authors":"T. Tamba","doi":"10.23919/SICEISCS51787.2021.9495323","DOIUrl":"https://doi.org/10.23919/SICEISCS51787.2021.9495323","url":null,"abstract":"This paper proposes the use of a moving target defense (MTD) control scheme to detect and mitigate cyber attacks from malicious adversaries on cyber-physical systems. To ensure the optimal performance of such a MTD control scheme, an optimizer for tuning the controller is developed based on particle swarm optimization (PSO) scheme. Simulation results are presented to illustrate the effectiveness of the proposed PSO-based MTD control optimization scheme.","PeriodicalId":395250,"journal":{"name":"2021 SICE International Symposium on Control Systems (SICE ISCS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131250588","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
Deep unfolding-based output feedback control design for linear systems with input saturation 输入饱和线性系统基于深度展开的输出反馈控制设计
2021 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2020-11-20 DOI: 10.23919/SICEISCS51787.2021.9495317
Koki Kobayashi, Masaki Ogura, Taisuke Kobayashi, Kenji Sugimoto
{"title":"Deep unfolding-based output feedback control design for linear systems with input saturation","authors":"Koki Kobayashi, Masaki Ogura, Taisuke Kobayashi, Kenji Sugimoto","doi":"10.23919/SICEISCS51787.2021.9495317","DOIUrl":"https://doi.org/10.23919/SICEISCS51787.2021.9495317","url":null,"abstract":"In this paper, we propose a deep unfolding-based framework for the output feedback control of systems with input saturation. Although saturation commonly arises in several practical control systems, there is still a scarce of effective design methodologies that can directly deal with the severe non-linearity of the saturation operator. In this paper, we aim to design an anti-windup controller for enlarging the region of stability of the closed-loop system by learning from the numerical simulations of the closed-loop system. The data-driven framework we propose in this paper is based on a deep-learning technique called Neural Ordinary Differential Equations. Within our framework, we first obtain a candidate controller by using the deep-learning technique, which is then tested by the existing theoretical results already established in the literature, thereby avoiding the computational challenge in the conventional design methodologies as well as theoretically guaranteeing the performance of the system. Our numerical simulation shows that the proposed framework can significantly outperform a conventional design methodology based on linear matrix inequalities.","PeriodicalId":395250,"journal":{"name":"2021 SICE International Symposium on Control Systems (SICE ISCS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126693380","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
SARSA(0) Reinforcement Learning over Fully Homomorphic Encryption 基于全同态加密的SARSA(0)强化学习
2021 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2020-02-02 DOI: 10.23919/SICEISCS51787.2021.9495321
Jihoon Suh, Takashi Tanaka
{"title":"SARSA(0) Reinforcement Learning over Fully Homomorphic Encryption","authors":"Jihoon Suh, Takashi Tanaka","doi":"10.23919/SICEISCS51787.2021.9495321","DOIUrl":"https://doi.org/10.23919/SICEISCS51787.2021.9495321","url":null,"abstract":"We consider a cloud-based control architecture in which the local plants outsource the control synthesis task to the cloud. In particular, we consider a cloud-based reinforcement learning (RL), where updating the value function is outsourced to the cloud. To achieve confidentiality, we implement computations over Fully Homomorphic Encryption (FHE). We use a CKKS encryption scheme and a modified SARSA(0) reinforcement learning to incorporate the encryption-induced delays. We then give a convergence result for the delayed updated rule of SARSA(0) with a blocking mechanism. We finally present a numerical demonstration via implementing on a classical pole-balancing problem.","PeriodicalId":395250,"journal":{"name":"2021 SICE International Symposium on Control Systems (SICE ISCS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131759871","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: 12
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