发布求助
文献互助 智能选刊 最新文献

2023 American Control Conference (ACC)最新文献

筛选
英文 中文
Practical Time-Varying Formation Tracking Control for Multi-Agent Systems 多智能体系统的实用时变编队跟踪控制
2023 American Control Conference (ACC) Pub Date : 2023-05-31 DOI: 10.23919/ACC55779.2023.10156167
Ankush Thakur, Tushar Jain
{"title":"Practical Time-Varying Formation Tracking Control for Multi-Agent Systems","authors":"Ankush Thakur, Tushar Jain","doi":"10.23919/ACC55779.2023.10156167","DOIUrl":"https://doi.org/10.23919/ACC55779.2023.10156167","url":null,"abstract":"This paper introduces the concept of formation switching in time-varying formation tracking (TVFT) control for linear time-invariant (LTI) multi-agent systems (MASs) under the collision avoidance constraints. One of the main challenges in designing a novel formation controller is that the leader agent does not prespecify the desired formation to the follower agents. Also, the former may change the desired formation to any other at the run time according to task requirements and environmental spatial constraints. Based on estimation of the so-called generator matrix and the formation vector, follower agents maintain the time-varying formation while tracking the leader. The uniform ultimate boundedness stability of the overall proposed distributed control scheme is proved using the Lyapunov stability theory. Finally, the effectiveness of the formation switching in TVFT is demonstrated using a numerical example.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133671230","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
Data-driven Model Predictive Control for Drop Foot Correction 落脚校正的数据驱动模型预测控制
2023 American Control Conference (ACC) Pub Date : 2023-05-31 DOI: 10.23919/ACC55779.2023.10156600
Mayank Singh, Nitin Sharma
{"title":"Data-driven Model Predictive Control for Drop Foot Correction","authors":"Mayank Singh, Nitin Sharma","doi":"10.23919/ACC55779.2023.10156600","DOIUrl":"https://doi.org/10.23919/ACC55779.2023.10156600","url":null,"abstract":"Functional Electrical Stimulation (FES) is an effective method to restore the normal range of ankle motion in people with Drop Foot. This paper aims to develop a real-time, data-driven Model Predictive Control (MPC) scheme of FES for drop foot correction (DFC). We utilize a Koopman operator-based framework for system identification required for setting up the MPC scheme. Using the Koopman operator we can fully capture the nonlinear dynamics through an infinite dimensional linear operator describing the evolution of functions of state space. We use inertial measurement units (IMUs) for collecting the foot pitch and roll rate state information to build an approximate linear predictor for FES actuated ankle motion. In doing so, we also account for the implicit muscle actuation dynamics which are dependent on the activation and fatigue levels of the Tibialis Anterior (TA) muscle contribution during ankle motion, and hence, develop a relationship between FES input parameters and ankle motion, tailored to an individual user. The approximation, although computationally expensive, leads to reformulating the optimization problem as a quadratic program for the MPC problem. Further, we show the closed-loop system’s recursive feasibility and asymptotic stability analysis. Simulation and experimental results from a subject with Multiple Sclerosis show the effectiveness of the data-driven MPC scheme of FES for DFC.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131803871","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
Sequence-to-sequence LSTM-based Dynamic System Identification of Piezo-electric Actuators 基于序列-序列lstm的压电执行器动态系统辨识
2023 American Control Conference (ACC) Pub Date : 2023-05-31 DOI: 10.23919/ACC55779.2023.10155800
Ruocheng Yin, Juan Ren
{"title":"Sequence-to-sequence LSTM-based Dynamic System Identification of Piezo-electric Actuators","authors":"Ruocheng Yin, Juan Ren","doi":"10.23919/ACC55779.2023.10155800","DOIUrl":"https://doi.org/10.23919/ACC55779.2023.10155800","url":null,"abstract":"During the past few year, recurrent neural network (RNN) has been proposed to model the nonlinear dynamics of various dynamic systems, such as nano positioning systems (e.g, piezo electric actuators (PEAs)). Although high modeling accuracy has been demonstrated using RNNs, it has been found that the conventional RNNs (such as vanilla RNN) are susceptible to gradient vanishing or exploding issue and hence difficult to train. Deep RNNs, such as Long short-term memory (LSTM), have been proposed to address these issues. However, due to the conventional training data construction, the training is susceptible to overfitting and the computation is extensive. In this paper, we propose a new type of LSTM in the application of PEA system identification: a sequence-to-sequence learning approach (namely, LSTMseq2seq). The structure of LSTMseq2seq and its training data construction are presented in detail. The efficacy of LSTMseq2seq in terms of modeling accuracy and computation speed is demonstrated by applying it for PEA system identification and comparing its performance with that of vanilla RNN.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134193153","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
Rapid Construction of Safe Search-Trees for Spacecraft Attitude Planning 航天器姿态规划安全搜索树的快速构建
2023 American Control Conference (ACC) Pub Date : 2023-05-31 DOI: 10.23919/ACC55779.2023.10156052
C. Danielson, Joseph Kloeppel
{"title":"Rapid Construction of Safe Search-Trees for Spacecraft Attitude Planning","authors":"C. Danielson, Joseph Kloeppel","doi":"10.23919/ACC55779.2023.10156052","DOIUrl":"https://doi.org/10.23919/ACC55779.2023.10156052","url":null,"abstract":"This paper adapts the rapidly-exploring variant of invariant-set motion planner (ISMP) for spacecraft attitude motion planning and control. The ISMP is a motion-planning algorithm that uses positive-invariant sets of the closed-loop dynamics to find a constraint admissible path to a desired target through an obstacle filled environment. We present four mathematical results that enable the sub-routines used to rapidly construct a search-tree for the ISMP. These mathematical results describe how to uniformly sample safe quaternions, how to find the nearest orientation in the search-tree, how to move the sampled orientation to form an edge, and how to scale the invariant set to guarantee constraint admissibility. We present simulation results that demonstrate the ISMP for spacecraft attitude motion planning.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115508888","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
Modelling of Blood Loss Influence on Propofol Concentrations and Anesthetic States in Critical Responses * 失血对关键反应中异丙酚浓度和麻醉状态影响的模拟*
2023 American Control Conference (ACC) Pub Date : 2023-05-31 DOI: 10.23919/ACC55779.2023.10156356
Mihaela Ghita, D. Copot, I. Birs, C. Muresan, M. Neckebroek, C. Ionescu
{"title":"Modelling of Blood Loss Influence on Propofol Concentrations and Anesthetic States in Critical Responses *","authors":"Mihaela Ghita, D. Copot, I. Birs, C. Muresan, M. Neckebroek, C. Ionescu","doi":"10.23919/ACC55779.2023.10156356","DOIUrl":"https://doi.org/10.23919/ACC55779.2023.10156356","url":null,"abstract":"This work studies the classical pharmacokinetic-pharmacodynamic (PK-PD) model of Propofol for total intravenous anesthesia in response to intraoperative blood loss. Anesthetic and hemodynamic stability are impaired in the setting of trauma surgeries or major procedures with high hemorrhage risk. Blood loss has immediate effects on the cardiovascular system, but also affects the plasma concentration of the perioperatively infused drugs. During perioperative transition periods, when fast blood losses occur, the PK models on which the target-controlled infusion (TCI) is based should be updated. Then, the population-based parameters move towards an individualized strategy that accounts also for the actual blood volume in the patient. This paper evaluates the influence of changing blood volume on the PK model of Propofol, hence on the anesthesia state of the patient. The simulations also account for the hemodynamic responses due to the conflicting interactions of both hemorrhage and anesthetic drug infusion. This model has great potential for inclusion in multiple-closed loop control strategies of anesthesia-hemodynamic states, as it is simple and adapted from well-known PK models, for which control strategies are already mature.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114394324","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
Multi-Objective Trajectory Planning for Unmanned Aerial Vehicles Using CLF-CBF-Based Quadratic Programs 基于clf - cbf的无人机多目标轨迹规划
2023 American Control Conference (ACC) Pub Date : 2023-05-31 DOI: 10.23919/ACC55779.2023.10156260
Sufyan Hafeez Khan, A. Ghaffari
{"title":"Multi-Objective Trajectory Planning for Unmanned Aerial Vehicles Using CLF-CBF-Based Quadratic Programs","authors":"Sufyan Hafeez Khan, A. Ghaffari","doi":"10.23919/ACC55779.2023.10156260","DOIUrl":"https://doi.org/10.23919/ACC55779.2023.10156260","url":null,"abstract":"Control barrier function-based quadratic programs (CBF-based QP) provide an avenue for agile and numerically efficient obstacle avoidance algorithms. However, the CBF-based QP methods may lead to lengthy detours and undesirable transient tracking performance without proper trajectory planning. This paper expands the CBF-based QP concept to create a modified safe reference trajectory with a prescribed avoidance radius and direction, where the modified reference shadows the actual reference during the avoidance maneuver. We use a control Lyapunov function (CLF) to match the modified reference with the actual reference and three CBFs to formulate safety and performance objectives to maintain distance, adjust velocity, and determine the direction of the avoidance maneuver. These formulations produce constraints that are synthesized by means of a quadratic program. The QP generates a desirable velocity profile for the safe reference trajectory. Numerical simulations verify the effectiveness of the proposed trajectory planning method.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117249040","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
Potential Game-Based Decision Making in Autonomous Driving (Abstract) 基于潜在博弈的自动驾驶决策(摘要)
2023 American Control Conference (ACC) Pub Date : 2023-05-31 DOI: 10.23919/ACC55779.2023.10155883
Mushuang Liu
{"title":"Potential Game-Based Decision Making in Autonomous Driving (Abstract)","authors":"Mushuang Liu","doi":"10.23919/ACC55779.2023.10155883","DOIUrl":"https://doi.org/10.23919/ACC55779.2023.10155883","url":null,"abstract":"Game-theoretic approaches characterize agents’ interactions from a self-interest optimization perspective, consistent with humans’ reasoning, and therefore, are believed to have the potential to solve the decision making for autonomous vehicles (AVs) when they interact with human-driven vehicles and/or pedestrians. However, despite high hopes, conventional game-theoretic approaches often suffer from scalability issues due to the complexity of multi-player games and from incomplete information challenges such as the lack of knowledge of other traffic agents’ cost functions that reflect the variability in human driving behaviors. In this talk, we will show how to address these challenges by developing a novel potential game (PG) based framework. Specifically, we will introduce a new PG framework that not only solves the multi-player game in real time but also guarantees the ego vehicle safety under appropriate conditions despite unexpected behaviors from the surrounding agents.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117252692","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
A Norm-Free Adaptive Event-Triggering Law for Distributed Control of Nonholonomic Mobile Robots⋆ 非完整移动机器人分布式控制的一种无规范自适应事件触发律
2023 American Control Conference (ACC) Pub Date : 2023-05-31 DOI: 10.23919/ACC55779.2023.10156262
Deniz Kurtoglu, T. Yucelen, Dzung Tran, D. Casbeer, Eloy García
{"title":"A Norm-Free Adaptive Event-Triggering Law for Distributed Control of Nonholonomic Mobile Robots⋆","authors":"Deniz Kurtoglu, T. Yucelen, Dzung Tran, D. Casbeer, Eloy García","doi":"10.23919/ACC55779.2023.10156262","DOIUrl":"https://doi.org/10.23919/ACC55779.2023.10156262","url":null,"abstract":"In this paper, the problem of scheduling data transmissions in multiagent systems, which are composed of a team of nonholonomic mobile robots, is studied. To represent the equations of motion of each robot as double integrator dynamics, we first feedback linearize the robot dynamics that allows us to avoid nonholonomic control architecture synthesis. We then propose a decentralized, norm-free, and adaptive event-triggering rule for control of this multiagent system in a distributed manner with reduced robot-to-robot position and velocity data transmissions. Stability of the resulting event-triggered multiagent system is presented and an illustrative numerical example is also included to demonstrate its efficacy.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115888222","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
Direct Adaptive Fuzzy-Based Neural Network Controller for a Human-Driven Knee Joint Orthosis 人驱动膝关节矫形器的直接自适应模糊神经网络控制器
2023 American Control Conference (ACC) Pub Date : 2023-05-31 DOI: 10.23919/ACC55779.2023.10155825
Oussama Bey, M. Chemachema, Y. Amirat, G. Fried, S. Mohammed
{"title":"Direct Adaptive Fuzzy-Based Neural Network Controller for a Human-Driven Knee Joint Orthosis","authors":"Oussama Bey, M. Chemachema, Y. Amirat, G. Fried, S. Mohammed","doi":"10.23919/ACC55779.2023.10155825","DOIUrl":"https://doi.org/10.23919/ACC55779.2023.10155825","url":null,"abstract":"This paper presents a control error based direct adaptive Neural Network (NN) controller applied to a lower limb knee joint orthosis during flexion/extension movements. The proposed approach requires neither pre-knowledge of the exact human-orthosis system nonlinearities nor it’s exact parameters. Unlike the available NN control approaches that rely on the tracking errors to derive the adaptive weights, our approach represent an alternative way on which we introduce the control error for online updating of the NN weights. A Fuzzy Inference System (FIS) is exploited to estimate the unknown control error. Then, the NN weights are tuned directly using back-propagation algorithm based on a quadratic criterion of the control error independently from the tracking error. In terms of stability, the tracking error has been proved to converge exponentially to an arbitrary small set despite the presence of external disturbances. Simulations are conducted to evaluate the effectiveness of the proposed control approach.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"376 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116122204","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
Koopman-based Data-driven Model Predictive Control of Limb Tremor Dynamics with Online Model Updating: A Theoretical Modeling and Simulation Approach 基于koopman数据驱动的在线模型更新肢体震颤动力学预测控制:一种理论建模与仿真方法
2023 American Control Conference (ACC) Pub Date : 2023-05-31 DOI: 10.23919/ACC55779.2023.10156240
Xiangming Xue, Ashwin Iyer, Nitin Sharma
{"title":"Koopman-based Data-driven Model Predictive Control of Limb Tremor Dynamics with Online Model Updating: A Theoretical Modeling and Simulation Approach","authors":"Xiangming Xue, Ashwin Iyer, Nitin Sharma","doi":"10.23919/ACC55779.2023.10156240","DOIUrl":"https://doi.org/10.23919/ACC55779.2023.10156240","url":null,"abstract":"Patients suffering from tremors have difficulty performing activities of daily living. The development of a model of a limb with tremors can pave the way for non-surgical tremor suppression control techniques. Nevertheless, nonlinearity and actuator saturation make it difficult to develop an accurate model and a tremor suppression control method. Towards addressing this issue, this paper describes a Koopman-based method for system identification and its application to the design of a model predictive control (MPC) scheme to suppress tremors. Since model prediction accuracy is critical to the performance of an MPC, it is essential to update the model online if the predictions are not sufficiently accurate. We propose a recursive least squares (RLS) algorithm to improve control performance with low computational complexity. Finally, for the first time, stability analysis and recursive feasibility of the Koopman-based MPC (KMPC) closed-loop updated system are presented. The proposed modeling and control approach have been validated by experimental data and simulation results.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"246 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115258888","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
首页 上一页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信