发布求助
文献互助 智能选刊 最新文献

2020 28th Mediterranean Conference on Control and Automation (MED)最新文献

筛选
英文 中文
Motion Control for Constraint Mobile Robotic Manipulators in Singular Time Delay Form 奇异时滞形式约束移动机器人的运动控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182821
N. Kouvakas, F. Koumboulis
{"title":"Motion Control for Constraint Mobile Robotic Manipulators in Singular Time Delay Form","authors":"N. Kouvakas, F. Koumboulis","doi":"10.1109/MED48518.2020.9182821","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182821","url":null,"abstract":"The nonlinear dynamic description of a wheeled platform with active and passive resonators carrying a single link manipulator on an uphill/downhill road path including the road disturbance forces applied to the wheels is presented. The linear approximant of the description is derived to be in a singular neutral time delay system form. The design goal is to control the distance of the load from the road and the speed of the platform despite the presence of the disturbances. The approach is that of exact model matching with simultaneous disturbance rejection for singular neutral time delay systems. The matrices of the general controller are derived. The performance of the proposed control scheme is demonstrated through computational experiments upon the nonlinear description and the linear controller.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123017395","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 multi-agent deep reinforcement learning framework for automated driving on highways 高速公路自动驾驶的多智能体深度强化学习框架
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182882
Louis Bakker, Sergio Grammatico
{"title":"A multi-agent deep reinforcement learning framework for automated driving on highways","authors":"Louis Bakker, Sergio Grammatico","doi":"10.1109/MED48518.2020.9182882","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182882","url":null,"abstract":"We apply deep reinforcement learning to automated driving on highways. We propose a novel, simple framework with improved performance with respect to the state of the art. When implementing our algorithm on multilane highway scenarios, after the training phase, we observe via numerical simulations that the vehicles are able to avoid collisions and to reach their respective destination lanes with very high probability.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"168 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124699261","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
Pursuit-evasion Game for Nonholonomic Mobile Robots With Obstacle Avoidance using NMPC 基于NMPC的非完整移动机器人避障追逃博弈
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182862
M. Sani, B. Robu, A. Hably
{"title":"Pursuit-evasion Game for Nonholonomic Mobile Robots With Obstacle Avoidance using NMPC","authors":"M. Sani, B. Robu, A. Hably","doi":"10.1109/MED48518.2020.9182862","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182862","url":null,"abstract":"In this work, non-cooperative competitive games between two unmanned ground robots using Nonlinear Model Predictive Control (NMPC) while incorporating obstacle avoidance techniques are studied. The objective of the first player (pursuer) is to minimize the relative distance and orientation between itself and the second player (evader) while avoiding obstacles, whereas the evader does the opposite. The Pursuit-Evasion Game (PEG) being a typical class of a differential game is formulated as a zero-sum game with two homogeneous players in five different game scenarios. The objective function of each player is formulated as a double optimization problem and is solved separately using NMPC techniques. The optimal trajectory of each player is computed iteratively by considering the best response of the opponent player. The level of information is assumed to be symmetric. Simulations of various scenarios show the winning possibility of each player.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128926937","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
Trajectory optimization through connected cooperative control for multiple-vehicle flocking 基于互联协同控制的多车集群轨迹优化
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182964
C. Caruntu, C. Pascal, L. Ferariu, C. Comsa
{"title":"Trajectory optimization through connected cooperative control for multiple-vehicle flocking","authors":"C. Caruntu, C. Pascal, L. Ferariu, C. Comsa","doi":"10.1109/MED48518.2020.9182964","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182964","url":null,"abstract":"The ever-increasing number of vehicles that use the current infrastructure brings many disadvantages, among which one can emphasize traffic congestion and decreased safety, mostly due to human error. While the human drivers are aided more and more by different automated functionalities that help them make the best decisions at certain times or may even be replaced by higher-level functionalities, automated vehicles are far from being deployed in series on the roads because it is difficult to ensure functional safety at all times. Moreover, automated vehicles would solve only half of the problem, i.e., removing the human factor from the loop, but the number of vehicles would not decrease which leads to the same traffic congestion. One solution would be to reduce the space between the vehicles, but this implies even higher functional safety of the automated features. Another idea is to make use of the vehicle platooning concept based on cooperative adaptive cruise control and extend it to the multiple-lane use-case. This would involve coordinating a group of vehicles traveling on a multiple-lane road to maintain small gaps between them even at highway speeds. The solution implies an exchange of information between vehicles, such that their trajectories are optimized at all times. Thus, this paper considers the design and development of a control architecture for multiple-lane vehicle flocking based on their cooperative decisions. The simulation results obtained using a simulator based on SUMO and Matlab illustrate the capabilities of the proposed methodology.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125289767","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
Adaptive Control of a Linear Hyperbolic PDE with Uncertain Transport Speed and a Spatially Varying Coefficient 具有不确定传输速度和空间变化系数的线性双曲PDE的自适应控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183027
Henrik Anfinsen, H. Holta, O. Aamo
{"title":"Adaptive Control of a Linear Hyperbolic PDE with Uncertain Transport Speed and a Spatially Varying Coefficient","authors":"Henrik Anfinsen, H. Holta, O. Aamo","doi":"10.1109/MED48518.2020.9183027","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183027","url":null,"abstract":"Recently, the first result on backstepping-based adaptive control of a 1-D linear hyperbolic partial differential equation (PDE) with an uncertain transport speed was presented. The system also had an uncertain, constant in-domain coefficient, and the derived controller achieved convergence to zero in the $L_{infty}$-sense in finite time. In this paper, we extend that result to systems with a spatially varying in-domain coefficient, achieving asymptotic convergence to zero in the $L_{infty}$-sense. Additionally, for the case of having a constant in-domain coefficient, the new method is shown to have a slightly improved finite-time convergence time. The theory is illustrated in simulations.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128307973","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
Implementation of a Petri-net based Digital Twin for the development procedure of an Electric Vehicle 基于petri网的电动汽车开发过程数字孪生的实现
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182784
George J. Tsinarakis, P. Spanoudakis, G. Arampatzis, N. Tsourveloudis, L. Doitsidis
{"title":"Implementation of a Petri-net based Digital Twin for the development procedure of an Electric Vehicle","authors":"George J. Tsinarakis, P. Spanoudakis, G. Arampatzis, N. Tsourveloudis, L. Doitsidis","doi":"10.1109/MED48518.2020.9182784","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182784","url":null,"abstract":"In the current work the development procedure (design, manufacture and assembly) of an electric vehicle is considered. Uncertainties make difficult to follow initial time plan, so monitoring of the development procedure is necessary. To handle delays a method using Petri nets to model the tasks of the development procedure and their dependencies is introduced. The model is not used offline as a passive element but is connected and interacts with the physical system (development procedure). Based on the information exchange between physical and digital system, alternative ways to overcome delays are studied and the optimal solution is calculated, tested and applied. Results are provided according to different scenarios, in order to show the efficiency and applicability of the proposed method.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124565048","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
An output observer approach to actuator fault detection in multi-agent systems with linear dynamics 线性多智能体系统执行器故障检测的输出观测器方法
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182933
Anass Taoufik, K. Busawon, M. Defoort, M. Djemai
{"title":"An output observer approach to actuator fault detection in multi-agent systems with linear dynamics","authors":"Anass Taoufik, K. Busawon, M. Defoort, M. Djemai","doi":"10.1109/MED48518.2020.9182933","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182933","url":null,"abstract":"This paper deals with the problem of distributed fault detection for a team of multi-agent systems with linear dynamics using output observers. The proposed output observer is employed to estimate the state of virtual models based on relative outputs in order to generate a set of residual signal that are indicative of the presence of a fault. The convergence of the observer is proven for any initial condition and fault detectability conditions are defined. The proposed method ensures distributed actuator fault detection using input-output relations, where each agent is capable of detecting not only its own faults, but also those that occur in its neighbours solely by using exchanged relative outputs. Results of numerical simulations are provided to show the robustness of the proposed approach.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"12 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120999272","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
$H_{infty}$ memory observer design for vehicle suspension state estimation and unknown road reconstruction $H_{infty}$ 基于记忆观测器的车辆悬架状态估计与未知道路重构
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183121
Gang Wang, M. Chadli, S. Mammar
{"title":"$H_{infty}$ memory observer design for vehicle suspension state estimation and unknown road reconstruction","authors":"Gang Wang, M. Chadli, S. Mammar","doi":"10.1109/MED48518.2020.9183121","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183121","url":null,"abstract":"This brief is concerned with the state estimation problem for a vehicle suspension subjected to unknown road input. Limited by installation space and number of sensors, the measurable states are limited. To estimate the entire suspension states and road profile simultaneously, an $H_{infty}$ memory observer (HMO) is developed. Unlike the traditional unknown input observer (UIO) designed to the suspension system, the proposed HMO takes advantage of the memory outputs. Disturbance decoupling and $H_{infty}$ attenuation techniques are used in the design. Furthermore, a sufficient condition based on LMI framework is provided to find the observer gains. The simulation results show that the HMO is efficient and the estimated values are very close to the real ones.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117113810","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
A Fractional-Order Analytical Redundancy Approach for Fault Detection on a Hovering Helicopter 悬停直升机故障检测的分数阶分析冗余方法
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183151
H. M. Paiva, Andréia Seixas Leal, João Paulo de Almeida
{"title":"A Fractional-Order Analytical Redundancy Approach for Fault Detection on a Hovering Helicopter","authors":"H. M. Paiva, Andréia Seixas Leal, João Paulo de Almeida","doi":"10.1109/MED48518.2020.9183151","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183151","url":null,"abstract":"This paper presents an analytical redundancy approach for fault detection on a simulated hovering helicopter. For this purpose, a standard state-observer fault-detection technique is extended to adopt a commensurate fractional-order model. The results are favorably compared with those of an integer-order state observer, in terms of after-fault residue amplification and area under the receiver operating characteristic (ROC) curve.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121234182","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
Low-Complexity Direction Finding Method for MIMO Radar Based on Compressive Sensing 基于压缩感知的MIMO雷达低复杂度测向方法
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183000
Zhen Meng, Wei-dong Zhou
{"title":"Low-Complexity Direction Finding Method for MIMO Radar Based on Compressive Sensing","authors":"Zhen Meng, Wei-dong Zhou","doi":"10.1109/MED48518.2020.9183000","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183000","url":null,"abstract":"We propose a direction finding method for multiple-input multiple-output (MIMO) radar by using sparse sensing in low computational cost. Since the targets are sparsely distributed in the space, we employ the compressive sensing technique to reduce the sampling rate. Based on the compressive sensing, we utilize the convex combination to approximate the real target parameters in MIMO radar. We formulate an optimization problem for sparse vector recovery and off-grid mismatch estimation, which involves four set of variables. We employ the alternating direction method of multipliers approach to fast solve this optimization problem. In each iteration of sparse recovery, four subproblems are alternately optimized over only one of four set of parameters where each subproblem has a closed-form solution. With the recovered sparse vector and the estimated off-grid mismatch, we develop a grid adjustment method to accurately resolve the directions of targets by iteratively deleting the redundant grid points. Numerical simulations indicate that the proposed method is able to achieve accurate signal recovery, improved estimation accuracy and reduced computational cost.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"170 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115822881","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
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：481959085
Book学术官方微信