2020 28th Mediterranean Conference on Control and Automation (MED)最新文献_第4页

Multi-Model and Learning-Based Framework for Real-Time Trajectory Prediction 多模型和基于学习的实时轨迹预测框架

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183216

Abdelmoudjib Benterki, Vincent Judalet, C. Maaoui, M. Boukhnifer

引用次数: 4

Single Filter Lead Vehicle Distance and Velocity Estimation with Multiple Hypothesis Testing 基于多重假设检验的单滤波先导车辆距离和速度估计

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183049

P. Bauer, Antal Hiba, Á. Zarándy

引用次数: 0

Distributed Model Predictive Control Algorithm with Communication Delays for a Cooperative Adaptive Cruise Control Vehicle Platoon 具有通信延迟的协同自适应巡航车辆队列分布式模型预测控制算法

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183078

A. Maxim, C. Lazar, C. Caruntu

引用次数: 6

Machine Learning-Based Cyber-attack Detection and Resilient Operation via Economic Model Predictive Control for Nonlinear Processes 基于机器学习的网络攻击检测与非线性过程经济模型预测控制弹性运行

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182971

Scarlett Chen, Zhe Wu, P. Christofides

{"title":"Machine Learning-Based Cyber-attack Detection and Resilient Operation via Economic Model Predictive Control for Nonlinear Processes","authors":"Scarlett Chen, Zhe Wu, P. Christofides","doi":"10.1109/MED48518.2020.9182971","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182971","url":null,"abstract":"This work proposes resilient operation strategies for nonlinear processes that are vulnerable to targeted cyber-attacks, as well as detection and handling of standard types of cyber-attacks. Working with a general class of nonlinear systems, a modified Lyapunov-based Economic Model Predictive Controller (LEMPC) using combined closed-loop and open-loop control action implementation schemes is proposed to optimize economic benefits in a time-varying manner while maintaining closed-loop process stability. Although sensor measurements may be vulnerable to cyber-attacks, the proposed controller design and operation strategy ensure that the process will maintain stability and stay resilient against particular types of destabilizing cyber-attacks. Data-based cyber-attack detectors are developed using sensor data via machine-learning methods, and these detectors are periodically activated and applied online in the context of process operation. Using a continuously stirred tank reactor example, simulation results demonstrate the effectiveness of the resilient control and detection strategy in maintaining stable and economically optimal operation in the presence of cyber-attacks.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"33 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":"126471025","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

Robust Path Integral Control on Stochastic Differential Games 随机微分对策的鲁棒路径积分控制

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183351

D. Vrushabh, P. Akshay, K. Sonam, S. Wagh, Navdeep M. Singh

{"title":"Robust Path Integral Control on Stochastic Differential Games","authors":"D. Vrushabh, P. Akshay, K. Sonam, S. Wagh, Navdeep M. Singh","doi":"10.1109/MED48518.2020.9183351","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183351","url":null,"abstract":"This paper develops a robust path integral (RPI) model predictive control using the Monte Carlo (MC) sampling to address the optimal control (OC) problem for the stochastic differential game (SDG). The two-player zero-sum differential game has been extensively investigated, mostly as its outcome indicates the $H_{infty}$ optimality. The proposed path integral (PI) control framework provides an analytically sound method for building an algorithm of optimal control for this game based on stochastic trajectory sampling. This is achieved by using Feynman-Kac (F-K) lemma which transforms the value function of stochastic optimal control (SOC) problem into an expectation over all probable trajectories. This transformation makes it possible to solve SOC problems through MC sampling of stochastic processes. Finally, the RPI model predictive control using MC sampling is efficiently implemented for an inverted pendulum system. The RPI control has achieved good performance for changes in inverted pendulum weight and friction when the complete nonlinear swing-up is concerned while such environmental adjustments are not dealt with in a regular PI control.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"25 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":"125856127","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

Model Predictive Control for Agricultural Machines with Implements 农机具的模型预测控制

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183272

Markus Lukassek, Andreas Völz, Tomas Szabo, K. Graichen

引用次数: 1

A New Approach for Designing Stable Nonlinear bounded-Lipschitz Observers 一种设计稳定非线性有界lipschitz观测器的新方法

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183360

P. Papageorgiou, A. Alexandridis

{"title":"A New Approach for Designing Stable Nonlinear bounded-Lipschitz Observers","authors":"P. Papageorgiou, A. Alexandridis","doi":"10.1109/MED48518.2020.9183360","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183360","url":null,"abstract":"Observer synthesis for nonlinear Lipschitz systems is still an open problem mainly due to the heuristic manner of obtaining the observer gain matrix. The design is constrained with hard stability restrictions typically imposed by the Lipschitz constant. In this paper, it is shown that when the Lipschitz terms are bounded the stability restrictions can be significantly relaxed and an easily implemented design is deployed which enables the observer linear part eigenvalues to be assigned with a desirable real part on the left of the system poles. The asymptotic stability of the estimation-error is guaranteed by employing a Lyapunov-type equation, which is absolutely compatible with the bounded conditions assumed for the nonlinear terms. As it is easily seen, the proposed observer can be directly integrated into a closed-loop system structure with any linear feedback controller capable to stabilize the original system. The validity of this method is verified by implementing the proposed design on a fundamental power system example. The simulation results fully support the theoretical analysis by exhibiting the easy way of the design which allows an enhanced observer-based control performance.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"2 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":"129920907","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

Fault tolerant velocity control of an urban autonomous vehicle based on a switching strategy 基于切换策略的城市自动驾驶汽车容错速度控制

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182872

M. Ruhnke, X. Moreau, André Benine-Neto, M. Moze, F. Aioun, F. Guillemard, Audrey Rizzo

引用次数: 0

Tracking Output Robust Control of Unmanned Surface Vessel with Disturbance Cancellation and Anti-Windup 具有干扰抵消和抗卷绕的无人水面船跟踪输出鲁棒控制

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183200

M. Kakanov, Fatimat B. Karashaeva, O. Borisov, A. Pyrkin

引用次数: 1

Controllability and observability robustness of perturbed linear time invariant systems 摄动线性时不变系统的可控性和可观察性鲁棒性

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183331

Leila Bouazza, B. Mourllion, A. Makhlouf, A. Birouche

引用次数: 2