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

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Control of the crop-production in a network of agricultural plots 对农业小区网络中的作物生产进行控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183061
C. Casenave, A. Bisson
{"title":"Control of the crop-production in a network of agricultural plots","authors":"C. Casenave, A. Bisson","doi":"10.1109/MED48518.2020.9183061","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183061","url":null,"abstract":"In the present paper, we propose a strategy to control the crop-production of a network of agricultural plots. The network is composed of rangeland and cropland subsystems that are connected to each other through the livestock that is a vector of nutrient from rangeland to cropland. The objective is to reach a given crop production (at the scale of the whole network) while ensuring a minimal production in each of the cropland plot. To take into account the saturation constraints on the control inputs (that are the rangeland removal rates and the manure distribution coefficients), we use a method based on a time-scale transformation. After designing the control law, we apply it on a simple numerical example to highlight the results.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"28 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":"134197042","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
Motion Planning and Visual-Inertial Target Tracking for UAV-based Radiation Detection 基于无人机的辐射探测运动规划与视惯性目标跟踪
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183297
Indrajeet Yadav, Kevin Eckenhoff, G. Huang, H. Tanner
{"title":"Motion Planning and Visual-Inertial Target Tracking for UAV-based Radiation Detection","authors":"Indrajeet Yadav, Kevin Eckenhoff, G. Huang, H. Tanner","doi":"10.1109/MED48518.2020.9183297","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183297","url":null,"abstract":"This paper addresses the problem of detecting radioactive material in transit using an unmanned aerial vehicle (UAV) of minimal sensing capability, where the objective is to classify the target's radioactivity as the vehicle plans its paths through the workspace while tracking the target for a short time interval. Assuming that the prior map of the workspace is available, this paper proposes a motion planning framework that integrates a navigation function based planner with a tightly-coupled visual-inertial localization and target tracking algorithm, and generates dynamically feasible trajectories that provably converge to a moving target while avoiding obstacles. The efficacy of the proposed approach is validated through Gazebo simulations.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"3 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":"134552261","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
Robust Fault Detection for Switched Systems based on Interval Observers 基于区间观测器的切换系统鲁棒故障检测
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182907
C. Zammali, J. V. Gorp, T. Raïssi
{"title":"Robust Fault Detection for Switched Systems based on Interval Observers","authors":"C. Zammali, J. V. Gorp, T. Raïssi","doi":"10.1109/MED48518.2020.9182907","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182907","url":null,"abstract":"This paper deals with fault detection (FD) for a class of discrete-time switched systems with sensor faults. Under the assumption that disturbances and measurement noise are unknown but bounded, two methods, respectively based on the $H_{infty}$ and the $L_{infty}$ formalisms, are introduced to attenuate the effects of the uncertainties and to improve the accuracy of the proposed residual framers. The design conditions of the interval observer are given in terms of Linear Matrix Inequalities (LMIs). Furthermore, a FD decision is developed to indicate the presence of faults. A numerical example is performed to illustrate the effectiveness of the proposed method based on the $L_{infty}$ performance through a comparison with the results obtained using the $H_{infty}$ analysis.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"84 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":"116149395","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 1440Hz video projector for calibrating optic flow sensors at high speed 用于高速校准光流传感器的1440Hz视频投影仪的实现
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183343
Christophe Viel, Léandre P Varennes, Stephane Violet
{"title":"Implementation of a 1440Hz video projector for calibrating optic flow sensors at high speed","authors":"Christophe Viel, Léandre P Varennes, Stephane Violet","doi":"10.1109/MED48518.2020.9183343","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183343","url":null,"abstract":"In this paper, the results of experiments in which a high velocity movement is simulated using digital light processing methods (with a Digital Light Processing (DLP) video projector) are presented. The main aim is to simulate a fast movement in order to test optic flow (OF) sensors or event-based sensor more quickly and simply than with traditional methods based on moving wallpaper or LCD screen. To obtain an accurate movement resolution, specific pictures are generated and displayed by the DLP at a high frame rate. The results show that accurate projected movement speeds are obtained with velocities of up to 50m/s. Propositions to increase these results are discussed.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"37 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":"121996496","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
Synthesizing observers and controllers based on ellipsoidal reachable sets of LTV discrete systems 基于椭球可达集的LTV离散系统观测器和控制器的综合
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183327
D. Balandin, R. Biryukov, M. Kogan
{"title":"Synthesizing observers and controllers based on ellipsoidal reachable sets of LTV discrete systems","authors":"D. Balandin, R. Biryukov, M. Kogan","doi":"10.1109/MED48518.2020.9183327","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183327","url":null,"abstract":"The paper is devoted to reachable sets of linear time-varying discrete systems under uncertain initial states and disturbances with a bounded uncertainty measure. The uncertainty measure is the sum of a quadratic form of the initial state and the sum over the finite-time interval from a quadratic form of the disturbance. It is shown that the reachable set of the system under this assumption is an evolving ellipsoid with a matrix being a solution to the linear matrix difference equation. This result is used to synthesize optimal observers and estimators providing the minimal ellipsoidal sets as the estimates of the system state and unknown parameters, respectively, as well as optimal controllers steering the system state into a final target ellipsoidal set or keeping the entire system trajectory in a prescribed ellipsoidal tube under all admissible initial states and disturbances. The relationships between the optimal ellipsoidal observer and the Kalman filter as well as between the optimal ellipsoidal estimator and the recursive least weighted squares algorithm are established. Numerical modeling with the Mathieu equation for parametric vibrations of a linear oscillator illustrates the results.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"20 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":"122122851","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
Stability of periodically switched systems: illustrative examples 周期性切换系统的稳定性:说明性例子
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183140
J. Lunze
{"title":"Stability of periodically switched systems: illustrative examples","authors":"J. Lunze","doi":"10.1109/MED48518.2020.9183140","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183140","url":null,"abstract":"The paper presents an example to illustrate the fact that specific switched systems can be stabilised by using a sufficiently short switching period. A condition is proved, which poses requirements on the operation modes under which switched systems are asymptotically stable for fast switching. Emphasis is laid on an intuitive explanation why this phenomenon occurs.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"12 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":"125768912","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
Disturbance Attenuation in Synchronised Systems 同步系统中的扰动衰减
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183015
Marc Wissing, T. Oehlschlägel, J. Lunze
{"title":"Disturbance Attenuation in Synchronised Systems","authors":"Marc Wissing, T. Oehlschlägel, J. Lunze","doi":"10.1109/MED48518.2020.9183015","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183015","url":null,"abstract":"This paper investigates the disturbance-attenuation properties of synchronised systems. An internal-model principle for multi-agent systems is elaborated that describes the necessary dynamics of the extended agents for disturbance attenuation. Accordingly, the extended agents consisting of the agents and the local controllers have to include the dynamics of the disturbance generators. Furthermore, a necessary and sufficient synchronisation condition of disturbed systems is proved. The results are illustrated by a numerical example.","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":"126037250","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
Hybrid RTO with zone control MPC applied to a Gas-lift system 带区域控制MPC的混合RTO应用于气举系统
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183175
P. B. Shamaki, D. Odloak
{"title":"Hybrid RTO with zone control MPC applied to a Gas-lift system","authors":"P. B. Shamaki, D. Odloak","doi":"10.1109/MED48518.2020.9183175","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183175","url":null,"abstract":"In this paper, a steady state real time optimization (SRTO) using transient measurement, implemented with a zone control model predictive control (MPC) is applied to a gas-lift system. The use of zone control MPC is suitable for processes where the exact values of the controlled output are not required, but they must be within a specified desirable zone. The control strategy allows the controller to focus on reaching the desired input target supplied by the optimization layer, as long as the outputs are kept within their specified zones and dynamic constraints are respected. With the focus on practicality of application; available, established and successfully implemented process optimization and control techniques are harnessed, through some modifications to fit the process and achieve an optimum. Simulations show that the controller can drive the process to and keep the output within their specified region and also track the desired input target, even in the presence of disturbance.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"68 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":"123558205","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
Distributed MPC Strategy with Guaranteed Stability 具有保证稳定性的分布式MPC策略
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183108
A. S. Sarapka, D. Odloak
{"title":"Distributed MPC Strategy with Guaranteed Stability","authors":"A. S. Sarapka, D. Odloak","doi":"10.1109/MED48518.2020.9183108","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183108","url":null,"abstract":"Several distributed model predictive control (MPC) strategies have been presented in the last few years. Those strategies are usually suited for large applications, when it is not interesting to use centralized controllers. Sub-optimal solutions are normally achieved by those controllers, although most of them can converge to optimal solutions as well. This paper presents a distributed MPC strategy with guaranteed feasibility and stability. Infinity horizon and cooperation between controllers are considered in this new strategy.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"61 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":"126190054","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
State Feedback Control for Intelligent Traffic Light Systems 智能交通灯系统的状态反馈控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183224
Ilhan Tunc, M. T. Söylemez
{"title":"State Feedback Control for Intelligent Traffic Light Systems","authors":"Ilhan Tunc, M. T. Söylemez","doi":"10.1109/MED48518.2020.9183224","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183224","url":null,"abstract":"Traffic is an important factor affecting human life quality in crowded cities. Increasing population and increasing individual vehicle ownership lead to an increase in traffic density. This leads to an increase in the time lost for travelers and pollution. Intersections are areas that cause more traffic density because of design making hurdles. Traffic jam can be reduced by adapting the traffic light control that can be adapted to the traffic density change at the junctions. In this study, the State Feedback Controller is proposed for the traffic light system control at the four-leg intersection. Simulation of this control system is made and handled using Simulation of Urban Mobility (SUMO). Results are compared for the proposed types of Traffic Light Control Systems. It was observed that the State Feedback traffic light controller, which is the recommended method from the simulation results, gives better results than both the Fuzzy Logic Control (FLC) and the Fixed Time traffic light controller.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"20 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":"127614882","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
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