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Trajectory Tracking for a Group of Unicycle-Type Robots Using an Attitude Observer 基于姿态观测器的一组独轮车机器人轨迹跟踪
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00164
J. González-Sierra, E. Aranda-Bricaire, H. Rodríguez-Cortés, J. Santiaguillo-Salinas
{"title":"Trajectory Tracking for a Group of Unicycle-Type Robots Using an Attitude Observer","authors":"J. González-Sierra, E. Aranda-Bricaire, H. Rodríguez-Cortés, J. Santiaguillo-Salinas","doi":"10.3182/20130904-3-FR-2041.00164","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00164","url":null,"abstract":"The trajectory tracking problem for a group of unicycle-type robots is addressed and solved by means of a partial state feedback strategy based on the leader-followers scheme using an observer to estimate the orientation angle of each mobile robot. The control law is based on an extended kinematic model where the output function to be controlled is the mid-point of the wheels axis of each robot. This choice leads to an ill defined control law when the robot is at rest. To avoid such a singularity, a complementary control law is enabled when the linear velocity of each robot is close to zero. It is shown that the combination of a classical dynamic full information controller with an exponentially convergent vehicle attitude observer yields an asymptotically stable closed-loop system. Real-time experiments show the performance of the proposed control scheme.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114243160","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
Spatio-Temporal Symmetries in Control Systems: An Application to Formation Control 控制系统中的时空对称性:在编队控制中的应用
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00111
L. Consolini, M. Tosques
{"title":"Spatio-Temporal Symmetries in Control Systems: An Application to Formation Control","authors":"L. Consolini, M. Tosques","doi":"10.3182/20130904-3-FR-2041.00111","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00111","url":null,"abstract":"Abstract With the aim of addressing the stabilization problem of periodic trajectories in systems composed of identical interconnected subsystems, we introduce the class of “spatio-temporally symmetric” nonlinear systems. We address in detail the linear, time-varying case and present conditions for the synthesis of a static and a dynamic stabilizing controller. We show that linear spatio-temporally symmetric systems can be reduced to hybrid systems, described by a periodic linear system with periodic state jumps. As an application example, we present the stabilization of a formation of unicycle robots in cyclic pursuit.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115237897","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 Control Theoretic Framework for the Analysis and Design of Biological Networks 生物网络分析与设计的控制理论框架
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00128
D. Vecchio
{"title":"A Control Theoretic Framework for the Analysis and Design of Biological Networks","authors":"D. Vecchio","doi":"10.3182/20130904-3-FR-2041.00128","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00128","url":null,"abstract":"Control theory has been instrumental for the development of a number of engineering systems, including aerospace and transportation systems, robotics and intelligent machines, manufacturing chains, electrical, power, and information networks. In the past decade, the ability of engineering biomolecular networks has become a reality in the rising field of synthetic biology. Biomolecular networks are composed of repression and activation interactions among genes, proteins, and small signaling molecules, and have the potential of implementing arbitrarily complex functions. While modular analysis and design is a promising approach to engineer complex networks, it is still subject of debate whether a modular approach is viable in biomolecular systems. The dynamics of these networks are highly nonlinear and therefore addressing this question requires the use of tools from nonlinear control theory. Here, we review some of the techniques that we have been developing in order to analyze and design biomolecular networks modularly.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116190179","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
Utility of Iiss in Composing Lyapunov Functions for Interconnections Iiss在组合用于互连的Lyapunov函数中的应用
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00119
H. Ito
{"title":"Utility of Iiss in Composing Lyapunov Functions for Interconnections","authors":"H. Ito","doi":"10.3182/20130904-3-FR-2041.00119","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00119","url":null,"abstract":"Abstract Decomposition of a system into smaller components sometimes allows us to analyze and design the system effectively based on properties of the components. The notion of input-to-state stability (ISS) has been widely used to characterize components that refuse linear-like properties. It is, however, still restrictive, and it cannot cover a lot of saturation mechanisms which often arise in practical systems. The notion of integral input-to-state stability (iISS) is a way to remove the limitation of ISS. This paper collects and illustrates some recent advances in the framework of iISS that allows us to broaden the class of nonlinearities we can address in analysis and design of interconnected systems by making use of Lyapunov functions.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"08 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123352928","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: 19
A Robust Receding Horizon Control Approach to Artificial Glucose Control for Type 1 Diabetes 1型糖尿病人工血糖控制的鲁棒后退水平控制方法
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00154
Maxime Penet, H. Guéguen, A. Belmiloudi
{"title":"A Robust Receding Horizon Control Approach to Artificial Glucose Control for Type 1 Diabetes","authors":"Maxime Penet, H. Guéguen, A. Belmiloudi","doi":"10.3182/20130904-3-FR-2041.00154","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00154","url":null,"abstract":"The problem of controlling the blood glucose value of a patient suffering from type 1 diabetes is considered. The proposed strategy consists in designing a robust nonlinear model predictive controller based on a minimal nonlinear model. The various uncertainties and disturbances are introduced through the use of a variational model. The control problem is then expressed as a constrained game type minimax optimization problem. The choice of a final cost which ensures good stability properties are detailed. The performances of the controller are exemplified on a virtual testing platform showing its good properties.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"357 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122729601","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: 8
Neuro-Fuzzy Modified Smith Predictor for IPDT and FOPDT Processes Control IPDT和FOPDT过程控制的神经模糊修正Smith预测器
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00093
Hao-guang Chen, Z. Zouaoui, Zheng Chen
{"title":"Neuro-Fuzzy Modified Smith Predictor for IPDT and FOPDT Processes Control","authors":"Hao-guang Chen, Z. Zouaoui, Zheng Chen","doi":"10.3182/20130904-3-FR-2041.00093","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00093","url":null,"abstract":"Abstract In this paper, intelligent control approaches are introduced to overcome the problems highlighted in the standard Smith predictor. First, in order to overcome the steady state error in the Integrator Plus Dead Time (IPDT) process control due to disturbance loading, a new fuzzy logic control based SP is developed by intentionally introducing a model mismatch to improve the system performance in terms of disturbance rejection and robustness to process modelling errors. In addition, for the First Order Plus Dead Time (FOPDT) process control, a SP based neural network control scheme is proposed to deal with the process modelling errors and proved to provide a significantly improved robustness. The neural network (NN) was designed to work with different types of modelling errors. Simulation results show that this NN approach provides excellent performance in terms of robustness to modelling errors and high adaptability to the control of both IPDT and FOPDT processes.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116856032","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
Stability of NMPC with Cyclic Horizons 具有循环视界的NMPC稳定性
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00184
M. Kögel, R. Findeisen
{"title":"Stability of NMPC with Cyclic Horizons","authors":"M. Kögel, R. Findeisen","doi":"10.3182/20130904-3-FR-2041.00184","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00184","url":null,"abstract":"Abstract In this paper we present stability conditions for nonlinear model predictive control with cyclically varying horizons. Starting from a maximum horizon length, the horizon is reduced by one at each sampling time until a minimum horizon length is reached, at which the horizon is increased to the maximum length. The approach allows to utilize shapes and structures in the terminal constraints, which can otherwise not be handled. Examples are terminal box-constraints, where the terminal set cannot be rendered invariant, or quadratic terminal regions and penalties of diagonal structure. Such constraints are for example of advantage for distributed predictive control problems. To underline the applicability, the approach is used to control a four tank system.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127448345","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: 24
Modeling and Control of Casterboard Robot 脚板机器人的建模与控制
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00063
Kazuki Kinugasa, M. Ishikawa, Y. Sugimoto, K. Osuka
{"title":"Modeling and Control of Casterboard Robot","authors":"Kazuki Kinugasa, M. Ishikawa, Y. Sugimoto, K. Osuka","doi":"10.3182/20130904-3-FR-2041.00063","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00063","url":null,"abstract":"Abstract In this paper, we propose a robotic model of a casterboard, which is a commercial variants of skateboards with twistable footplates and passive inclined caster wheels. We then derive its mathematical model in the form of nonlinear state equation; this system is of much interest from both mechanical and control points of view as a new challenging example of nonholonomic mechanics. Based on the observation on preceding works concerning locomotion control for nonholonomic systems, we propose a locomotion control method with sinusoidal periodic control to realize forwarding and turning locomotion. The proposed idea is examined by simulations and physical experiments using the prototype robot developed by the authors. Moreover, we also examine the influences on the driving of the robot of parameter in the sinusoidal reference signals.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114683600","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: 11
Observers for Kinematic Systems with Symmetry 对称运动系统的观测器
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00212
R. Mahony, J. Trumpf, T. Hamel
{"title":"Observers for Kinematic Systems with Symmetry","authors":"R. Mahony, J. Trumpf, T. Hamel","doi":"10.3182/20130904-3-FR-2041.00212","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00212","url":null,"abstract":"Abstract This paper considers the design of nonlinear state observers for finite-dimensional equivariant kinematics of mechanical systems. The observer design problem is approached by lifting the system kinematics onto the symmetry group and designing an observer for the lifted system. Two particular classes of lifted systems are identified, which we term type I and type II systems, that correspond to common configurations of sensor suites for mobile robotics applications. We consider type I systems in detail and define an error signal on the symmetry group using the group structure. We propose an observer structure with a pre-observer or internal model augmented by an equivariant innovation term that leads to autonomous error evolution. A control Lyapunov function construction is used to design the observer innovation that both ensures the required equivariance, and leads to strong convergence properties of the observer error dynamics.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131093931","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: 43
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