2009 17th Mediterranean Conference on Control and Automation最新文献_第4页

Formation control of marine veihicles via real-time Networked Decentralized MPC 基于实时网络分散MPC的船舶编队控制

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164579

M. Vaccarini, S. Longhi

{"title":"Formation control of marine veihicles via real-time Networked Decentralized MPC","authors":"M. Vaccarini, S. Longhi","doi":"10.1109/MED.2009.5164579","DOIUrl":"https://doi.org/10.1109/MED.2009.5164579","url":null,"abstract":"Traditional ocean research and exploration usually require a lot of time, funds and, in general, resources. In the last years, mainly thanks to the GPS technology, unmanned small vehicles have been proposed for marine exploration and investigation. In this paper, a cooperation scheme (either for surface and underwater vehicles) is outlined for a multi-robot framework with a certain mission. The objective is translated into a formation control problem and the coordination is achieved through underwater sonar communication. A real-time implementable formation control strategy based on Networked Decentralized MPC is presented that drive each single vehicle. MPC allows to take into account for constraints, nonlinearities and exchanged information about future behaviours of the single agents. The decentralized strategy makes use of either local and received information for computing the best behaviour that optimises some objective function. A reconfigurable hierarchical structure is assumed for managing the formation. The real-time implementability is achieved using Multiplexed MPC and/or stochastic optimization algorithms for reducing computation times. Simulation results are provided for comparing the presented algorithms.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127548311","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: 17

Nonlinear backstepping control design for miniature helicopters using the rotation matrix 基于旋转矩阵的微型直升机非线性反步控制设计

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164714

I. Raptis, K. Valavanis, W. Moreno

引用次数: 8

Experimental verification of an adaptive input shaping scheme for hoisting cranes 一种自适应起重起重机输入整形方案的实验验证

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164630

J. Stergiopoulos, G. Konstantopoulos, A. Tzes

引用次数: 14

Networked Control system with intermittent observations: FDI/FTC design based on Interacting Multiple Model approach 具有间歇观测的网络控制系统:基于交互多模型方法的FDI/FTC设计

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164596

J. Georges, D. Theilliol, J. Ponsart, C. Aubrun

{"title":"Networked Control system with intermittent observations: FDI/FTC design based on Interacting Multiple Model approach","authors":"J. Georges, D. Theilliol, J. Ponsart, C. Aubrun","doi":"10.1109/MED.2009.5164596","DOIUrl":"https://doi.org/10.1109/MED.2009.5164596","url":null,"abstract":"This paper presents a FTC approach based on sensor masking principle in the special case of control system integrating a wireless sensor network. In the presence of sensor faults, the faulty measurements corrupt directly the behaviour of the closed-loop systems. With wireless transmission, packet losses are acting as additional sensor faults. Since the controller aims at cancelling the error between the measurement and its reference input, the real outputs will in such networked control system deviate from the desired value and may drive the system to its physical limitations or even to instability. The proposed method makes possible the faults compensation based on a classical Interacting Multiple Model developed in the framework of multiple sensors failures. The IMM involved in Networked Control system provides simultaneously on-line packet losses detection, and isolation and also a suitable state estimation. Based on particular knowledge on packet losses, sensor fault-tolerant controls are obtained by computing a new control law using a fault-free estimation of the faulty element to avoid faults to develop into failures and to minimise the effects on the system performance and safety.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128876140","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: 5

Introducing recursive learning algorithm for system identification of nonlinear time varying processes 介绍了非线性时变过程系统辨识的递归学习算法

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164631

M. Mirmomeni, C. Lucas, Babak Nadjar Araabi

{"title":"Introducing recursive learning algorithm for system identification of nonlinear time varying processes","authors":"M. Mirmomeni, C. Lucas, Babak Nadjar Araabi","doi":"10.1109/MED.2009.5164631","DOIUrl":"https://doi.org/10.1109/MED.2009.5164631","url":null,"abstract":"several methods have been introduced for identification of nonlinear processes via locally or partially linear models. Unfortunately, most of these methods have a training phase which should be done offline. There are phenomena that possess time varying behavior. Furthermore, the amount, distribution and/or quality of measurement data that is available before the model is put to operation may be insufficient to build a model that would meet the specification. One of the most popular learning methods in nonlinear system identification is Locally Linear Model Tree (LoLiMoT) algorithm as an incremental learning method which needs to be carried out by an offline data set. This paper introduces a recursive version of this algorithm called Recursive Locally Linear Model Tree algorithm (RLoLiMoT) for time varying and online applications. The proposed method also eliminates some of the LoLiMoT restrictions in tuning premise parameters of the Locally Linear Models (LLMs). Two case studies are considered to test the performance of the proposed method. The results depict the power of the proposed method in online system identification of nonlinear time varying systems.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"49 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120890679","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

A geometrical treatment for obtaining necessary and sufficient conditions for joint quadratic Lyapunov function existence for state-dependent, switched systems: A two-dimensional case 状态相关切换系统联合二次Lyapunov函数存在的充分必要条件的几何处理:二维情形

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164732

W. Griggs, C. King, R. Shorten, O. Mason, K. Wulff

引用次数: 0

Detecting static occlusion edges using foreground patterns 使用前景模式检测静态遮挡边缘

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164668

Grant Miller, S. Atev, N. Papanikolopoulos

引用次数: 1

Robust control of manipulator arm using combined shame via performance limitation 基于性能限制的组合羞耻感机械臂鲁棒控制

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164730

N. Mohammadzadeh, M. Mola, R. Amirifar

引用次数: 0

Avoiding fold bifurcations with the help of new proximity indices 利用新的接近度指标避免分叉

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164689

Giorgos Altanis, N. Maratos

引用次数: 0

Current and voltage control of paralleled multi-module inverter systems 并联多模块逆变系统的电流和电压控制

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164759

N. Talebi, M. Sadrnia, S. Rafiei

引用次数: 5