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2017 American Control Conference (ACC)最新文献

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Towards realistic covariance estimation of ICP-based Kinect V1 scan matching: The 1D case 基于icp的Kinect V1扫描匹配的现实协方差估计:1D案例
2017 American Control Conference (ACC) Pub Date : 2017-05-24 DOI: 10.23919/ACC.2017.7963703
Martin Barczyk, S. Bonnabel
{"title":"Towards realistic covariance estimation of ICP-based Kinect V1 scan matching: The 1D case","authors":"Martin Barczyk, S. Bonnabel","doi":"10.23919/ACC.2017.7963703","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963703","url":null,"abstract":"The Iterative Closest Point (ICP) algorithm is a classical approach to obtaining relative pose estimates of a robot by scan matching successive point clouds captured by an onboard depth camera such as the Kinect V1, which has enjoyed tremendous popularity for indoor robotics due to its low cost and good performance. Because the sensed 3D point clouds are noticeably corrupted by noise, it is useful to associate a covariance matrix to the relative pose estimates, either for diagnostics or for fusing them with other onboard sensors by means of a probabilistic sensor fusion method such as the Extended Kalman Filter (EKF). In this paper, we review the sensing characteristics of the Kinect camera, then present a novel approach to estimating the covariance of pose estimates obtained from ICP-based scan matching of point clouds from this sensor. Our key observation is that the prevailing source of error for ICP registration of Kinect-measured point clouds is quantization noise rather than white noise. We then derive a closed-form formula which can be computed in real time onboard the robot's hardware, for the case where only 1D translations are considered. Experimental testing against a ground truth provided by an optical motion capture system validates the effectiveness of our proposed method.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122915368","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: 12
Ground target tracking and trajectory prediction by UAV using a single camera and 3D road geometry recovery 基于单摄像头和三维道路几何恢复的无人机地面目标跟踪与轨迹预测
2017 American Control Conference (ACC) Pub Date : 2017-05-24 DOI: 10.23919/ACC.2017.7963122
Yingmao Li, E. Doucette, J. Curtis, N. Gans
{"title":"Ground target tracking and trajectory prediction by UAV using a single camera and 3D road geometry recovery","authors":"Yingmao Li, E. Doucette, J. Curtis, N. Gans","doi":"10.23919/ACC.2017.7963122","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963122","url":null,"abstract":"In this paper, we propose a new method to address the dual problem of ground target tracking in the image plane and 3D road geometry recovery using a single vision sensor on-board an unmanned aerial vehicle. We recover the road geometry from a single aerial image by a novel structure from motion algorithm with the simple assumption that road or lane boundaries are parallel curves and do not have significant twist. The coordinate of the ground target in the camera frame is then estimated using the recovered road geometry. An extended Kalman filter is finally applied to track and predict the trajectory of the target using recent target motion and the road geometry. The experimental results on simulated data and real world image show the feasibility of our approach.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"79 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123175788","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
Attitude control strategies overcoming the topological obstruction on SO(3) 克服拓扑障碍的姿态控制策略(3)
2017 American Control Conference (ACC) Pub Date : 2017-05-24 DOI: 10.23919/ACC.2017.7963283
Taeyoung Lee, D. Chang, Y. Eun
{"title":"Attitude control strategies overcoming the topological obstruction on SO(3)","authors":"Taeyoung Lee, D. Chang, Y. Eun","doi":"10.23919/ACC.2017.7963283","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963283","url":null,"abstract":"Global tracking strategies are presented for the attitude dynamics of a rigid body. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on the special orthogonal group. Recently, the topological restriction has been dealt with switching between multiple configuration error functions according to the hybrid system framework. This paper proposes an alternative attitude control strategy to achieve exponential stability where the region of attraction covers the entire special orthogonal group. This is achieved by the novel ideal of adjusting the desired attitude trajectory via a conjugacy class. The unique contribution is that the topological restriction in attitude controls is addressed without introducing discontinuities with respect to time.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123831095","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
Robust fuzzy control for vehicle lateral dynamic stability via Takagi-Sugeno fuzzy approach 基于Takagi-Sugeno模糊方法的车辆横向动态稳定性鲁棒模糊控制
2017 American Control Conference (ACC) Pub Date : 2017-05-24 DOI: 10.23919/ACC.2017.7963822
Xianjian Jin, Guo-dong Yin, Junmin Wang
{"title":"Robust fuzzy control for vehicle lateral dynamic stability via Takagi-Sugeno fuzzy approach","authors":"Xianjian Jin, Guo-dong Yin, Junmin Wang","doi":"10.23919/ACC.2017.7963822","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963822","url":null,"abstract":"This paper presents a robust fuzzy H∞ controller design for vehicle lateral dynamic stability control via a Takagi-Sugeno (T-S) fuzzy modeling approach. As vehicle lateral dynamics possesses inherent nonlinearities, the main objective of this work is to deal with the nonlinear challenge in vehicle dynamics. First, the T-S fuzzy modeling approach is applied to represent the nonlinear Brush tire dynamics, and then the multi-model-based uncertain nonlinear vehicle lateral dynamics fuzzy system is established. In terms of the parallel-distributed compensation (PDC) strategy and defined premise variables, the robust fuzzy H∞ state-feedback controller is finally designed with Lyapunov theory and quadratic stabilization. Sufficient condition for the existence of such a robust fuzzy controller is derived and solved via a set of linear matrix inequalities. The simulations with a high-fidelity, CarSim®, full-vehicle model show the effectiveness of the proposed controller under a J turn-like maneuver.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124857404","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
Stabilizing stochastic MPC without terminal constraints 稳定无终端约束的随机MPC
2017 American Control Conference (ACC) Pub Date : 2017-05-24 DOI: 10.23919/ACC.2017.7963832
Matthias Lorenzen, M. Müller, F. Allgöwer
{"title":"Stabilizing stochastic MPC without terminal constraints","authors":"Matthias Lorenzen, M. Müller, F. Allgöwer","doi":"10.23919/ACC.2017.7963832","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963832","url":null,"abstract":"The stability proofs of Model Predictive Control without terminal constraints and/or cost are tightly based upon the principle of optimality, which does not hold in most currently employed approaches to Stochastic MPC. In this paper, we first provide a stability proof for Stochastic Model Predictive Control without terminal cost or constraints under the assumption of optimization over feedback laws and propagation of the probability density functions of predicted states. Based thereon, we highlight why the proof does not remain valid if approximations such as parametrized feedback laws or relaxations on the chance constraints are employed and provide tightened assumptions that are sufficient to establish closed-loop stability. General statements valid for nonlinear systems are provided along with examples and computational simplifications in the case of linear systems.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125109463","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
Stability and robustness analysis for a multi-species chemostat model with uncertainties 具有不确定性的多物种趋化器模型的稳定性和鲁棒性分析
2017 American Control Conference (ACC) Pub Date : 2017-05-24 DOI: 10.23919/ACC.2017.7963267
F. Mazenc, Michael A. Malisoff, G. Robledo
{"title":"Stability and robustness analysis for a multi-species chemostat model with uncertainties","authors":"F. Mazenc, Michael A. Malisoff, G. Robledo","doi":"10.23919/ACC.2017.7963267","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963267","url":null,"abstract":"We prove stability and robustness results for chemostat models with one substrate, an arbitrary number of species, a constant dilution rate, and constant inputs of the species. Unlike all previous works, we prove input-to-state stability under uncertainties in important cases where the controls are the input nutrient concentration and the species inputs. Our assumptions ensure global asymptotic stability for an equilibrium, which can allow persistence of multiple species, when the uncertainties are zero. We allow arbitrarily large bounds on the uncertainties in the species dynamics, and equilibria that can be in the boundary of the state space.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126145843","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 control of DC-DC boost converters for solar systems 太阳能系统DC-DC升压变换器的鲁棒控制
2017 American Control Conference (ACC) Pub Date : 2017-05-24 DOI: 10.23919/ACC.2017.7963741
Yeqin Wang, B. Ren, Qing-Chang Zhong
{"title":"Robust control of DC-DC boost converters for solar systems","authors":"Yeqin Wang, B. Ren, Qing-Chang Zhong","doi":"10.23919/ACC.2017.7963741","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963741","url":null,"abstract":"It is very challenging to control a DC-DC boost converter, due to its non-minimum phase phenomenon, model uncertainties (e.g., the parasitics), and external disturbances (e.g., input voltage change or load change). In this paper, a uncertainty and disturbance estimator (UDE)-based current-mode control (CMC) is proposed to address these problems. A new voltage dynamics is developed to avoid the non-minimum phase phenomenon. Then the UDE algorithm is adopted for both voltage-loop control design and current-loop control design to deal with model uncertainties, external disturbances, and the inductor current estimation error. Furthermore, a new control framework based on this UDE-based CMC is proposed for the grid integration of solar systems with voltage protection. Experimental results are provided to demonstrate the effectiveness and robustness of the proposed strategies.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128233474","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
Stability analysis of switched systems with time-varying discontinuous delays 时变不连续时滞切换系统的稳定性分析
2017 American Control Conference (ACC) Pub Date : 2017-05-24 DOI: 10.23919/ACC.2017.7963758
F. Mazenc, Michael A. Malisoff, H. Özbay
{"title":"Stability analysis of switched systems with time-varying discontinuous delays","authors":"F. Mazenc, Michael A. Malisoff, H. Özbay","doi":"10.23919/ACC.2017.7963758","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963758","url":null,"abstract":"A new technique is proposed to ensure global asymptotic stability for nonlinear switched time-varying systems with time-varying discontinuous delays. It uses an adaptation of Halanay's inequality to switched systems and a recent trajectory based technique. The result is applied to a family of linear time-varying systems with time-varying delays.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129285334","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
Lithium-ion battery disturbance current estimation, with application to a self-balancing photovoltaic battery storage system 锂离子电池扰动电流估计及其在自平衡光伏电池储能系统中的应用
2017 American Control Conference (ACC) Pub Date : 2017-05-24 DOI: 10.23919/ACC.2017.7963576
Partha P. Mishra, H. Fathy
{"title":"Lithium-ion battery disturbance current estimation, with application to a self-balancing photovoltaic battery storage system","authors":"Partha P. Mishra, H. Fathy","doi":"10.23919/ACC.2017.7963576","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963576","url":null,"abstract":"This paper develops a model-based algorithm for combined state and disturbance estimation in a lithium-ion battery cell. The “disturbance”, in this context, is the external current applied to the cell. The algorithm estimates this current based solely on terminal voltage measurement, which is valuable for applications where current sensors are too costly. Furthermore, the paper presents a theoretical analysis of the disturbance estimation covariance achievable by this algorithm. The algorithm is particularly valuable for applications where estimates of battery current are needed, but measurements of this current are too costly. One example comes from the authors' previous work on a self-balancing hybrid photovoltaic/battery system. We apply the proposed algorithm, in simulation, to this system, and use a moving average filter to attenuate the noise in its disturbance current estimates. The results of this simulation study show that the proposed algorithm is indeed successful in tracking both the internal battery state and photovoltaic current in the above hybrid photovoltaic/battery system.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124523977","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
Graph-based hierarchical control of thermal-fluid power flow systems 基于图的热流体动力流系统分层控制
2017 American Control Conference (ACC) Pub Date : 2017-05-24 DOI: 10.23919/ACC.2017.7963262
H. Pangborn, Matthew A. Williams, Justin P. Koeln, A. Alleyne
{"title":"Graph-based hierarchical control of thermal-fluid power flow systems","authors":"H. Pangborn, Matthew A. Williams, Justin P. Koeln, A. Alleyne","doi":"10.23919/ACC.2017.7963262","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963262","url":null,"abstract":"To meet the rising performance and efficiency demands on high performance thermal management systems, this paper proposes a hierarchical model-based control framework for thermal-fluid power flow systems. This hierarchy uses scalable graph-based dynamic models of the hydrodynamics and thermodynamics of these systems, derived from conservation of mass and conservation of thermal energy, respectively. Leveraging the inherent timescale separation between thermal and hydraulic dynamics, a three-layer control hierarchy is constructed. The use of Model Predictive Control (MPC) at each layer allows actuator and state constraints to be explicitly considered and allows preview of upcoming thermal disturbances to be used for optimization. In addition, the hierarchy has functionality to account for actuator dynamics, including rate limits and time delays. The proposed control approach is demonstrated in simulation on a system configuration that is notionally representative of a simplified aircraft fuel thermal management system.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132446207","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
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