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Control Applications (CCA), 2012 IEEE International Conference on

Date 3-5 Oct. 2012

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Displaying Results 1 - 25 of 247
  • [Title pages]

    Page(s): 1 - 21
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  • Program at a glance

    Page(s): 1 - 3
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  • Keyword index

    Page(s): 1 - 5
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  • Content list

    Page(s): 1 - 34
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  • Book of abstracts

    Page(s): 1 - 64
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    Summary form only given. Presents abstracts for the articles comprising the conference proceedings. View full abstract»

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  • Author index

    Page(s): 1 - 15
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  • Repetitive process based iterative learning control for a two motors system

    Page(s): 154 - 159
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (611 KB) |  | HTML iconHTML  

    This paper uses a 2D systems setting, based on the control theory for repetitive processes, to design an iterative learning control law with particular emphasis on the commonly encountered problem of maintaining a specified rotational speed of shaft where disturbances introduce irregularities in the speed achieved. The two motors system is a model for this problem and is used as the basis for a simulation study of the performance of the final design. View full abstract»

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  • Reverse Stackelberg games, Part I: Basic framework

    Page(s): 421 - 426
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (153 KB) |  | HTML iconHTML  

    The class of reverse Stackelberg games, also known as incentives, embodies a structure for sequential decision making that has been recognized as a suitable approach for hierarchical control problems like road tolling and electricity pricing. In this game, a leader player announces a mapping of the follower's decision space into the leader's decision space, after which a follower player determines his optimal decision variables. Compared to the original Stackelberg game, the reverse Stackelberg approach has several advantages that will be emphasized in this survey. Since the reverse Stackelberg game has been studied in different research areas, first a comprehensive overview is provided of the definition of the game. Further, several areas of application are stated. In the companion paper entitled `Reverse Stackelberg Games, Part II: Results and Open Issues', main contributions are subsequently summarized along with several characteristics of the game and open issues that are relevant for further research, are presented. View full abstract»

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  • Reverse Stackelberg games, part II: Results and open issues

    Page(s): 427 - 432
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (267 KB) |  | HTML iconHTML  

    A reverse Stackelberg game formulation can be adopted as a means to structure hierarchical control problems. Here, a leader player announces a mapping of the follower's decision space into the leader's decision space, after which a follower player determines his optimal decision variable. In the companion paper of this survey entitled `Reverse Stackelberg Games, Part I: Basic Framework', an introduction to the game has been provided with a clarification of the description of this game as it is studied in different research areas. In the current paper, an overview is provided of several main developments in the field. These contributions are categorized according to several aspects that are inherent to the formulation of the game, and they are briefly analyzed. Finally, several open issues are brought forward that are relevant for further research. View full abstract»

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  • Noise analysis of a CMOS inverter using the Itô stochastic differential equation

    Page(s): 344 - 349
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (137 KB) |  | HTML iconHTML  

    The noise-free CMOS inverter is described by a first- order non-linear differential equation that can be regarded as a standard case in electronic circuits from the system-theoretic viewpoint. In lieu of the noise-free CMOS inverter, this paper explains the stochastic CMOS inverter at the low power supply voltage. The method of this paper utilizes the Kolmogorov-Fokker-Planck equation for the noise analysis of the CMOS inverter. In this paper, first we develop the CMOS inverter Itô Stochastic Differential Equation (SDE). Secondly, a system of two-coupled state estimation equations is derived. The numerical experimentations are demonstrated for the noise analysis of the CMOS inverter circuits as well. View full abstract»

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  • A general approach to optimal control processes associated with a class of discontinuous control systems: Applications to the sliding mode dynamics

    Page(s): 1154 - 1159
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (181 KB) |  | HTML iconHTML  

    This paper extends a theoretical approach to optimal control problems (OCPs) governed by a class of control systems with discontinuous right hand sides. A possible application of the framework developed in this paper is constituted by the conventional sliding mode dynamic processes. The general theory of the general constrained OCPs is finally used as an analytic basis for some conceptual numerically tractable schemes from a wide family of computational methods for OCPs. The proposed analytic method guarantees consistency of the resulting approximations related to the sophisticated initial infinite-dimensional optimization problem and can provide a fundament for some concrete implementable algorithms. View full abstract»

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  • State estimation of complex oscillatory system with uniform quantization under data rate constraints

    Page(s): 865 - 870
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (427 KB) |  | HTML iconHTML  

    A scheme for state estimation for multiple-output nonlinear system under communication constraints is extended for the case of exogenous excitation and implemented for Mechatronic Multipendulum Setup. Experimental results are presented, showing efficiency of the proposed method. View full abstract»

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  • Searching the optimal order for high order models - SISO case

    Page(s): 843 - 848
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1475 KB) |  | HTML iconHTML  

    The goal of System Identification is to obtain a reduced order model capable of reproducing the key features of the true system behavior. Some system identification methods require, as a starting point, a high order linear model of the system. Such model is then adopted as the system most reliable description and, based on it, the desired reduced order model is derived. In this scenario, one could ask “what is the best order of the high order model?”. The reply to this question is not addressed in the specialized literature. This paper presents an optimization strategy that maximizes the fit index to deal with this subject. View full abstract»

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  • A reactive algorithm for safe navigation of a wheeled mobile robot among moving obstacles

    Page(s): 1567 - 1571
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    We present a simple biologically inspired strategy for navigation a unicycle-like robot towards a target while avoiding collisions with moving obstacles. Mathematically rigorous analysis of the proposed approach is provided. The convergence and performance of the algorithm is demonstrated via extensive computer simulations. View full abstract»

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  • Adaptive asymptotic tracking control of strict-feedback nonlinear discrete-time system with periodic time delay

    Page(s): 1310 - 1315
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (161 KB) |  | HTML iconHTML  

    This paper presents adaptive asymptotic tracking control of a class of uncertain strict-feedback discrete-time nonlinear systems subjected to parametric and nonparametric model uncertainties with unknown periodic time delay. Using states information in the past instant to compensate for non-parametric uncertainties at the current instant, constructive adaptive control is developed based on predicted future states. The designed adaptive control guarantees the bounded-ness of all the closed-loop signals and achieves asymptotic tracking performance. View full abstract»

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  • A parallel algorithm for implicit model predictive control with barrier function

    Page(s): 1405 - 1410
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (418 KB) |  | HTML iconHTML  

    An increasing interest of the control community is currently dedicated to reducing the computation time of implicit model predictive controllers, even by looking at algorithms able to get “good” suboptimal solutions and which could be more efficiently implemented in real time. To this aim the potentialities of the weighted barrier function approach has been widely demonstrated in the literature. In this work it is addressed the issue of increasing performances of the barrier method for constrained model predictive control (MPC) through an algorithm that concurrently looks at the outcomes corresponding to different weights of the barrier functions and chooses, at each optimization stage, the “best” optimizing solution. The proposed idea has interesting effects with respect to the performance of the control action, particularly in the situation in which system states and inputs signals are moving close to the constraints. Good results are obtained without increasing the computation time in a significative way thanks to the parallelization. The effectiveness of the approach has been successfully validated in simulations on two different case-studies taken from the recent literature on the application of implicit MPC: the Cessna Citation 500 aircraft and a rotating antenna. View full abstract»

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  • Model Predictive PID Traction Control Systems for Electric Vehicles

    Page(s): 112 - 117
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (453 KB) |  | HTML iconHTML  

    In this paper, a new model predictive PID control method for the traction control of EVs (electric vehicles) is proposed. The proposed method aims to improve the maneuverability and the stability of EVs by controlling the wheel slip ratio. The optimal control gains of PID framework are derived by the model predictive control (MPC) algorithm. There also include numerical simulation results to demonstrate the effectiveness of the method. View full abstract»

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  • VSS strategy in energy grid control,

    Page(s): 1160 - 1165
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (266 KB) |  | HTML iconHTML  

    With the introduction of recent standards on limitation of harmonic pollution of electrical power distribution system, three-phase PWM converters are considered as prime candidates to interface high-power electronic equipment to power supply lines. A FPGA based digital control platform for converter system, built in the laboratory, is presented and discussed. This paper proposed a novel predictive variable structure switching (VSS) based current controller for a three-phase load driven by a power converter. The design specifications are robustness to load electrical parameters, fast dynamic response, reduced switching frequency, and simple hardware implementation. In order to meet previous specifications, a sliding mode controller has been developed, designed as finite state machine (FSM), and implemented with a field programmable gate array (FPGA) device. The switching strategy implemented within the state transition diagramme provides for a minimum number of switches by the three-phase converter that is confirmed through simulation and experimental results. View full abstract»

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  • Stability principle underlying passive dynamic walking of rimless wheel

    Page(s): 1039 - 1044
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    Rimless wheels are known as the simplest model for passive dynamic walking. It is known that the passive gait generated only by gravity effect always becomes asymptotically stable and 1-period because a rimless wheel automatically achieves the two necessary conditions for guaranteeing the asymptotic stability; one is the constraint on impact posture and the other is the constraint on restored mechanical energy. The asymptotic stability is then easily shown by the recurrence formula of kinetic energy. There is room, however, for further research into the inherent stability principle. In this paper, we reconsider the stability of the stance phase based on the linearization of the equation of motion, and investigate the relation between the stability and energy conservation law. Through the mathematical analysis, we provide a greater understanding of the inherent stability principle. View full abstract»

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  • Active and passive straightening control strategies for non-standard N-trailer vehicles

    Page(s): 1572 - 1577
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (339 KB) |  | HTML iconHTML  

    Maneuvers with articulated vehicles belong to the most demanding control tasks performed in every-day transportation practice. One of the most frequent maneuvers involve straightening of a vehicle chain during a preliminary stage which prepares the system to subsequent difficult maneuvers like backward docking with trailers. In this paper two alternative types of straightening control strategies (active and passive) are proposed and compared in view of their effectiveness in vehicle self-aligning. Control strategies are designed and analyzed by using the triangular forms derived for joint-angle kinematics of the N-trailer vehicle equipped with off-axle hitching interconnections. Formal considerations are verified by numerical tests. View full abstract»

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  • A simple asymptotically optimal randomized algorithm for decentralized blanket coverage self-deployment of mobile robotic sensor networks

    Page(s): 1352 - 1355
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (310 KB) |  | HTML iconHTML  

    We propose a novel distributed randomized algorithm for self-deployment of a network of mobile robotic sensors in the problem of blanket coverage. The aim is to deploy sensors in a bounded connected region so that any point of the region is sensed by at least one mobile robotic sensor. The proposed algorithm is based only on information about the closest neighbours of each sensor. The monitoring region is of an arbitrary shape and not known to the sensors a priori. We give mathematically rigorous proofs of asymptotic optimality and convergence with probability 1 of the proposed algorithm. View full abstract»

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  • Reproduction of kinematics of cars involved in crash events using nonlinear autoregressive models

    Page(s): 563 - 568
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (677 KB) |  | HTML iconHTML  

    Vehicle crashworthiness can be assessed by the variety of methods - the most common and direct one is a vehicle crash test. Visual inspection and obtained measurements, such as car acceleration, are used to examine impact severity of an occupant and overall car safety. However, those experiments are complex, time-consuming, and expensive. We propose a method to reproduce car kinematics during a collision using a feedforward neural network to estimate the system by use of nonlinear autoregressive (NAR) models. Specifically, feasibility of applying neural networks with an NAR model to the analysis of experimental data is explored by application to measurements of a vehicle crash test. This model allows us to predict the kinematic responses (acceleration, velocity, and displacement) of a given car during a collision. The major advantage of this approach is that those plots can be obtained without additional teaching of a network. View full abstract»

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  • A strategy for target capturing with collision avoidance for non-holonomic robots with sector vision and range-only measurements

    Page(s): 1503 - 1508
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (440 KB) |  | HTML iconHTML  

    We consider the problem of capturing a target by a team of kinematically controlled non-holonomic Dubins-like vehicles based on range-only measurements. Every vehicle has access to the distance to the target and the distances to the companions from the given disc sector centered at this vehicle. The objective is to drive all vehicles to the circle of the prescribed radius centered at the target, to uniformly distribute them along this circle, and to ensure the pre-specified speed and direction of their motion along the circle. A decentralized control law is proposed and investigated. Mathematically rigorous proofs of its convergence and stability, as well as collision avoidance property are presented; the performance of the control law is illustrated by computer simulations. View full abstract»

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  • Wind power dispatch control with battery energy storage using model predictive control

    Page(s): 733 - 738
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (629 KB) |  | HTML iconHTML  

    The purpose of integrating a battery energy storage system (BESS) with large scale wind farms is to compensate the intermittency of the wind power and also to make wind farms more dispatchable and competitive against the conventional power plants. This paper presents a novel wind power dispatch control scheme with a BESS based on model predictive control to manage the amount of energy generated and sold to the electricity market, and to optimize the operation of the BESS. The proposed control scheme follows a decision policy of selling more energy at peak demand/price times and storing it at off-peak periods in compliance with the electricity rules of the Australian national electricity market. The effectiveness of the proposed control scheme is examined by simulation results using actual wind farm and electricity price data. View full abstract»

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  • Synchronization of discrete-time multi-agent systems on graphs using H2-Riccati design

    Page(s): 439 - 444
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (172 KB) |  | HTML iconHTML  

    In this paper design methods are given for synchronization control of discrete-time multi-agent systems on directed communication graphs. The graph properties complicate the design of synchronization controllers due to the interplay between the eigenvalues of the graph Laplacian matrix and the required stabilizing gains. A method is given herein, based on an H2 type Riccati equation, that decouples the design of the synchronizing gains from the detailed graph properties. A condition for synchronization is given based on the relation of the graph eigenvalues to a bounded circular region in the complex plane that depends on the agent dynamics and the Riccati solution. This condition relates the Mahler measure of the node dynamics system matrix to the connectivity properties of the communication graph. The notion of `synchronizing region' is used. An example shows the effectiveness of these design methods for achieving synchronization in cooperative discrete-time systems. View full abstract»

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