Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference

Summary form only given. Provides an abstract for each of the presentations in the conference proceedings. View full abstract»

A simple efficient method for addressing finite-horizon control problems is suggested for a class of linear time-varying systems by solving 'standard' (algebraic) linear matrix inequalities (LMIs). Considering the Lyapunov function xTP(t)x, a class of time-varying solutions for P(t) is derived without using differential inequalities. The core idea is to seek a P(t) which is linear in ti... View full abstract»

The stabilizability problem of planar switched systems is investigated. Based on the polar-coordinates interpretation, the intrinsical connections between the conic switching rule and the qualitative features of the subsystems are presented. Therefore, necessary and sufficient stabilizability conditions are established. The stabilizing switching rules are categorized into two types, termed swingin... View full abstract»

For the multisensor linear discrete time-invariant systems with correlated measurement noises and with different measurement matrices, based on weighted least squares (WLS) method, applying orthogonal transformation, two weighted measurement fusion Kalman filtering algorithms are presented. Using information filter, it is proved that they are functionally equivalent to the centralized fusion Kalma... View full abstract»

In recent years there has been a growing interest in development and utilization of small satellites (smallsats) for scientific missions using single or multiple spacecraft (SC). Due to their small size and low mass, it is not generally possible to equip smallsats with redundant actuators. In case of a failure in the SC's attitude control actuators, one has to reconfigure the control laws in order... View full abstract»

A tunable radial basis function (RBF) network model is proposed for nonlinear system identification using particle swarm optimisation (PSO). At each stage of orthogonal forward regression (OFR) model construction, PSO optimises one RBF unit's centre vector and diagonal covariance matrix by minimising the leave-one-out (LOO) mean square error (MSE). This PSO aided OFR automatically determines how m... View full abstract»

A novel finite word length (FWL) controller design is developed in the framework of mixed μ theory. A robust FWL controller performance measure is proposed which takes into account the standard robust control requirements as well as the FWL implementation considerations, and the corresponding FWL robust controller design problem is naturally reformulated as a mixed μ problem which ... View full abstract»

For the multisensor systems with correlated noises and identical measurement matrices, based on linear unbiased minimum variance (LUMV) criterion, a weighted measurement fusion (WMF) Kalman filter is presented, where the optimal weights is given by the Lagrange multiplier method. By using the information filter, it is proved that it is functionally equivalent to the centralized fusion Kalman filte... View full abstract»

This paper describes a diesel engine lean NOx trap (LNT) regeneration control system using a nonlinear model predictive control (NMPC) technique. A two-level NMPC architecture is proposed for the LNT regenerations. The control objective is to minimize the fuel penalty caused by LNT regenerations while keeping the tailpipe NOx emissions amount under the regulation level. A physically-bas... View full abstract»

This paper deduces and analyzes the invariant set in quantum Lyapunov control, explores the principles for constructing and adjusting diagonal elements of a diagonal Lyapunov function, and achieves the convergence to any goal state in some invariant subset of closed loop systems by using dynamical system theory and energy-level connectivity graph. Research results show that if a goal state is an e... View full abstract»

This paper is concerned with the quantized output feedback H∞ control problem for discrete-time Takagi-Sugeno fuzzy systems. The measurement output of the system is quantized by a memoryless logarithmic quantizer before being transmitted to the controller. The problem we address is the design of a full order dynamic output feedback controller ensuring the asymptotical stability ... View full abstract»

A robust adaptive fault-tolerant control approach to attitude tracking of flexible spacecraft is proposed for use in situations when there are actuator (reaction wheels) failures, external disturbances and unknown inertia-parameter uncertainties. The controller is designed based on a backstepping sliding mode control scheme. It ensures that the equilibrium points in the closed-loop system exhibits... View full abstract»

The quantized measurement fusion problem for target tracking in wireless sensor networks (WSNs) is investigated. Due to the limited energy and bandwidth, each activated node quantizes and then transmits the local measurements by probabilistic quantization strategy. The fusion center (FC) estimates the target state in a dimension compression way instead of merging all the quantized messages to a ve... View full abstract»

We consider the problem of observer design for systems with periodic disturbances in the system outputs. Assuming that the period T of the disturbance is known, we introduce the idea of mixing past and present output data to remove the disturbance, by defining a new output as the difference between the original output at time t and at time t-T .We determine the exact conditions under which the sys... View full abstract»

This paper is concerned with robust stability of uncertain linear systems with interval time-varying delay. The time-varying delay is assumed to belong to an interval and the derivative of the time-varying delay has upper bound, at the same time, no restriction on the derivative of the time-varying delay is considered, which allows the delay to be a fast time-varying function. The uncertainty unde... View full abstract»

This paper deals with the H∞ control of spatially interconnected systems where homogeneous subsystems communicate with their neighbors over packet dropping channels. Both the robust stability analysis and controller synthesis problems are thoroughly investigated. At first, temporal forward and spatial shift operators are used to model the interconnected systems with random commu... View full abstract»

This paper presents a novel visual servoing strategy for a nonholonomic mobile robot, which is based on a new motion estimation technique. By taking into account the planar motion constraint of mobile robots, the proposed motion estimation technique does not require the estimation and decomposition of the homography or fundamental matrix, and it dose not cause any ambiguity problems. Moreover, the... View full abstract»

In the present paper we obtain a closed-form solution for the class of continuous-time algebraic Riccati equations (ARE) with vanishing state weight, whenever the unstable eigenvalues are distinct. The AREs in such a class solve a minimum energy control problem. The obtained closed-form solution gives insight on issues such as loss of controllability and it might also prove comparable in terms of ... View full abstract»

This paper presents two motion generation methods for the upper body of the humanoid robot in order to guarantee the equilibrium condition of the yaw moment in bipedal planning based on the ZMP convention. The reactive torque from the ground and the effect of arms swinging on robot's body locomotion are analyzed. Therefore trunk spin motion and arms swinging motion are planned to improve the motio... View full abstract»

This paper is concerned with the control performance assessment based on the multivariable generalized minimum variance benchmark. Firstly an explicit expression for the feedback controller-invariant (here we call it generalized minimum variance) term of the multivariable control systems is obtained, and consequently the derived feedback controller-invariant term is used as a standard benchmark fo... View full abstract»

In this paper, the exponential synchronization problem of a class of chaotic delayed neural networks (DNNs) via impulsive control method is studied. Based on the theory of impulsive functional differential equations (FDEs), some new synchronization criteria expressed in the form of linear matrix inequalities (LMIs) are derived. The designed impulsive controller not only can globally exponentially ... View full abstract»

In the following paper, we study the tradeoff between network utility and network lifetime for energy-constrained wireless sensor networks (WSNs). By introducing a parameter r, we combine these two objectives into a single weighted objective, and consider rate control and routing in this tradeoff framework simultaneously. First, using the dual decomposition method, we decompose the tradeoff model ... View full abstract»