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In this paper we tackle the problem of collision avoidance of ground vehicles in a platoon. In this framework, we focus on a single vehicle, and we guarantee that a given safe set is not exited during a mission. More specifically, we consider the yaw-lateral motion of a two-wheel vehicle subject to a side wind, and we design a state-feedback controller such that the vehicle follows the nominal trajectory...
In plasma magnetic control schemes, comprising a cascade control scheme with a plasma current and shape controller (CSC) in the outer loop and a vertical stabilisation (VS) controller in the inner loop, the main challenges are: the suppression of plasma shape transients after disturbances specific to tokamak reactors; the robustness to changes of the local dynamics; using the available chamber volume...
This paper considers the problem of observer design for the class of sampled output impulsive dynamical linear systems, which are a special class of hybrid systems whose state trajectory undergoes finite jumps, which are assumed to be time driven. The proposed observer is an impulsive and exploits the sampled nature of the plant to achieve zero estimation error in a predefined finite time. The effectiveness...
In this work we explore the practical feasibility of using MPC for PCSC in the ITER tokamak, employing complexity reduction techniques and recently developed fast on-line quadratic programming (QP) optimization methods. A survey of the available QP methods suitable for the on-line solution of MPC optimization problems is given, with emphasis on first-order methods, which have been recently considered...
This paper tackles the problem of impulsive observer design for the class of linear time invariant system with sampled outputs. The proposed design approach includes continuous-time evolution and discrete jumps at specified time instants. The resulting observer is capable to track the system states in a predefined finite time. The estimation error is shown to be uniformly exponentially stable for...
This paper studies the problem of static sensor selection for ensuring K-diagnosability in bounded Petri nets. An integer linear programming problem is formulated to determine the minimal number of randomly selected sensors that make K-diagnosable net system with respect to a fault. This value is an estimate of the minimum number of sensors that assures the K-diagnosability of a given fault, which...
This paper deals with the identification problem for deterministic timed Petri net systems. The proposed algorithm identifies a timed Petri net starting from the observed timed sequences. The main idea is to use the timing information to accelerate the net identification with respect to the untimed approaches. In particular, exploiting the timing it is possible to determine a set of counterexamples,...
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