2010 American Control Conference (ACC 2010)

chapter

L₂-gain of systems with input delay and controller failure: zero-order hold model

Xi-Ming Sun, Guo-Ping Liu, Wei Wang, David Rees

Proceedings of the 2010 American Contrl Conference > 4058 - 4063

This paper studies the stability and L₂-gain problem for a class of systems with input delay subject to controller failure. When the controller fails, zero-order hold is adopted. The paper addresses how long and how frequent the failure can be and still maintain the system exponentially stable and weighted L₂-gain. We first utilize switched delay systems including unstable subsystems to describe the...

chapter

Dilated LMI conditions for the robust analysis of uncertain parameter-dependent descriptor systems

G I Bara

Proceedings of the 2010 American Contrl Conference > 5451 - 5457

2010 American Control Conference (ACC 2010)

This paper addresses the robust admissibility/ℌ₂ performance analysis for continuous-time uncertain parameter-dependent descriptor systems. In order to achieve less conservative results, the proposed approach uses parameter-dependent Lyapunov functions and slack variables. Our main contribution consists in proposing new necessary and sufficient conditions for the admissibility and ℌ₂ performance analysis...

chapter

Frequency-domain criteria for robust stability for a class of linear time-periodic systems

Dmitry A Altshuller

Proceedings of the 2010 American Contrl Conference > 4247 - 4252

2010 American Control Conference (ACC 2010)

The paper considers the problem of robust stability for a class of linear time-periodic systems with a matrix having a stable constant part. The main result is given in terms of the frequency response of the constant part and is then used to derive simple stability criteria for some special cases, including the Hill's and Mathieu's equations.

chapter

Periodic observer design for networked embedded control systems

S Simon, D Gorges, M Izak, S Liu

Proceedings of the 2010 American Contrl Conference > 4253 - 4258

2010 American Control Conference (ACC 2010)

In this paper periodic observer design for linear continuous-time systems with periodically time-varying sampling intervals and time delays is considered. Such systems arise e.g. in networked embedded control applications where limited computation and communication resources have to be scheduled. A periodically time-varying discrete-time plant model and cost function regarding the timing effects are...

chapter

A singular perturbation approach for time-domain assessment of Phase Margin

J Jim Zhu, Xiaojing Yang, A Scottedward Hodel

Proceedings of the 2010 American Contrl Conference > 315 - 322

2010 American Control Conference (ACC 2010)

This paper considers the problem of time-domain assessment of the Phase Margin (PM) of a Single Input Single Output (SISO) Linear Time-Invariant (LTI) system using a singular perturbation approach, where a SISO LTI fast loop system, whose phase lag increases monotonically with frequency, is introduced into the loop as a singular perturbation with a singular perturbation (time-scale separation) parameter...

chapter

ℓ_∞-gain controller order reduction for discrete-time systems

Oussama Ajala, Simone Schuler, Frank Allgöwer

Proceedings of the 2010 American Contrl Conference > 329 - 334

2010 American Control Conference (ACC 2010)

This paper addresses the problem of controller order reduction for linear discrete-time systems. The proposed approach considers the minimization of an upper bound on the ℓ_∞-gain of the error between the system with the full controller and the system with the reduced controller. This upper bound is defined using the so-called star norm performance. The method considers explicitly time-domain performance...

chapter

The disturbance rejection by measurement feedback problem revisited

Christian Commault, Jean-Michel Dion, Trong Hieu Do

Proceedings of the 2010 American Contrl Conference > 309 - 314

2010 American Control Conference (ACC 2010)

In this paper, we revisit the disturbance rejection by measurement feedback (DRMF) problem in a structural framework. We prove that the study of this problem can be restricted to a subset of the state space and that the DRMF problem reduces to an unknown input observer problem on this subset. This result allows to explain why we need to estimate a sufficient number of state variables and early enough...

chapter

Relationships between positive real, passive dissipative, & positive systems

N Kottenstette, P J Antsaklis

Proceedings of the 2010 American Contrl Conference > 409 - 416

2010 American Control Conference (ACC 2010)

This paper shows how: i) (strongly) positive real; ii) (asymptotically stable) dissipative (strictly-input) passive; and iii) (L^m₂-stable strictly) positive; continuous time system definitions are equivalent for linear time invariant (LTI) systems. In parallel this paper shows how: i) (strictly) positive real; ii) (asymptotically stable) dissipative (strictly-input) passive; and iii) (l^m₂-stable strictly)...

chapter

Bounds on tracking error using closed-loop rapidly-exploring random trees

Brandon D Luders, Sertac Karaman, Emilio Frazzoli, Jonathan P How

Proceedings of the 2010 American Contrl Conference > 5406 - 5412

2010 American Control Conference (ACC 2010)

This paper considers the real-time motion planning problem for autonomous systems subject to complex dynamics, constraints, and uncertainty. Rapidly-exploring random trees (RRT) can be used to efficiently construct trees of dynamically feasible trajectories; however, to ensure feasibility, it is critical that the system actually track its predicted trajectory. This paper shows that under certain assumptions,...

chapter

Computation of the (J, J')-spectral and (J, J')-lossless factorizations of a general system

Cristian Oară, R Andrei

Proceedings of the 2010 American Contrl Conference > 1085 - 1090

2010 American Control Conference (ACC 2010)

We consider rich extensions of the J-lossless conjugation, (J, J')-spectral, and (J, J')- lossless factorizations to become applicable to a descriptor system whose transfer matrix is a completely general rational matrix function. The main novelty is that we allow for arbitrary rank, poles and zeros on the imaginary axis, or at infinity. We use descriptor state-space realizations to obtain constructive...

chapter

A complete characterization of a class of robust linear average consensus protocols

R A Freeman, T R Nelson, K M Lynch

Proceedings of the 2010 American Contrl Conference > 3198 - 3203

2010 American Control Conference (ACC 2010)

We provide a set of verifiable necessary and sufficient conditions for a member of a broad class of linear discrete-time consensus protocols to guarantee the robust convergence of the outputs of the networked dynamics to the correct average consensus value.

chapter

Optimal coherent phantom track design using virtual motion camouflage

Yunjun Xu, Gareth Basset

Proceedings of the 2010 American Contrl Conference > 5400 - 5405

2010 American Control Conference (ACC 2010)

The virtual motion camouflage based trajectory planning methodology, augmented with the derived early termination conditions, is proposed to design the optimal collaborative trajectories for electronic combat air vehicles in constructing a coherent phantom track. In this problem, a realistic 6DOF dynamics model and severe state, control, control rate, and geometric constraints are all considered....

chapter

A note on human body weight dynamics and control based on the macronutrient and energy flux balance

D S Laila

Proceedings of the 2010 American Contrl Conference > 3580 - 3585

2010 American Control Conference (ACC 2010)

Body weight regulation has been an important public health issue in recent years. According to the statistic, obesity problem has become an epidemic that causes expensive costs to the public health services. Obesity is understood as both a cause and at the same time an effect of psychological as well as behavioral problems. This paper presents a preliminary study that aims at studying and understanding...

chapter

Modeling and control of an implantable rotary blood pump for heart failure patients

Abdul-Hakeem H AlOmari, Andrey V Savkin, Peter J Ayre, Einly Lim, more

Proceedings of the 2010 American Contrl Conference > 3574 - 3579

2010 American Control Conference (ACC 2010)

We propose a dynamical model for mean inlet pressure estimation in an implantable rotary blood pump (IRBP). Noninvasive measurements of pump impeller rotational speed, motor power, and pulse width modulation signal (PWM) to the motor controller were used as inputs to the model. Linear regression between estimated and measured inlet pressure resulted in a highly significant correlation (R² = 0.9503)...

chapter

Design of a discrete-time sliding mode controller for a magnetic levitation system using multirate output feedback

Vitthal S Bandal, Pratik N Vernekar

Proceedings of the 2010 American Contrl Conference > 4289 - 4294

2010 American Control Conference (ACC 2010)

The advent of highly efficient and superior digital computers and microprocessors in controller implementation has led to a significant interest in the field of discrete time controller design. Design of a discrete time sliding mode controller for a magnetic levitation system based on a multirate output feedback strategy is presented. The control objective is to precisely stabilize the position of...

chapter

Circular periodic motion generation for mobile robots using limit cycle systems

N Hara, H Kokame, K Konishi

Proceedings of the 2010 American Contrl Conference > 4271 - 4276

2010 American Control Conference (ACC 2010)

This paper considers the problem of circular periodic motion generation for nonholonomic mobile robots. By employing a nonlinear system exhibiting limit cycle behavior, we provide a control law that stabilizes a nonholonomic mobile robot to a circular path with the prescribed direction of rotation and speed. Stability of the resulting circular periodic motion of the mobile robot is shown by linear...

chapter

A multiple Lyapunov functions approach for stability of switched systems

Jin Lu, L J Brown

Proceedings of the 2010 American Contrl Conference > 3253 - 3256

2010 American Control Conference (ACC 2010)

In this paper, a multiple Lyapunov functions based approach is presented for the stability analysis for switched systems. Compared with existing Multiple Lyapunov functions approaches in the literature, this approach requires less conservative conditions on the constituent subsystems. The stability theorem proposed here gives not only Lyapunov stability, but asymptotic stability as well. In particular,...

chapter

Simplified modeling approach to system identification of nonlinear boat dynamics

C E Hann, H Sirisena, N Wongvanich

Proceedings of the 2010 American Contrl Conference > 5218 - 5223

2010 American Control Conference (ACC 2010)

This paper develops a general methodology for identifying non-linear boat dynamics with respect to varying a boat's jet thrust angle and RPM inputs. Parameter identification is formulated in terms of integrals, which enables a set of linear equations in the parameters to be set up. This approach then allows for creation of a simplified and more easily identified model to bootstrap a pure non-linear...

chapter

An electric ray inspired Biomimetic Autonomous Underwater Vehicle

P Krishnamurthy, F Khorrami, J de Leeuw, M E Porter, more

Proceedings of the 2010 American Contrl Conference > 5224 - 5229

2010 American Control Conference (ACC 2010)

The development of a novel Biologically-inspired (or Biomimetic) Autonomous Underwater Vehicle (BAUV) inspired by the Pacific electric ray is addressed. The design and hardware implementation of experimental prototypes of the “RayBot” BAUV are described. Extensive observations of live electric rays provided key biological inspirations in the development of the BAUV. As part of the effort, a six degree-of-freedom...

chapter

Control of a robot interacting with an uncertain viscoelastic environment with adjustable force bounds

S Bhasin, P M Patre, Z Kan, W E Dixon

Proceedings of the 2010 American Contrl Conference > 5242 - 5247

2010 American Control Conference (ACC 2010)

This paper focuses on developing a neural network (NN) based force limiting controller for a robot interacting with an uncertain Hunt-Crossley viscoelastic environment. The proposed controller consists of a bounded NN term and saturated feedback which limits the control force to a known bound, which can be changed by adjusting the feedback gains. The Lyapunov-based controller, dependent only on position...

INFONA - science communication portal

2010 American Control Conference (ACC 2010)

L₂-gain of systems with input delay and controller failure: zero-order hold model

Dilated LMI conditions for the robust analysis of uncertain parameter-dependent descriptor systems

Frequency-domain criteria for robust stability for a class of linear time-periodic systems

Periodic observer design for networked embedded control systems

A singular perturbation approach for time-domain assessment of Phase Margin

ℓ_∞-gain controller order reduction for discrete-time systems

The disturbance rejection by measurement feedback problem revisited

Relationships between positive real, passive dissipative, & positive systems

Bounds on tracking error using closed-loop rapidly-exploring random trees

Computation of the (J, J')-spectral and (J, J')-lossless factorizations of a general system

A complete characterization of a class of robust linear average consensus protocols

Optimal coherent phantom track design using virtual motion camouflage

A note on human body weight dynamics and control based on the macronutrient and energy flux balance

Modeling and control of an implantable rotary blood pump for heart failure patients

Design of a discrete-time sliding mode controller for a magnetic levitation system using multirate output feedback

Circular periodic motion generation for mobile robots using limit cycle systems

A multiple Lyapunov functions approach for stability of switched systems

Simplified modeling approach to system identification of nonlinear boat dynamics

An electric ray inspired Biomimetic Autonomous Underwater Vehicle

Control of a robot interacting with an uncertain viscoelastic environment with adjustable force bounds

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2010 American Control Conference (ACC 2010)