Showing papers in "IFAC Proceedings Volumes in 2002"

TL;DR: It is demonstrated how exchange of minimal amounts of information between vehicles can be designed to realize a dynamical system which supplies each vehicle with a shared reference trajectory.

TL;DR: In this paper, the authors propose a framework for formation stabilization of multiple autonomous vehicles in a distributed fashion, where each vehicle is assumed to have simple dynamics, i.e., a double-integrator, with a directed (or an undirected) information flow over the formation graph of the vehicles.

TL;DR: In this paper, a model for the dynamics of a four rotor vertical take-off and landing (VTOL) vehicle known as an X4-flyer is proposed, which incorporates the airframe and motor dynamics as well as aerodynamic and gyroscopic effects due to the rotors for quasi-stationary flight conditions.

TL;DR: In this paper, the interconnection between vehicles is modeled as a graph, and the eigenvalues of the Laplacian matrix of the graph are used in stating a Nyquist-like stability criterion for vehicle formations.

TL;DR: This work derives decentralized and scalable stability conditions for a fluid approximation of a class of Internet-like communications networks operating a modified form of TCP-like congestion control.

TL;DR: TrueTime makes it possible to simulate the temporal behavior of multi-tasking real-time kernels containing controller tasks and to study the effects of CPU and network scheduling on control performance.

TL;DR: In this paper, the authors developed a Newton method for the optimization of trajectory functionals through the use of a trajectory tracking nonlinear projection operator, making many aspects of the algorithm rather transparent.

TL;DR: An inductive construction method for provably rigid formations is proposed, and a method for optimum angle measures between vehicles is developed that scales with the number of vehicles and isible to support many rigid formation shapes.

TL;DR: In this article, it was shown that if there exists a passive walking gait, i.e., a stable limit cycle, then there exist a nonlinear control law that renders the limit cycle slope invariant.

TL;DR: In this paper, a blind approach to the sampled Hammerstein-Wiener model identification is proposed, where all internal variables can be recovered solely based on the output measurements and identification of linear and nonlinear parts can be carried out No a priori structural knowledge about the input nonlinearity is assumed and no white noise assumption is imposed on the input.

TL;DR: In this article, the authors considered more general reset structures than previously considered, allowing for higher-order controllers and partial state resetting, and gave a testable necessary and sufficient condition for quadratic stability and links it to uniform bounded-input bounded-output state stability.

TL;DR: In this paper, the problem of fault detection and isolation in linear parameter varying (LPV) systems is investigated by using the concept of parameter varying invariant subspace and parameter varying unobservability subspace.

TL;DR: In this paper, an adaptive extremum seeking controller is proposed to drive system states to the desired set-points that optimize the value of an objective function, which minimizes a meaningful cost function that incorporates penalty on both the performance error and control action.

TL;DR: In this paper, a new interaction measure based on the Hankel norm of the SISO elementary subsystems built from the original MIMO system is introduced, which can be used for input-output pairing.

TL;DR: The presented algorithms solve the controllability problem and show how to synthesize a set of modular supervisors that while interacting with the original supervisors guarantees that the closed system is controllable.

TL;DR: The design objective is quadratic stability in the continuous-time domain, and thus the decay rate of the systems between sampling times is guaranteed, and the general treatment enables the search for quantizers efficient in terms of data rate.

TL;DR: In this article, the authors explore the impact of such developments on manufacturing shop floor control and management and examine the way in which so called distributed, intelligent manufacturing control methods can be enhanced.

TL;DR: It is clear from this investigation that for identification problems in a wider context, that is, with choice between discrete-time and continuous-time models, it is desirable to have a set of tools, whose dependability is greatly enhanced by unifying all relevant approaches.

TL;DR: In this article, the authors studied the problem of periodic stabilization of nonlinear underactuated mechanical systems, i.e., finding a control that leads to a stable periodic orbit.

TL;DR: In this article, the authors present how the Integrated System Optimization and Parameter Estimation (ISOPE) method can be redesigned resulting in a new structure without this constraint, although the parameter estimation itself is then not necessary at every iteration.

TL;DR: In this article, the authors revisited the missile pitch-axis autopilot design using a new recently available Linear Parameter-Varying (LPV) control technique, which is characterized by a linear fractional transformation (LFT) representation.

TL;DR: Experimental results indicate that this scheme has a high level of predictability, and that the performance loss is negligible for around 70% of the tasks.

TL;DR: A robust Adaptive Fuzzy Neural Controller suitable for identification and control of a class of uncertain MIMO nonlinear systems using the Lyapunov approach is presented.

TL;DR: This work considers input trajectory parameterization which significantly reduces the number of regions and develops a search tree that allows PWL function evaluation to be implemented in real time with low computational complexity.

TL;DR: In this paper, the authors describe a method which minimizes the fuel consumption of the system beyond the prediction horizon by determining the best operating conditions of the combustion engine and the electric motor with respect to predicted torque request and the SOC of the battery.

TL;DR: In this paper, a passive approach based on adaptive thresholds produced using a model with uncertain parameters bounded in intervals, also known as an interval model, is presented in the context of parity equations and observers methodologies, deriving their corresponding interval versions.

TL;DR: Based on a state space dynamic model of a typical automotive driveline, a new control technique for the dry clutch engagement process is proposed in this article, where the feedback controller is designed following an optimal control approach by using the crankshaft speed and the clutch disk speed as state variables.

TL;DR: In this article, the authors considered the problem of fault tolerance with respect to actuator failures and presented a reconfiguration strategy under possible energy limitation constraints, and analyzed the system reconfigurability under energy constraints.

TL;DR: In this paper, a multivariable controller for the VGT-EGR system for intake flow regulation is discussed, and the design is carried out under the sliding mode framework.

TL;DR: In this paper, an efficient method for solving an optimal control problem that arises in robust model-predictive control is described, where the input sequence is designed to minimize the peak tracking error between the output of a linear dynamical system and a desired target output subject to inequality constraints on the inputs.