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Showing papers in "IFAC Proceedings Volumes in 2003"


Journal ArticleDOI
TL;DR: In this article, a 3 degrees of freedom nonlinear controller for path following of marine craft using only two controls is derived using nonlinear control theory using a geometric assignment based on a line-of-sight projection algorithm for minimization of the cross-track error to the path.

415 citations


Journal ArticleDOI
TL;DR: In this paper, the authors demonstrate that the fatal crash of El Al Flight 1862 might have been avoided by using MPC-based fault-tolerant control, and demonstrate that it is possible to reconfigure the controller so that the aircraft is flown successfully down to ground level, without entering the condition in which it was lost.

212 citations


Journal ArticleDOI
TL;DR: In this article, a high-order ARX model is used to obtain initial estimates of certain Markov parameters, which are then used to restructure the data model used for subspace identification to facilitate the estimation of the state sequence.

176 citations


Journal ArticleDOI
TL;DR: This paper is an attempt to present the fundamental concepts of Model-Based Diagnosis (MBD) in onc place and in one consistent terminology, and thus make the field much more accessible to the FDI community.

139 citations


Journal ArticleDOI
TL;DR: An overview of Stochastic Hybrid Models developed in the literature is presented and the descriptive power of the three classes is compared and conditions under which the classes coincide are developed.

124 citations


Journal ArticleDOI
TL;DR: Two methods for residual generation are presented in a tutorial way: the parity space and the observer based approaches for linear and nonlinear models are successively considered.

123 citations


Journal ArticleDOI
TL;DR: In this paper, a parsimonious model formulation with innovation estimation is proposed for closed-loop subspace identification, which is not applicable to closed loop identification because they require future input to be uncorrelated with past innovation.

119 citations


Journal ArticleDOI
TL;DR: The personal experience of the author in the use of interactive tools in order to make students more active and involved in their own control engineering learning process is presented.

110 citations


Journal ArticleDOI
TL;DR: In this paper, the authors describe some of the issues that motivate plant-friendly identification and present an overview of some approaches that have been proposed in this topic. And the problem of identification test monitoring is presented as a novel means for accomplishing plant friendly identification.

106 citations


Journal ArticleDOI
TL;DR: In this article, a method for designing multiple inputs for real-time dynamic system identification in the frequency domain was developed and demonstrated The designed inputs are mutually orthogonal in both the time and frequency domains with reduced peak factors to provide good information content for relatively small amplitude excursions.

104 citations


Journal ArticleDOI
TL;DR: The work reported here presents a methodology for developing Dynamic Bayesian Networks (DBN) to formalise such complex dynamic models as well as evaluating the reliability estimations obtained by the proposed DBN model.

Journal ArticleDOI
TL;DR: In this paper, a nonlinear control law is derived to steer two underwater vehicles along identical parallel paths, while ensuring that the lateral distance between them remains constant, and the amount of information to be exchanged between the two vehicles is thus kept at a minumum.

Journal ArticleDOI
TL;DR: In this paper, the impact of nonlinear distortions on the linear system identification framework is studied and a fast approximate nonlinear modelling framework is set up that is a natural extension of the linear framework, and bridges the gap between the linear and the nonlinear identification approaches.

Journal ArticleDOI
TL;DR: In this paper, a robust diagnosis methodology for hybrid systems that combines fault detection with a combined qualitative and quantitative fault isolation scheme is presented. But the authors focus on fault detection, symbol generation, and parameter estimation, and illustrate the effectiveness of this method by running experiments on the fuel transfer system of aircraft.

Journal ArticleDOI
TL;DR: In this article, a time domain formulation of the equations of motion for a ship with frequency-dependent hydrodynamic coefficients is presented, which is well suited for controller design and simulation.

Journal ArticleDOI
TL;DR: In this paper, nonparametric Gaussian Process models, a Bayesian statistics approach, are used to implement a nonlinear adaptive control law, including propagation of the state uncertainty over a K-step horizon.

Journal ArticleDOI
TL;DR: A generalization of the force estimation method proposed in [Hacksel and Salcudean, 1994] is done and a force observer able to follow ramp environmental forces is introduced.

Journal ArticleDOI
TL;DR: The method, which locates all the quasipolynomial roots in a bounded region, is based on mapping the real and imaginary parts of the quAsipoly Nomial in the complex plane using the level curve tracing algorithm.

Journal ArticleDOI
TL;DR: In this article, the passive approach to robust fault-detection 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 observer methodology, deriving their corresponding interval version.

Journal ArticleDOI
TL;DR: An autonomous investigation method of underwater structures using AUVs that is implemented by initially detecting the target objects, localizing them, then approaching them by taking video images while closely tracing their shape is proposed.

Journal ArticleDOI
TL;DR: In this article, a new sufficient condition of robust stabilizability via static output feedback is proposed for polytopic uncertain systems, based on a new parameterization of all static feedback stabilizing gains and uses parameter-dependent Lyapunov functions to systematically reduce conservatism of the usual quadratic stability approach.

Journal ArticleDOI
TL;DR: The Gaussian particle filter (GPF) is introduced, a new variant on the particle filtering algorithm specifically for non-linear hybrid systems and is demonstrated to be faster and more accurate than traditional particle filters.

Journal ArticleDOI
Er-Wei Bai1
TL;DR: In this article, the authors proposed a frequency domain approach and showed its convergence for both the linear and non-linear subsystems in the presence of noise, where no a priori knowledge of the structure of the non linearity is required and the linear part can be nonparametric.

Journal ArticleDOI
TL;DR: The central idea is to see the multiple delay operator as a special series connection of elementary delay operators, called the adobedelay operators, which means the general case is solved as a nested set of solutions to adobe delay problems.

Journal ArticleDOI
TL;DR: A numerically reliable computational approach to design least order fault detectors using descriptor system techniques based on a new numerically stable algorithm to compute least order rational null space bases of rational matrices.

Journal ArticleDOI
TL;DR: Astrom and Bohlin this article presented the author's personal view on the development of identification theory in the control community, starting from the year 1965, and showed how two landmark papers, (Ho and Kalman, 1965) and (Astrom, Astrom, Bohlin, 1965), gave birth to two main streams of research that have dominated the development in system identitication over the last fourty years.

Journal ArticleDOI
TL;DR: In this paper, a new efficient and robust criterion based on covariance-matching properties is proposed and tested by means of a Monte Carlo simulation concerning also the application of the identified models in EIV filtering.

Journal ArticleDOI
TL;DR: In this paper, the authors investigated formation control of a fleet of vessels with a small amount of intervessel communication and found that the control objective for each vessel is to maintain its position in the formation.

Journal ArticleDOI
TL;DR: In this article, a state-of-the-art wide-area measurements system which is commercially available, and a new method to assess the voltage stability of a transmission corridor using only topological information, several lines can be grouped into a so-called virtual transmission corridor, whose parameters can be calculated from wide area measurements, making it possible to provide approximate stability margins with an update rate of less than asecond.

Journal ArticleDOI
Roberto Bucher1, Silvano Balemi1
TL;DR: This paper presents a Rapid Controller Prototyping System based on Matlab, Simulink and the Real-Time-Workshop toolbox which can be used to quickly implement real-time controllers.