Showing papers in "IFAC Proceedings Volumes in 2007"

TL;DR: In this paper, a new safety feedback design for nonlinear systems based on barrier certificates and the idea of control Lyapunov functions is presented, which ensures safety independently of abstract high-level tasks that might be unknown or change over time.

TL;DR: In this paper, the authors compare and evaluate how well different implementations of SIFT and SURF perform in terms of invariancy and runtime efficiency for object detection and object recognition.

TL;DR: The state of the art of current real-time solutions including MAC protocols, routing protocols, data processing strategies and cross-layer designs are studied and future design favors are discussed.

TL;DR: In this article, a polynomial fixed-order controller design is extended to SISO gain-scheduling with guaranteed stability and H ∞ performance over the whole scheduling parameter range.

TL;DR: In this paper, the problem of positive observation for linear positive time-lag systems with nonnegative states was studied and the provided conditions for the existence of a positive observer (extended Luenberger-type) were shown to be necessary and sufficient and solvable in terms of linear programming.

TL;DR: In this article, the authors present aspects concerning two iterative methods in control design: the Iterative Feedback Tuning (IFT) and Iterative Learning Control (ILC) approaches.

TL;DR: In this article, the controllability of switched linear and non-switched bilinear systems is surveyed and some easily verifiable sufficient conditions for the practical and global controllabilities are provided.

TL;DR: In this paper, the Lyapunov design, the passivity-based design, and the swapping design are presented for adaptive control of PDE systems with unknown spatially varying coefficients.

TL;DR: In this article, the authors present analytical solutions to the state constrained Extended Kalman Filter (CEKF) for a class of linear constraints, which is a general suboptimal strategy to impose constraints on states, noise processes and inputs.

TL;DR: This paper presents a method for finding optimal combinations of measurements for local self-optimizing control, for both of worst- and average-case loss minimization.

TL;DR: In this paper, a state-space representation of the four rotor mini aircraft named as a quadrotor is introduced and a recursive control algorithm based on backstepping technique is proposed to ensure Lyapunov stability and desired tracking trajectories.

TL;DR: The main advantages of the proposed approach are: it makes no use of iterative algorithms, the control action can be obtained by the same methods used in linear MPCs and any type of nonlinear model can be used.

TL;DR: In this paper, a Model Predictive Control (MPC) approach for combined braking and steering systems in autonomous vehicles is presented, where the control objective is to best follow a given path by controlling the front steering angle and the brakes at the four wheels independently, while fulfilling various physical and design constraints.

TL;DR: In this paper, the status of using many, distributed optimization-based controllers for feedback control of large-scale, dynamic processes is presented and evaluated, and the issue of taking advantage of the structure of the connections between the subsystems to reduce the required communication is discussed.

TL;DR: A framework for the implantation of a distributed, adaptable and open prognostic system able to take into account, on one hand, the dynamic of the monitored equipment and the evolution of performance criteria is defined.

TL;DR: In this article, the authors consider the problem of autonomous synchronization of attitudes in a swarm of spacecraft and present two types of control laws, in terms of applied control torques, that globally drive the swarm towards attitude synchronization: one that requires tree-like or all-to-all inter-satellite communication and one that works with nearly arbitrary communication.

TL;DR: A performance analysis and an improvement of ZigBee routing protocol are carried out and it is showed that Hierarchical Tree Routing provides shorter average end to end delay but performs poorly in terms of energy consumption.

TL;DR: The main contribution of NETCARBENCH is to allow a finegrained user-defined parameterization of the generated message sets by means of XML-configuration files that specify the characteristics of the message sets and the variability thereof.

TL;DR: This paper attempts to revisit the fundamental qualities of the common gradient-based MRAC methodology and to show that some of its basic drawbacks have been addressed and eliminated within the so-called Simple Adaptive Control methodology.

TL;DR: In this article, a tube-based robust model predictive controller for constrained nonlinear systems is proposed, where the disturbed trajectories lie in a tube and this provides the means for constructing a tubebased robust nonlinear model predictive control controller.

TL;DR: In this article, the velocity dependent static gains of the one track model were used to estimate three different gains by measurement of the lateral acceleration, the yaw rate and vehicle slip angle without knowing the moment of inertia of the vehicle.

TL;DR: In this paper, a new iterative design procedure for multiobjective and structurally constrained feedback control is presented based on new dilated LMI characterizations for the system properties, such as H2, H∞ norms and D-stability.

TL;DR: In this paper, a nonlinear Lyapunov-based control law is proposed for path-following in two-dimensional space for underactuated surface autonomous robots, defining a set of guidance laws either at kinematic and dynamic level.

TL;DR: In this article, an adaptive Luenberger-type observer based on a set of two coupled one dimensional first order nonlinear hyperbolic partial differential equations governing the flow dynamics is designed.

TL;DR: In this article, a state estimator for a helicopter-based slung load system is presented, which is designed to augment the IMU driven estimator found in many helicopter UAV's and uses vision-based updates only.

TL;DR: In this paper, a control structure that integrates active suspensions and an active brake is proposed to improve the safety of vehicles based on an ℋ∞ control synthesis extended to LPV systems and uses a parameter dependent Lyapunov function.

TL;DR: In this article, a modular control design inspired by backstepping and cascade theory results in a classical inner-outer loop guidance and control structure for fully actuated marine surface craft.

TL;DR: In this paper, a computational method to compute balanced realizations for nonlinear differential-algebraic equation systems is derived, based on analysis of the controllability and observability functions.

TL;DR: This paper presents results and lessons learnt from an industrial system architecture modeling experiment: rudder control system of the Airbus A340–500/600 aircraft and focuses on modeling the reconfigurations, the command/monitoring architecture and finally the latent failures.

TL;DR: An algorithm, based on successive reduction of the number of variables and elimination of variables is presented and it is shown that the reduction requires a dynamic extension in general.