Authors: Parriaux, Jeremy; Millerioux, Gilles

Abstract: This paper addresses the problem of self-synchronization of dynamical systems in a so-called master-slave configuration. The study is motivated by potential cryptographic applications. It is shown that the notion of flatness is central for guaranteeing self-synchronization and that the concept of transmissions zeros plays also an important role. We motivate the fact that switched linear systems have great interest in this context.

Keywords: Control over communication; Switched discrete and hybrid systems

Identifier: 10.3182/20110828-6-IT-1002.02124

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Muralidharan, Vijay; Mahindrakar, Arun D.; Velupillai, Sankaranarayanan

Abstract: In this paper, we present a constructive method for the design of any order sliding surface using the necessary conditions for the existence of sliding surfaces for single-input affine nonlinear control systems. These conditions are a set of PDEs whose general solution will help in arriving at the sliding surfaces. The constructive design procedure is demonstrated on the cart-beam system to obtain a third-order sliding surface and on the inertia wheel pendulum system to obtain a fourth-order sliding surface. We validate the fourth-order terminal sliding mode control on inertia wheel pendulum with experimental result.

Keywords: Nonlinear system control; Robust control (nonlinear case)

Identifier: 10.3182/20110828-6-IT-1002.01759

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Liu, Xiang Bin; Ortega, Romeo; Su, Hongye; Chu, Jian

Abstract: A new framework to design immersion and invariance adaptive controllers for nonlinearly parameterized, nonlinear systems was recently proposed by the authors. The key step is the construction of a monotone mapping, via a suitable selection of a controller tuning function, which has to satisfy some integrability conditions — this translates into the need to solve a partial differential equation (PDE). In this paper this result is extended providing some answers to the questions of characterization of “monotonizable” systems and solvability of the PDE. First, adding to the design a nonlinear dynamic scaling, we obviate the need to solve the PDE. Second, for the case of factorizable nonlinearities, the following results are established. (i) It is shown that the monotonicity condition is satisfied if a linear matrix inequality is feasible. (ii) Directly verifiable involutivity conditions that ensure the solution of the PDE are presented. (iii) An explicit formula for the required tuning function is given, provided the regressor matrix satisfies some rank conditions. Hence, adding a dynamic scaling, this yields a constructive solution to the problem.

Keywords: Nonlinear adaptive control; Adaptive system and control

Identifier: 10.3182/20110828-6-IT-1002.01708

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Giacomoni, Anthony; Amin, Massoud; Wollenberg, Bruce

Abstract: The transformation of the end-to-end power grid to a digitalized, intelligent, self-healing system presents many new modeling, sensing, communications, and control challenges that must be addressed before extensive deployment can begin. Increasing the security, robustness, and efficiency of electric power infrastructure requires utilizing these automation technologies in order to continually assess and optimize system performance. In this paper, an intelligent distributed secure control architecture is presented for distribution systems to provide greater adaptive protection, with the ability to proactively reconfigure, and rapidly respond to disturbances. Detailed descriptions of functionalities at each layer of the architecture as well as the whole system are provided. Applying this comprehensive systems' approach, performance results for the IEEE 123 node test feeder are simulated and analyzed. The results show the trade-offs between system reliability, operational constraints, and costs involved. This work represents a novel strategy toward developing an analytical and multi-domain methodology to assess the effects of smart grid technologies on distribution system operations and performance.

Keywords: Smart grids; Intelligent control of power systems; Distribution automation

Identifier: 10.3182/20110828-6-IT-1002.02643

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Sievert, Alexander; Arndt, Andreas; Drewelow, Wolfgang; Lampe, Bernhard P.; Simanski, Olaf

Abstract: As a treatment option for patients with end-stage heart failure, mechanical circulatory support systems maintain the blood circulation in the human body. For biventricular assistance or for pediatric patients, paracorporeal pulsatile blood pumps are used. Mobile driving units are available which offer more quality of life to the patients. Automatic control is used to match the pump output to the metabolic needs and to operate the blood pumps as gently as possible. This paper treats the approach of modeling for the EXCOR system (Berlin Heart, Germany). The EXCOR system is a pneumatically driven extracorporeal assist device which allows one-sided and two-sided heart support. Main goal of the modeling was not to simulate the process as accurately as possible. Rather, the resulting model is intended to be the basis for subsequent controller design. Therefore this paper points to problems, which have to be taken into account if the resulting model should be used in practical applications. For this reason several models for different purposes were developed. This article treats mainly the open-loop-control design, but the considerations can be extended to closed-loop-control. The results are currently used to synthesize a robust, efficient control for the EXCOR system.

Keywords: Biomedical system modeling, simulation and visualization; Model formulation, experiment design; Identification and validation

Identifier: 10.3182/20110828-6-IT-1002.02436

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Schultze, Martin; Horn, Joachim

Abstract: Hydrogen fed fuel cell systems are a promising technology for the energy supply of future aircraft applications. Currently, kerosene fed auxiliary power units (APU) supply an aircraft with electrical energy during ground operations while main engines are turned off. As environmental friendliness is more and more playing a crucial role for future aircraft generations, replacing the APU by an eco-friendly fuel cell technology becomes very attractive. On the other hand, fuel cell systems are a highly integrated technology and minimizing its complexity is highly favored. In contrast to liquid cooled fuel cell systems the evaporation cooled fuel cell system has a very low complexity. Nevertheless, fuel cell system controls is a central part of proper fuel cell operation to gain a maximum fuel cell lifetime. In this paper a dynamic simulation model of an evaporation cooled fuel cell stack is presented and validated against experimental data. The fuel cell system model will be central for a subsequent model based controller design.

Keywords: Modeling and simulation of power systems

Identifier: 10.3182/20110828-6-IT-1002.00311

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Bacelli, Giorgio; Ringwood, John; Gilloteaux, Jean-Christophe

Abstract: The problem of the maximization of the energy produced by a self reacting point absorber subject to motion restriction is addressed. The main objective is to design a control system suitable for real-time implementation. The method presented for the solution of the optimization problem is based on the approximation of the motion of the device and of the force exerted by the power take off unit by means of a linear combination of basis functions. The result is that the optimal control problem is reformulated as a non linear program where the properties of the cost function and of the constraint are affected by the choice of the basis functions. An example is described where the motion and the force are approximated using Fourier series; an optimization algorithm for the solution of the non linear program is also presented. The control system is implemented and simulated using a real sea profile measured by a waverider buoy.

Keywords: Real-time control; Optimal control theory; Controller constraints and structure

Identifier: 10.3182/20110828-6-IT-1002.03694

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Wang, Gui; Kowli, Anupama; Negrete-Pincetic, Matias; Shafieepoorfard, Ehsan; Meyn, Sean

Abstract: We are moving towards a radical transformation of our energy systems. The success of the new paradigm created by the Smart Grid vision will require not only the creation and integration of new technologies into the grid, but also the redesign of the market structures coupled with it. In order to design the market structures for the grid of the future, economic models able to capture the new physical reality are the first requirement. In this paper, we present a general economic equilibrium model. The model is constructed using well-known control theory techniques, allowing a natural inclusion of dynamics, uncertainty in supply and demand, and other elements usually not considered in standard economic models.

Keywords: Smart grids; Analysis and control in deregulated power systems; Impact of deregulation on power system Control

Identifier: 10.3182/20110828-6-IT-1002.03336

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Van Loock, Wannes; Pipeleers, Goele; De Schutter, Joris; Swevers, Jan

Abstract: This paper presents a framework for approximating data with smooth splines. The classical spline approximation problem is reformulated as a convex optimization problem, in which both the required number of knots and the knot locations are found automatically and simultaneously. Spline constraints are easily added to improve the quality of the approximation. Three examples are presented to illustrate the effectiveness of the proposed framework. The obtained numerical results show improvements of the smoothness of two benchmark problems and show that more complex constraints can be included.

Keywords: Filtering and smoothing

Identifier: 10.3182/20110828-6-IT-1002.00452

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Lum, Kai-Yew; Bernstein, Dennis S.

Abstract: This paper presents a two-step method for identification of the SISO Hammerstein model, which employs input autocorrelation and input-output cross-correlation functions as data for least-squares estimation. Using separable processes as input signals, the proposed method allows the linear block of a Hammerstein model to be identified up to a multiplicative constant, without a priori knowledge of the nonlinear model structure. Both ARX and $mu$-Markov structures of the linear block are considered, where the main concern is the accuracy of pole and zero estimates. The correlation least-squares method is compared numerically with a well-known nonlinear least-squares method, which shows that the correlation method is consistently accurate across different nonlinear model structures.

Keywords: Nonlinear system identification; Input and excitation design

Identifier: 10.3182/20110828-6-IT-1002.00492

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Tu, Kuo-Yang; Tsai, Ming-Fung; Kopacek, Peter

Abstract: Big humanoid robot design usually makes use of harmonic driver to reduce its variation. However, extremely expensive harmonic drivers block the way of humanoid robots to be popular. In this paper, the 1.3 meter tall humanoid robot designed using normal servo motor for low cost is proposed. Instead of harmonic driver, the normal servo motor must face the problems such as gear backlash, huge variation, etc. In this paper, these problems are solved by mechanical design of the big humanoid robot and extra sensor systems. To reserve the advantage of the mechanical design, the components of the big humanoid robot are produced in our laboratory. In addition, the extra sensor systems include force sensors and motion sensors. The force sensors measure the gravity on support foot during walking, and the motion sensors measure. Both force sensor for static behavior and motion sensor for dynamic behavior are thus designed and implemented for the control of the big humanoid robot. The mechanical design issue of the big humanoid is described. In addition, the use and installation of both force and motion sensors are included.

Keywords: Robotics technology; Intelligent robotics; Robots manipulators

Identifier: 10.3182/20110828-6-IT-1002.02113

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Rizzo, Audrey; Moreau, Xavier; Hernette, Vincent; Oustaloup, Alain

Abstract: This paper is the following of previous works on the suspension transfer function design. This paper deals with the wheel holding. First, it describes the theoretical criterion then it demonstrates the efficiency of this criterion on real car measurements.

Keywords: Modeling and simulation of transportation systems; Modeling, supervision, control and diagnosis of automotive systems

Identifier: 10.3182/20110828-6-IT-1002.00969

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Teixeira, André; Dán, György; Sandberg, Henrik; Johansson, Karl Henrik

Abstract: In this paper we analyze the cyber security of state estimators in supervisory control and data acquisition (SCADA) systems for energy management systems (EMS) operating the power network. Current EMS state estimation algorithms have bad data detection (BDD) schemes to detect outliers in the measurement data, based on high measurement redundancy. Although these methods can detect a set of basic cyber attacks, they may fail in the presence of an intelligent attacker. We explore the latter by considering scenarios where stealthy deception attacks are performed by sending false information to the control center. We begin by presenting a recent framework that characterizes the attack as an optimization problem with the objective specified through a security metric and constraints corresponding to the attack cost. The framework is used to conduct realistic experiments on a state-of-the-art SCADA EMS software for a power network example with 14 substations, 27 buses, and 40 branches. To the authors best knowledge, this is the first such experimental study. The results indicate how state estimators for power networks can be made more resilient to cyber security attacks.

Keywords: Estimation and filtering; Fault detection and diagnosis; Complex system management

Identifier: 10.3182/20110828-6-IT-1002.02210

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Temko, Andriy; Marnane, William; Boylan, Geraldine; Lightbody, Gordon

Abstract: A measure of channel importance is proposed for EEG-based detection of neonatal seizures. The channel weights are computed based on the integrated synchrony of classifier probabilistic outputs for the channels which share a common electrode. Those estimated weights are introduced within Bayesian probabilistic framework to provide a channel-specific and thus patient-adaptive seizure detection scheme. Results of validation on a clinical dataset of neonatal seizures confirm the utility of the proposed channel weighting for the SVM-based detection system recently developed in this research group. Exploiting the channel weighting, the ROC area can be drastically increased for the most difficult patients, with the average ROC area across 17 patients increased by 22% relative.

Keywords: Bio-signals analysis and interpretation; Developments in measurement, signal processing; Decision support and control

Identifier: 10.3182/20110828-6-IT-1002.03457

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Saeki, Masami; Kishi, Ryoyu

Abstract: PID control is widely used and a simple tuning method of the PID gains that is applicable to a wide range of plants is desired. Since the plant modeling is usually difficult, recently data-driven design methods that do not require a mathematical model of the plant have been studied. In this paper, a data-driven design method of PID control using plant responses is proposed for stable plants for the purpose of good disturbance attenuation with a specified stability margin. In our previous studies, the stability margin condition is represented by the maximum sensitivity condition. However, since this condition is concave with respect to PID gains, the design problem becomes non-convex. In this paper, a linear condition on the loop transfer function is introduced, by which the design problem becomes convex and the optimal solution can be obtained immediately by solving a linear programming problem only once. Adequacy of the linear condition is explained from the viewpoints of stability margin and empirically-supported desirable closed-loop transfer functions. A numerical example and experimental results for a two mass damper system are included for demonstration. Good tracking responses with less overshoot are attained.

Keywords: Robust controller synthesis; Parametric optimization; Systems with time-delays

Identifier: 10.3182/20110828-6-IT-1002.00301

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Bezzo, Nicola; Yan, Yuan; Fierro, Rafael; Mostofi, Yasamin

Abstract: In this paper we create a mesh of mobile robots that move in a decentralized fashion (swarming) in a two-dimensional space while maintaining communication constraints. The motion of the agents is dictated by four factors: i) a spring-mass interaction between agents; ii) a repulsive force from the obstacles; iii) an attractive force from the base station; and iv) an attractive field to regions with high probability to find users. Dijkstra’s algorithm is implemented for optimal routing and a Bit Error Rate minimization is performed for communication optimization. The network is seen as a switched system in which virtual springs interactions create and delete the sensing links between agents. Stability analysis in the sense of Lyapunov is presented. Simulation results validate the applicability of the proposed method.

Keywords: Multi-agent systems; Cooperative systems; Control under communication constraints

Identifier: 10.3182/20110828-6-IT-1002.02555

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Chansomwong, Atchariya; Zanganeh, Kourosh; Shafeen, Ahmed; Douglas, Peter; Croiset, Eric; Ricardez-Sandoval, Luis Alberto

Abstract: This paper presents a study on decentralized control structures that can be proposed to control a CO2 compression, capture, and purification process for fossil fuel power plants based on oxyfuel combustion. A dynamic model that describes the transient behavior of this process is currently not available. Thus, the present work applied the Relative Gain Array (RGA) analysis to identify the most promising control strategies for this process. The process gains were estimated using a steady-state process model developed in Aspen Plus and validated with data obtained from the CanmetENERGY. The RGA analysis performed for the base case operation of this process was compared to an uncertain RGA analysis that takes into account the uncertainty on the process gains for control structure selection. The result obtained with the uncertain RGA demonstrates that the controller pairings suggested by nominal RGA can lead to control configurations with loops that may become unstable.

Keywords: Industrial applications of process control; Control system design

Identifier: 10.3182/20110828-6-IT-1002.00663

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Ma, Zhongjing; Hiskens, Ian A.; Callaway, Duncan

Abstract: This paper presents a framework for decentralized coordination of plug-in electric vehicle (PEV) charging patterns in scenarios where the future cannot be perfectly predicted. We begin with the mathematical formulation of the decentralized problem, in which individual PEVs minimize their own charging costs, which are a function of total system demand. We summarize results from our prior work in this area, relating specifically to convergence and uniqueness of "valley filling" charging strategies in situations where future system states are known with perfect accuracy. We then present an approach to manage forecast uncertainty by allowing decentralized agents to continually update their optimal control trajectories subject to revised forecasts of system states. We show that the resulting trajectories are strongly influenced by the accuracy of the forecast over the charging period.

Keywords: Smart grids; Control system design; Distribution automation

Identifier: 10.3182/20110828-6-IT-1002.03334

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Khorsand, Omid; Gattami, Ather

Abstract: In this paper, a decentralized control approach for a class of large-scale interconnected systems is proposed. A set of local decentralized controllers is constructed to guarantee the stability of the global system utilizing the notion of superstability. The control scheme and design are based on local state information and model knowledge of the adjacent subsystems. The approach leads to a computationally efficient method where the design procedure is performed on the subsystem level using linear programming. The solutions have been optimized and it is shown that the scheme has some useful features such as monotonic convergence and robustness under interval matrix uncertainty.

Keywords: Decentralized control; Linear systems

Identifier: 10.3182/20110828-6-IT-1002.02116

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Guillaume, Romain; Thierry, Caroline; Grabot, Bernard

Abstract: This communication presents a method to support the customer in the choice of a procurement plan when the gross requirements are ill-known, in a context of collaboration with the supplier. A general model of imperfect parameter representation is suggested, imperfection gathering uncertainty (through various scenarios) and imprecision (through quantities and dates expressed by possibility distribution). A method to compute the possible quantities required to satisfy the gross requirements under the supplier delivering constraints is proposed. From this value, a set of possible supplied quantities is computed to support the decision making of the customer. The decision maker then evaluates the procurement plan with the possible evolution of the inventory.

Keywords: Production & logistics over manufacturing networking; Procedures for process planning

Identifier: 10.3182/20110828-6-IT-1002.01342

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Demir, Ozan; Lunze, Jan

Abstract: Many technological systems consist of similar or identical subsystems, which are directly interconnected with their nearest neighbors. Communication networks enable an information exchange among subsystems, when a coordination of the subsystem activities is necessary. With this way, the communication topology determines the controller structure. In this paper decentralized, distributed and centralized control systems are considered. A modal transformation is introduced, which allows independent design of the subsystem controllers. The design strategy guarantees that the distributed controller provides a better performance then the decentralized controller for the overall system.

Keywords: Distributed control and estimation; Control over networks

Identifier: 10.3182/20110828-6-IT-1002.00505

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Smith, Roy

Abstract: The use of a communication network in the transmission of control system signals (measurements and actuation) is becoming more widespread. If the communication (or the sensors and actuators themselves) can be modified by a malicious agent then the control of the physical plant can be covertly appropriated. A parameterised decoupling structure is introduced which allows the covert agent a wide range of control actions on the physical plant while remaining undetectable from the point of view of the original networked controller. The designer of the covert agent need only have a model of the physical plant; knowledge of the networked controller is not required. A MIMO process control example (based on the control of irrigation canals) is used to illustrate the concepts.

Keywords: Control over networks

Identifier: 10.3182/20110828-6-IT-1002.01721

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Chen, Zhongxiang; Yamada, Kou; Sakanushi, Tatsuya; Murakami, Iwanori; Ando, Yoshinori; Nguyen, Nhan Luong Thanh; Yamamoto, Shun

Abstract: Multi-period repetitive controller was proposed by Gotou et al., in order to improve the disturbance attenuation characteristic of modified repetitive control systems and that follows the periodic reference input with small steady state error. Recently, the parameterization of all stabilizing multi-period repetitive controllers was studied. However, when the parameterization of all stabilizing multi-period repetitive controllers is used, the input-output characteristic and the feedback characteristic cannot be specified separately. From the practical point of view, it is desirable to specify the input-output characteristic and the feedback characteristic separately. In addition, the parameterization is useful to design stabilizing controllers. Yamada et al. solved this problem by obtaining the parameterization of all stabilizing two-degree-of-freedom multi-period repetitive controllers. However, the method by Yamada et al. cannot be applied to multiple-input/multiple-output plants. Because, the method by Yamada et al. uses the characteristic of single-input/single-output system. In this paper, we propose the parameterization of all stabilizing two-degree-of-freedom multi-period repetitive controllers for multiple-input/multiple-output systems.

Keywords: Linear multivariable systems; Output feedback control (linear case); Tracking

Identifier: 10.3182/20110828-6-IT-1002.01433

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Miyasato, Yoshihiko

Abstract: A design method of model reference adaptive formation control of multi-agent systems composed of unknown linear processes is presented in this paper. This is the first attempt to solve the formation control problem from the view point of model reference adaptive control by output feedbacks. The proposed control schemes are constructed via backstepping procedures and state variable filters corresponding to relative degree structures, where potential functions corresponding to desirable formations are introduced into the first step. It is shown that the resulting control systems are robust to uncertain system parameters and that the desirable formations are achieved asymptotically via adaptation mechanisms.

Keywords: Model reference adaptive control; Adaptive control of networks; Adaptation and learning in physical agents

Identifier: 10.3182/20110828-6-IT-1002.00329

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Kojima, Akira; Taniyama, Naoto

Abstract: An LQ control problem for mode transition systems is considered and a design method of sub-optimal control law, which guarantees the upper/lower bounds of the corresponding cost-functional, is derived. The control law is given by piecewise affine function of the state and each gain is easily obtained based on the solutions to finite-horizon LQ control problems. Furthermore, the achievable performance of the control law is characterized in terms of the initial state. The design method is applied to the start-up control of a hot strip mill tension/looper system and the feature of the control system is investigated.

Keywords: Optimal control theory; Control design for hybrid systems; Constrained control

Identifier: 10.3182/20110828-6-IT-1002.02307

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011