The Experts below are selected from a list of 327 Experts worldwide ranked by ideXlab platform
Matthew C. Turner - One of the best experts on this subject based on the ideXlab platform.
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Improved computation of dwell time using the real Jordan form
2016 American Control Conference (ACC), 2016Co-Authors: Richard T. O'brien, Matthew C. TurnerAbstract:This paper addresses stability guarantees for a switching system. For this work, a switching system consists of a collection of Subsystems with known LTI Models and a switching signal that determines which Subsystem Model governs the system's dynamics at any given time. The switching signal may be the result of an operator's choice or a reaction to external events. Previous work has shown that the switching system will be stable if the switching signal is piecewise constant and dwells on each chosen value for some minimum period of time. Morse and Geromel have proposed methods for estimating an upper bound on the minimum dwell time from the realizations of the LTI Subsystems. In recent work, the authors introduced a method that utilizes the real Jordan form. In this paper, the real Jordan form approach is optimized to achieve the accuracy of Geromel's algorithm at a significantly lower computation cost. Numerical simulation of a switched system derived from an adaptive H∞ vibration attenuation controller illustrates the accuracy and computational efficiency of the proposed algorithm.
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On the computation of dwell time using the real Jordan form
2015 American Control Conference (ACC), 2015Co-Authors: Richard T. O'brien, Matthew C. TurnerAbstract:This paper addresses the question of guaranteeing stability for a switching system. For this work, a switching system consists of a collection of Subsystems with known LTI Models and a switching signal that determines which Subsystem Model governs the system's dynamics at any given time. The switching signal may be the result of an operator's choice or a reaction to external events. Previous work has shown that the switching system will be stable if the switching signal is piecewise constant and dwells on each chosen value for some minimum period of time. Morse and Geromel have proposed methods for estimating an upper bound on the minimum dwell time from the realizations of the LTI Subsystems. The new approach proposed in this paper utilizes the real Jordan form and produces a much more accurate estimate than Morse while requiring significantly fewer computations than Geromel. Numerical simulation of a switched system derived from an adaptive vibration attenuation controller illustrates the accuracy and computational efficiency of the proposed algorithm.
Huiyi Wang - One of the best experts on this subject based on the ideXlab platform.
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Linear Subsystem Model for Real-time Control of Vehicle Stability Control System
2006 IEEE Conference on Robotics Automation and Mechatronics, 2006Co-Authors: Liang Li, Jian Song, Huiyi WangAbstract:Research focusing on the vehicle stability control system has resulted in many strategies for active yaw control based on the anti-lock brake system and traction control system. The controller prototype is brought forward to control the vehicle under extreme steer maneuvers and with uncertain road. The linear Models, including the linear four-wheel vehicle Model, and the simplified tire Model, the hydraulic Model, are studied for the real time control of vehicle stability control system, then are verified by the HILS simulation
Enver Tatlicioglu - One of the best experts on this subject based on the ideXlab platform.
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SMC - Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain Model
2009 IEEE International Conference on Systems Man and Cybernetics, 2009Co-Authors: Timothy C. Burg, Bin Xian, Darren M. Dawson, Enver TatliciogluAbstract:In this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic Modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the unknown parameters in each dynamic Subsystem Model. Lyapunov-type stability analysis suggests a global uniform ultimately bounded (GUUB) tracking result.
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Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain Model
2009 IEEE International Conference on Systems Man and Cybernetics, 2009Co-Authors: Timothy C. Burg, Bin Xian, Darren M. Dawson, Enver TatliciogluAbstract:In this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic Modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the unknown parameters in each dynamic Subsystem Model. Lyapunov-type stability analysis suggests a global uniform ultimately bounded (GUUB) tracking result.
Richard T. O'brien - One of the best experts on this subject based on the ideXlab platform.
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Improved computation of dwell time using the real Jordan form
2016 American Control Conference (ACC), 2016Co-Authors: Richard T. O'brien, Matthew C. TurnerAbstract:This paper addresses stability guarantees for a switching system. For this work, a switching system consists of a collection of Subsystems with known LTI Models and a switching signal that determines which Subsystem Model governs the system's dynamics at any given time. The switching signal may be the result of an operator's choice or a reaction to external events. Previous work has shown that the switching system will be stable if the switching signal is piecewise constant and dwells on each chosen value for some minimum period of time. Morse and Geromel have proposed methods for estimating an upper bound on the minimum dwell time from the realizations of the LTI Subsystems. In recent work, the authors introduced a method that utilizes the real Jordan form. In this paper, the real Jordan form approach is optimized to achieve the accuracy of Geromel's algorithm at a significantly lower computation cost. Numerical simulation of a switched system derived from an adaptive H∞ vibration attenuation controller illustrates the accuracy and computational efficiency of the proposed algorithm.
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On the computation of dwell time using the real Jordan form
2015 American Control Conference (ACC), 2015Co-Authors: Richard T. O'brien, Matthew C. TurnerAbstract:This paper addresses the question of guaranteeing stability for a switching system. For this work, a switching system consists of a collection of Subsystems with known LTI Models and a switching signal that determines which Subsystem Model governs the system's dynamics at any given time. The switching signal may be the result of an operator's choice or a reaction to external events. Previous work has shown that the switching system will be stable if the switching signal is piecewise constant and dwells on each chosen value for some minimum period of time. Morse and Geromel have proposed methods for estimating an upper bound on the minimum dwell time from the realizations of the LTI Subsystems. The new approach proposed in this paper utilizes the real Jordan form and produces a much more accurate estimate than Morse while requiring significantly fewer computations than Geromel. Numerical simulation of a switched system derived from an adaptive vibration attenuation controller illustrates the accuracy and computational efficiency of the proposed algorithm.
Liang Li - One of the best experts on this subject based on the ideXlab platform.
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Linear Subsystem Model for Real-time Control of Vehicle Stability Control System
2006 IEEE Conference on Robotics Automation and Mechatronics, 2006Co-Authors: Liang Li, Jian Song, Huiyi WangAbstract:Research focusing on the vehicle stability control system has resulted in many strategies for active yaw control based on the anti-lock brake system and traction control system. The controller prototype is brought forward to control the vehicle under extreme steer maneuvers and with uncertain road. The linear Models, including the linear four-wheel vehicle Model, and the simplified tire Model, the hydraulic Model, are studied for the real time control of vehicle stability control system, then are verified by the HILS simulation
